... colonoscope was designed. This device uses sensors, actuators, and a control system to automatically position the distal tip in the center of the colon lumen. The sensors were tested to determine their ability to accurately sense the distance from the tip to the surface. The actuators were tested to determine...

...Joonbum Bae; Kyoungchul Kong; Masayoshi Tomizuka Actuators for physical human-robot interaction (pHRI) such as rehabilitation or assistive systems should generate the desired torque precisely. However, the resistive and inertia loads inherent in the actuators (e.g., friction, damping, and inertia...

...JungHun Choi; Jonathan Litten 15 06 2011 15 06 2011 actuators biomedical optical imaging endoscopes manipulators medical robotics position control Colonoscopy can be associated with many problems, such as mechanical trauma due to the distal tip contacting the colon wall...

...Brian D. Hemond; Andrew Taberner; Cathy Hogan; Bryan Crane; Ian W. Hunter A jet injector platform technology that provides improved performance over existing jet injectors through the use of a controllable linear Lorentz-force actuator and software-based control system has been developed. Injectors...

...Matthew Gilbertson; Brian Anthony; Shih-Yu Sun An actuated handheld force-feedback controlled ultrasound probe has been developed. The controller maintains a prescribed contact force between the probe and a patient’s body. The device will enhance the diagnostic capability of free-hand elastography...

... in the fundamental hardware impose constraints on the system capabilities and ease of use. While sensing, control, and computation hardware for robotically assisted surgery continue to improve, actuator technology remains relatively unchanged. This paper reviews the state of the art in actuators for surgical robotic...

... minimize the power and energy consumption. This kinetic minimization allows the downsizing of the actuation system and the battery required for daily use to a self-portable level. A robotic tendon ( 1 ) actuator, Fig. 1 , is utilized in this device to minimize the peak motor power requirement...

...Laurel Kuxhaus; Patrick J. Schimoler; Jeffrey S. Vipperman; Mark Carl Miller The Allegheny General Hospital (AGH) elbow simulator was designed to be a closed-loop physiologic simulator actuating movement in cadaveric elbow specimens via servoelectric motors that attach to the tendons of the biceps...

...Jean-Sébastien Plante; Kenjiro Tadakuma; Lauren M. DeVita; Daniel F. Kacher; Joseph R. Roebuck; Simon P. DiMaio; Ferenc A. Jolesz; Steven Dubowsky A parallel manipulator concept using bistable polymer actuators has been developed to perform prostate cancer biopsy, and deliver therapy within...

... has an array of vibrating actuators that provides the user with vibrotactile biofeedback. The expert dons the EM, and his/her relevant body position is computed by an algorithm based on an extended Kalman filter that provides asymptotic state estimation. The captured body position information...

... silicon and parylene-based thin film cochlear electrode arrays and backing devices for a more controllable implantation. We report a method developed for measuring the thin film actuated electrode array rigidity to quantify the ST and modiolus wall contact forces during and after insertion. The method...

...David J. Miller; Carl A. Nelson A functional analysis of current laparoscopic surgical technology prompted a redesign of the tools in order to provide multiple functionalities within a single tool. With this redesign came the need for a number of novel mechanisms to actuate and deploy functional...

...David J. Miller; Carl A. Nelson Background: A functional analysis of current laparoscopic surgical technology prompted a redesign to provide multiple functionalities within a single tool. Novel mechanisms were needed to actuate and deploy functional tips to the surgical site from their storage...

... interventions. The current state of the art imaging technology facilitates precise location of sites within the body; however, there is no mechanical equivalent to then facilitate precise targeting. The lightweight, disposable actuator unit, which affixes directly to the patient, is composed primarily...