Overview

This cross-disciplinary volume investigates engineering principles in the design and development of mechanisms for surgery. The approaches are based on mechanical engineering design principles and electro-mechanical systems, including mechatronics. The approaches used in the book should be accessible to any design engineer. The text should also be of interest to researchers and practitioners in fields such as biomedical engineering, medical device design, mechanical engineering, electrical kinesiology, and electro-mechanical engineering.

Full Product Details

Author:   Ali Faraz ,  Shahram Payandeh
Publisher:   Springer
Imprint:   Springer
Edition:   2000 ed.
Volume:   545
Dimensions:   Width: 15.50cm , Height: 1.20cm , Length: 23.50cm
Weight:   1.050kg
ISBN:  

9780792377924

ISBN 10:   0792377923
Pages:   183
Publication Date:   31 March 2000
Audience:   College/higher education ,  Professional and scholarly ,  Undergraduate ,  Postgraduate, Research & Scholarly
Format:   Hardback
Publisher's Status:   Active
Availability:   In Print  
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Table of Contents

1. Introduction.- 1. Typical set-up for laparoscopic surgery.- 2. Surgical Problems in Endosurgery.- 3. Research Objectives.- 4. Book Overview and Contributions.- 2. Passive Robotics: Laparoscopic Stand.- 1. Kinematic Synthesis.- 2. Synthesis of the Positioning Arm.- 3. Multi-Arms Integration.- 4. Features of Mechanical Design.- 5. Prototype Development and Evaluation.- 6. Discussions.- 3. Flexible Stem Graspers.- 1. Synthesis of Flexible Laparoscopic Extenders.- 2. Laparoscopic Workspace Formulation.- 3. Optimal Design of the Flexible Stem.- 4. Features of the Mechanical Design.- 5. Discussion.- 4. Automated Devices.- 1. New Suturing Device with CCM Design.- 2. Friction Analysis of the Belt Mechanism.- 3. Large Scale Experimental Prototype.- 4. Miniaturization Challenges.- 5. Force Reflecting Graspers.- 1. Design Concepts.- 2. Type Synthesis of Tunable Spring.- 3. Size Synthesis of Tunable Spring.- 4. Design Integration.- 5. Simulation Results.- 6. Bandwidth Analysis.- 7. Experimental Results.- 8. Discussion and Further Developments.- 6. Robotic Extenders.- 1. Configuration of Robotic Extenders.- 2. Kinematics of the Extender.- 3. Jacobian Formulation.- 4. Inverse Velocity Kinematics.- 5. Constrained Motion.- 6. Toward Laparoscopic Tele-Surgery.- 7. Conclusions.- 1. Contributions of the Book.- 2. Suggestions for Future Work.- Appendices.- A— General Friction Models of Joints.- 1. Preliminary Analysis.- 2. Revolute Pin Joints.- 2.1 The Radial Stress Distribution.- 2.2 Equilibrium Analysis.- 3. Spherical Socket-Ball Joints.- 3.1 The Radial Stress Distribution.- 3.2 Equilibrium Analysis.- 4. Discussion I: Contact Angles and Loads.- 5. Discussion II: Joints Clearance for Maximum Stiffness.- 6. Summary.- B- Sample Drawings of Flexible Stem.- C- Jacobian Derivation.- Aboutthe Authors.- References.

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