Flexible Robotics in Medicine
A Design Journey of Motion Generation Mechanisms and Biorobotic System Development
- 1st Edition - June 23, 2020
- Latest edition
- Author: Hongliang Ren
- Language: English
Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development provides a resource of knowledge and successful prototype… Read more
Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development provides a resource of knowledge and successful prototypes regarding flexible robots in medicine. With specialists in the medical field increasingly utilizing robotics in medical procedures, it is vital to improve current knowledge regarding technologies available. This book covers the background, medical requirements, biomedical engineering principles, and new research on soft robots, including general flexible robotic systems, design specifications, design rationale, fabrication, verification experiments, actuators and sensors in flexible medical robotic systems.
Presenting several projects as examples, the authors also discuss the pipeline to develop a medical robotic system, including important milestones such as involved regulations, device classifications and medical standards.
- Covers realistic prototypes, experimental protocols and design procedures for engineering flexible medical robotics
- Covers the full product development pipeline for engineering new flexible robots for medical applications, including design principles and design verifications
- Includes detailed information for application and development of several types of robots, including Handheld Concentric-Tube Flexible Robot for Intraocular Procedures, a Preliminary Robotic Surgery Platform with Multiple Section Tendon-Driven Mechanism, a Flexible Drill for Minimally Invasive Transoral Surgical Robotic System, Four-Tendon-Driven Flexible Manipulators, Slim Single-port Surgical Manipulator with Spring Backbones and Catheter-size Channels, and much more
Biomedical Engineers; undergrad, postgrad, and postdoc researchers in robotic engineering; surgeons and clinicians who consult with engineers in the design of surgical/medical robots
PART 1: Flexible Robot Prototype Designs and Applications in MedicineChapter 1: Handheld Concentric-Tube Flexible Robot for Intraocular ProceduresBen Tan, H Ren1.1 Abstract1.2 Introduction1.3 Literature Survey1.4 Review of Concentric-Tube Robot Actuation Design1.5 Concentric Tube Design1.6 Challenges in Robot Design1.7 Tube Design1.8 Actuation Design1.9 Prototype Design1.10 Actuation Control1.11 Materials1.12 Evaluation of Prototype System1.13 Conclusion1.14 Future Possibilities1.15 Acknowledgements1.16 ReferencesChapter 2: Development of a Preliminary Robotic Surgery Platform with Multiple Section Tendon-Driven MechanismAdib2.1 Robot-Assisted Surgery – an Introduction2.2 Design Rationale2.3 Design Principles and Qualifications2.4 Prototype Fabrication2.5 Prototype Analysis and Characteristic Study2.6 Discussion2.7 ConclusionChapter 3: Design of a Flexible Drill for Minimally Invasive Transoral Surgical Robotic SystemMichelle, Chiu Ping, Ren3.1 Abstract3.2 Introduction and Clinical Motivation3.3 Design Requirements and Preliminary Ideas3.4 Final Design and Experimental Setup3.5 Experimental Results3.6 Discussion and Future WorksChapter 4: Designs and Analysis for Different Four-Tendon-Driven Flexible ManipulatorsDeren Meng, H Ren4.1 Introduction4.2 Related Work4.3 Overview of the Mechanism of 4-Tendon-Driven Manipulator4.4 Simulation of different designs using FEM method4.5 Discussion4.6 Conclusion and Recommendation for the future studyChapter 5: Slim Single-port Surgical Manipulator with Spring Backbones and Catheter-size ChannelsDCP Team5.1 Introduction5.2 Explored Concepts for Actuation5.3 Constructing the Flexible Backbone5.4 Integrating with surgical tools5.5 Prototyping5.6 ConclusionPART 2: New Motion Generation Mechanisms with Smart Actuators and Sensors in Robotic Endoscopy Systems for Natural Orifice Endoscopic SurgeryChapter 6: Next Generation of Soft & Flexible Robots for MedicineLJ Zhou, H Ren6.1 Introduction6.2 Literature Survey6.3 Design Constraints and Requirements6.4 Experimental Procedure and Results6.5 Discussion6.6 Conclusions6.7 RecommendationsChapter 7: Flexible inchworms with SMA actuators for endoscopic navigationsSiva, Bok Seng, Ren7.1 Background and Objective7.2 Methods7.3 ExperimentsChapter 8: Flexible origami prototypes: a proof-of-concept explorationJasmine, Bok Seng, Ren8.1 Overview8.2 Evaluation and LimitationsChapter 9: Flexible needle robot in Minimally invasive surgeryZhipeng, Ren Robotic System Joint Types for Bending Manipulators Platform Electronics Manipulator and Flexible Needle Nitinol Tube Cutting Design 1 Stainless Steel Sections Prototype experiments on Silicone Rubber On Pig’s ear Problems faced during experiment Experiment ConclusionChapter 10: Flexible needle robot in Minimally Invasive BiopsyXiao, YF, Ren Prostate biopsyChapter 11: Flexible snake-like robot motion planning and pattern generation: Theoretical Model and SimulationYu Shumei, Ren or Kim RenPart 3: Flexible robots in medicine: A Medical Device Development JourneyExample I: 3D Printed Soft Nasopharyngeal ExplorerBok Seng, RenChapter 12: Background, Market SurveyChapter 13: Design Specification and RationaleChapter 14: Design Verification and ValidationChapter 15: Regulatory and patentsPart 4: Flexible robots in medicine: A Medical Device Development JourneyExample II: J.A.N.E.: Futuristic Home-based Self-administered Nasopharyngeal ExplorerChapter 16: JANE Overview16.1 Executive Summary16.2 Purpose of our product16.3 The Market16.4 The Product16.5 The Plan16.6 Competitive Landscape16.7 Other Devices Available16.8 Comparison16.9 Price Analysis16.10 Our Shortfalls16.11 Future considerations16.12 Marketing StrategyChapter 17: JANE Regulatory Affairs17.1 Overview17.2 U.S. Market: Food and Drug Administration (FDA)17.3 Singapore Market: Health Sciences Authority (HSA)Chapter 18: JANE Design Specification18.1 Unmet Need18.2 Indication of Use18.3 Purpose of User Specification Document18.4 Scope18.5 Responsibility18.6 Target Market18.7 Benchmarking18.8 Acceptance Criteria18.9 Future DevelopmentChapter 19: JANE Design Verification and Validation19.1 Introduction19.2 User Needs and Intended Use19.3 Responsibility19.4 Product Description and Scope19.5 Design Verification19.6 Design Review19.7 Conclusion19.8 Declaration
- Edition: 1
- Latest edition
- Published: June 23, 2020
- Language: English
HR
Hongliang Ren
Hongliang Ren is an associate professor at the Electronic Engineering Department, The Chinese University of Hong Kong (CUHK), Hong Kong and adjunct associate professor at the Department of Biomedical Engineering, National University of Singapore. He served as an associate editor for IEEE Transactions on Automation Science & Engineering (T-ASE) and Medical & Biological Engineering & Computing (MBEC). He has navigated his academic journey through the Chinese University of Hong Kong, Johns Hopkins University, Children’s Hospital Boston, Harvard Medical School, Children’s National Medical Center, United States, and the National University of Singapore. He is currently Associate Professor, Department of Electronic Engineering at the Chinese University of Hong Kong, and Adjunct Associate Professor, Department of Biomedical Engineering at the National University of Singapore. His areas of interest include biorobotics, intelligent control, medical mechatronics, soft continuum robots, soft sensors, and multisensory learning in medical robotics.
Affiliations and expertise
Assistant Professor, Biomedical Engineering Department, National University of Singapore (NUS), SingaporeRead Flexible Robotics in Medicine on ScienceDirect