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http://dl.uswr.ac.ir/handle/Hannan/31836
| Title: | Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity |
| Authors: | Department of Health;Wellcome Trust;Wellcome Trust;Seneci, CA;Leibrandt, KL;Wisanuvej, PW;Shang, JS;Darzi, AD;Yang, GZY |
| subject: | Science & Technology;Technology;Computer Science, Artificial Intelligence;Robotics;Computer Science;TECHNOLOGY |
| Year: | 9-May-2017 |
| Publisher: | IEEE |
| Description: | This paper introduces the design and characterization of a robotic surgical instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the instrument. |
| URI: | https://spiral.imperial.ac.uk:8443/handle/10044/1/45514 http://localhost/handle/Hannan/31836 |
| More Information: | 2153-0866 https://dx.doi.org/10.1109/IROS.2016.7759542 HICF-T4-299 HICF-T4-299 HICF-T4-299 |
| Appears in Collections: | Department of Surgery and Cancer |
Files in This Item:
Click on the URI links for accessing contents.
| Title: | Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity |
| Authors: | Department of Health;Wellcome Trust;Wellcome Trust;Seneci, CA;Leibrandt, KL;Wisanuvej, PW;Shang, JS;Darzi, AD;Yang, GZY |
| subject: | Science & Technology;Technology;Computer Science, Artificial Intelligence;Robotics;Computer Science;TECHNOLOGY |
| Year: | 9-May-2017 |
| Publisher: | IEEE |
| Description: | This paper introduces the design and characterization of a robotic surgical instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the instrument. |
| URI: | https://spiral.imperial.ac.uk:8443/handle/10044/1/45514 http://localhost/handle/Hannan/31836 |
| More Information: | 2153-0866 https://dx.doi.org/10.1109/IROS.2016.7759542 HICF-T4-299 HICF-T4-299 HICF-T4-299 |
| Appears in Collections: | Department of Surgery and Cancer |
Files in This Item:
Click on the URI links for accessing contents.
| Title: | Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity |
| Authors: | Department of Health;Wellcome Trust;Wellcome Trust;Seneci, CA;Leibrandt, KL;Wisanuvej, PW;Shang, JS;Darzi, AD;Yang, GZY |
| subject: | Science & Technology;Technology;Computer Science, Artificial Intelligence;Robotics;Computer Science;TECHNOLOGY |
| Year: | 9-May-2017 |
| Publisher: | IEEE |
| Description: | This paper introduces the design and characterization of a robotic surgical instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the instrument. |
| URI: | https://spiral.imperial.ac.uk:8443/handle/10044/1/45514 http://localhost/handle/Hannan/31836 |
| More Information: | 2153-0866 https://dx.doi.org/10.1109/IROS.2016.7759542 HICF-T4-299 HICF-T4-299 HICF-T4-299 |
| Appears in Collections: | Department of Surgery and Cancer |
Files in This Item:
Click on the URI links for accessing contents.