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Author Konstantinova, Jelizaveta.

Title Soft and Stiffness-Controllable Robotics Solutions for Minimally Invasive Surgery : the STIFF-FLOP Approach.

Imprint Aalborg : River Publishers, 2018.

Copies

Location Call No. OPAC Message Status
 Axe EBSCO Clinical Nursing E-Book  Electronic Book    ---  Available
Description 1 online resource (420 pages)
text txt rdacontent
computer c rdamedia
online resource cr rdacarrier
Series River Publishers Series in Automation, Control and Robotics Ser.
River Publishers Series in Automation, Control and Robotics Ser.
Note Print version record.
Contents Front Cover; Half Title Page; RIVER PUBLISHERS SERIES IN AUTOMATION, CONTROL AND ROBOTICS; Tilte Page; Copyright Page; Contents; Preface; Acknowledgements; List of Contributors; List of Figures; List of Tables; List of Abbreviations; PART I -- Development of Silicone-based Stiffness Controllable Actuators; Chapter 1 -- Technology Selection; 1.1 Manipulator Specifications; 1.1.1 Medical Requirements; 1.1.2 Technical Specifications; 1.2 Technological Overview of Different Actuation Strategies; 1.2.1 Active Motion Technology Survey; 1.2.1.1 Electromagnetic motors; 1.2.1.2 Electro active polymers.
1.2.1.3 Shape memory alloys1.2.1.4 Shape memory polymers; 1.2.1.5 Flexible fluidic actuator; 1.2.2 Discussion and Choice of Active Motion Technology; 1.2.3 Stiffness Variation Technology Survey; 1.2.4 Comparison and Choice; References; Chapter 2 -- Design of the Multi-module Manipulator; 2.1 The Design of the Single Module; 2.1.1 Active Motion; 2.1.2 Stiffness variation; 2.2 Connection of Multiple Modules; 2.3 Complete Characterization of the 2-Module Manipulator; 2.3.1 Fabrication; 2.3.2 Workspace Evaluation; 2.3.2.1 Methods; 2.3.2.2 Results; 2.3.3 Junction Characterization; 2.3.3.1 Methods.
2.3.3.2 Results2.3.4 Stiffness Characterization; 2.3.4.1 Methods; 2.3.4.2 Results; 2.3.5 Combined Force and Stiffening Experiments; 2.3.5.1 Methods; 2.3.5.2 Results; References; Chapter 3 -- Soft Manipulator Actuation Module -- with Reinforced Chambers; 3.1 Introduction; 3.1.1 Change of the Chamber Cross Section Area; 3.1.2 Chamber Cross Section Center Displacement; 3.1.3 Friction between the Silicone Body and Braided Sleeve; 3.1.4 Sensor Interaction; 3.2 Proposed Improvements; 3.2.1 Possible Solutions; 3.2.2 Design; 3.3 Manufacturing; 3.4 Tests; 3.4.1 Pneumatic Actuation.
3.4.2 Hydraulic Actuation3.4.3 External Force; 3.5 Stiffening Mechanism; 3.5.1 Basic Module Design; 3.5.2 Optimised Module Design; 3.6 Conclusions; Acknowledgement; References; Chapter 4 -- Antagonistic Actuation Principle for a Silicone-based Soft Manipulator; 4.1 Introduction; 4.2 Background; 4.3 Bio-Inspiration and Contributions; 4.4 Integration of the Antagonistic Stiffening Mechanism; 4.4.1 Embedding Tendon-driven Actuation into a STIFF-FLOP Segment; 4.4.2 Setup of the Antagonistic Actuation Architecture; 4.5 Test Protocol, Experimental Results, and Discussion; 4.5.1 Methodology.
4.5.2 Experimental Results4.5.3 Discussion; 4.6 Conclusions; 4.7 Funding; References; Chapter 5 -- Smart Hydrogel for Stiffness Controllable Continuum Manipulators: A Conceptual Design; 5.1 Introduction; 5.2 Materials and Methods; 5.2.1 Active Hydrogel Preparation; 5.2.2 Active Hydrogel Properties and Ion Pattern Printing; 5.3 Experiments and Discussion; 5.3.1 Swelling Test; 5.3.2 Stiffness Test; 5.4 Conclusion and Future Works; References; PART II -- Creation and Integration of Multiple Sensing Modalities; Chapter 6 -- Optical Force and Torque Sensor for Flexible Robotic Manipulators.
Note 6.1 Introduction.
Subject Endoscopic surgery -- Technological innovations.
Surgical instruments and apparatus -- Design and construction.
MEDICAL -- Surgery -- General.
Endoscopic surgery -- Technological innovations. (OCoLC)fst00909817
Surgical instruments and apparatus -- Design and construction. (OCoLC)fst01139451
Genre/Form Electronic books.
Added Author Wurdemann, Helge.
Shafti, Ali.
Shiva, Ali.
Althoefer, Kaspar.
Other Form: Print version: Konstantinova, Jelizaveta. Soft and Stiffness-Controllable Robotics Solutions for Minimally Invasive Surgery : The STIFF-FLOP Approach. Aalborg : River Publishers, 2018 9788793519725
ISBN 8793519710
9788793519718 (electronic bk.)
8793519729
9788793519725

 
    
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