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Journal Articles

A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments

Samson A. Adejokun, Panos S. Shiakolas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021012.
Paper No: JMR-22-1550
https://doi.org/10.1115/1.4062762
Published Online: July 25, 2023
View Article titled, A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments
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Topics: Kinematics, Manipulators, Robots, Tension, Biological tissues, Tendons, Modeling, Design, Robotics
Journal Articles

A Miniature Robotic-Assisted Tool for Large Area Endomicroscopy Scanning

Haibo Wang, Derui Kong, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031012.
Paper No: JMR-19-1069
https://doi.org/10.1115/1.4045647
Published Online: February 6, 2020
View Article titled, A Miniature Robotic-Assisted Tool for Large Area Endomicroscopy Scanning
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Topics: Biological tissues, Imaging, Probes, Robotics, Rotation, Trajectories (Physics), Motors, Surgery, Design engineering, Kinematics
Journal Articles

Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing

Hritwick Banerjee, Tai Kai Li, Godwin Ponraj, Senthil Kumar Kirthika, Chwee Ming Lim, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031010.
Paper No: JMR-19-1184
https://doi.org/10.1115/1.4045424
Published Online: January 14, 2020
View Article titled, Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing
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Topics: Manufacturing, Sensors, Stiffness, Surgery, Design, Tactile sensors, Stress, Biological tissues, Pressure, Robotics
Journal Articles

Efficient Mechanism Design and Systematic Operation Planning for Tube-Wire Flexible Needles

Jaeyeon Lee, Jing Wang, Wooram Park
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2018, 10(6): 065001.
Paper No: JMR-18-1099
https://doi.org/10.1115/1.4041259
Published Online: September 17, 2018
View Article titled, Efficient Mechanism Design and Systematic Operation Planning for Tube-Wire Flexible Needles
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Topics: Needles, Design, Wire, Biological tissues, Switches
Journal Articles

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

Baoliang Zhao, Carl A. Nelson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051015.
Paper No: JMR-15-1244
https://doi.org/10.1115/1.4032591
Published Online: May 4, 2016
View Article titled, Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool
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Topics: Biological tissues, Engineering prototypes, Haptics, Robotics, Surgery, Surgical tools, Yaw, Motors, Cables, Force measurement
Journal Articles

Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper

Joshua Gafford, Ye Ding, Andrew Harris, Terrence McKenna, Panagiotis Polygerinos, Dónal Holland, Conor Walsh, Arthur Moser
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021006.
Paper No: JMR-14-1215
https://doi.org/10.1115/1.4029493
Published Online: May 1, 2015
View Article titled, Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper
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Topics: Cables, Design, Manufacturing, Robotics, Surgery, Stiffness, Shapes, Biological tissues, Bending (Stress), Grasping