In this paper, a novel concept of two-degree-of-freedom (2-DOF) compliant forceps is suggested for the measure pulling and grasp forces at tip surgical instrument minimally invasive surgery robot. For design forceps, required compliance characteristics are first defined using simple spring model with one linear torsional springs. This may be directly realized as forceps. However, compact realization mechanism, we synthesize two springs that has equivalent to linear-torsional model. Then,...

This paper presents a new type of 4-degree-of-freedom (DOF) robotic surgical instrument for minimally invasive robot system. The forceps wrist mechanism was designed here on the basis 3-DOF parallel structure with three prismatic-spherical-revolute kinematic chains. pitch and yaw motions moving platform generated rotational forceps. axial translation converted into grasp motion by an inversion slider-crank mechanism. Furthermore, more dexterous movement forceps, full revolution rotation is...

The authors have developed magnetic resonance imaging-guided breast biopsy robot (MRSON), which is an automated (MR) guided needle that works in intragantry space with (3+1) degrees of freedom. This utilizes a bendable superelastic Nitinol needle. MRSON’s path normally parallel to the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">X</i> -axis Cartesian coordinates. However, some cases, paths are not feasible based on obstacles present front...

A single pulse of 1.5 kJ/0.7 g atomized spherical Ti powder from 300 μF capacitor was applied to produce the porous-surfaced implant compact by electro-discharge-sintering (EDS). solid core surrounded porous layer self-consolidated a discharge in middle 122 μsec. Average pore size, porosity, and compressive yield strength EDS were estimated be about 68.2 μm, 25.5%, 266.4 MPa, respectively. Coatings with hydroxyapatite (HAp) on conducted electrostatic-spray-deposition (ESD) method....

Despite the rapid progress in clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one which is lack reliable haptic feedback. This study implemented a force-feedback structure our compact robot. The robot master-slave configuration with 5 DOF (degree freedom corresponding surgical motion. implementation was made torque sensors and controllers installed pitch joint master slave robots. A simple dynamic model action-reaction force used,...

Y. J. Joa, H. G. Seonga, Kimb, S. Changc, M. Nohd, Jeongd & W. Lee*aa Faculty of Nanotechnology and Advanced Materials Engineering, Sejong University, Seoul 143-747, Koreab Department Dental Laboratory Technology, Wonkwang Health Science Iksan 570-750, Koreac Korea Aerospace Goyang-si 412-791, Koread Center for SCINOVATOR, Posung High School, 138-829,

A single pulse of 2·0–3·5 kJ input energy from a 450 μF capacitor was applied to Ti rod. The electrical discharge process can produce rapid temperature increases 569 2398°C in times as short 159 μs, depending on the energy. With an greater than 2·5 kJ, β→α allotropic transformation occurred, showing typical serrated morphology. At same time, original surface rod with TiO 2 modified into form primarily titanium oxycarbide. much higher value hardness that observed at edge cross-section thus...

An intrathecal drug infusion system has been designed, manufactured and tested. The is composed of a reservoir pump/controller assembly. made SUS316L negative pressure gas chamber enclosing bellows type chamber. assembly includes bacterial filter, controller circuit board, battery micropump, connected to catheter for infusion. micropump implements peristaltic pumping the by sequential motion three pairs cam cam-follower. In vitro performance tests were conducted with prototypes.

Aortic pressure (AoP) estimation is a very important study for the artificial heart. In this paper, we developed AoP model moving-actuator type total heart (MHTAH) that was being at Seoul National University Hospital. The proposed simple and provides beat-by-beat mean estimation. Moreover, it uses non-invasively acquired signals. Model parameters were adjusted with in vitro data by least square (LMS) algorithm. Results showed scheme gives error of about 8 (mmHg). This ensures suitability...

Purpose: To overcome the anisotropic characteristics caused by nonuniform friction and singularity in mechanical master interfaces minimally invasive surgical robot systems, we developed a nonrestraint optical interface. Materials Methods: The interface was using high-resolution infrared cameras small reflection markers attached on handheld tongs. We derived 7-degrees of freedom (DOF) motion tongs from kinematic solution three markers. accuracy 3-DOF rotational examined to verify spatial...

This paper proposes a tube pump composed of small-sized cams and followers for an implantable intrathecal drug infusion device. Each is driven by cam liquid discharged sequential reciprocal motion the followers. The advantage this structure that it allows to be clean valveless. To design small-sized, low power some analysis were performed determine parameters cam, follower tube. verify feasibility experiment, prototype was manufactured its operating characteristics investigated. Experimental...

An efficient laparoscope manipulator robot was designed to automatically control the position of via a passive joint on end-effector position. The end is controlled have corresponding velocity defined in global coordinate space using laparoscopic visual information. Desired spatial derived from detected positions surgical instrument tips, then clinical viewing plane moved by servoing task. advantageous for maintaining clinically important views image without any additional operator. A...

Spherical Ti-6Al-4V powders in the size range of 250 and 300 <TEX>${\mu}m$</TEX> were uniformly doped with nano-sized hydroxyapatite (HAp) by Spex milling process. A single pulse 0.75-2.0 kJ/0.7 g HAp from mF capacitor was applied to produce fully porous porous-surfaced implant compact electro-discharge-sintering (EDS). The solid core automatically formed center after discharge layer consisted particles connected three dimensions necks. increased an increase input energy. compressive yield...

This paper presents a implantable intrathecal drug infusion pump for pain control in cancer patients. device consists of micropump module, reservoir module and module. The using cam-follower mechanism composed small-sized four cams followers. Each followers is driven by cam liquid discharged sequential reciprocal motion the advantage this structure that it allows to be clean valveless. chamber, gas chamber diaphragm. battery, wireless communication unit controller. To design small-sized, low...

The remote monitoring system including hemodyanamic information and pump status of the implanted animal could be helpful during in vivo experiment or clinical trial for an artificial heart implantation. In order to monitor course continuously anywhere, web-based was developed, which monitored pressures (AoP, LAP, RAP, PAP) flow as well operating conditions. consists several parts data sending, storing, viewer part. sending part constructed using component object model Java applet. addition,...

In this paper, a new type of 2-DOF spherical wrist mechanism is proposed for minimally invasive robot surgery. It composed the 4-bar whose ground link connected to end slave arm by revolute joint. Due hybrid serial and parallel kinematic structure, given desired orientation workspace, it may be designed compactly with enhanced stiffness characteristics compared fully or wrists. For realization symmetric optimal synthesis performed so that as straight line on sphere. Then, realized connecting...