Special Section Technical Briefs

Surgical Robotic Manipulator Based on Local Magnetic Actuation1

[+] Author and Article Information
Christian Di Natali, Pietro Valdastri

Department of Mechanical Engineering,
Vanderbilt University,
Nashville, TN 37235

Alireza Mohammadi, Denny Oetomo

Department of Mechanical Engineering,
The University of Melbourne,
Melbourne VIC 3010, Australia

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13–16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 17, 2015; published online July 16, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(3), 030936 (Sep 01, 2015) (2 pages) Paper No: MED-15-1092; doi: 10.1115/1.4030567 History: Received March 03, 2015; Revised March 17, 2015; Online July 16, 2015

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Di Natali, C., Ranzani, T., Simi, M., Menciassi, A., and Valdastri, P., 2012, “Trans-Abdominal Active Magnetic Linkage for Robotic Surgery: Concept Definition and Model Assessment,” IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 14–18, pp. 695–700 [CrossRef].
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Hamid, S. A., and Simaan, N., 2009, “Design and Synthesis of Wire-Actuated Universal-Joint Wrists for Surgical Applications,” IEEE International Conference on Robotics and Automation (ICRA '09), Kobe, Japan, May 12–17, pp. 1807–1813 [CrossRef].
Lei, M. C., and Oetomo, D., 2013, “Modelling of Cable Wrapping Phenomenon Towards Improved Cable-Driven Mechanisms,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, NSW, Australia, July 9–12, pp. 649–655 [CrossRef].


Grahic Jump Location
Fig. 1

(a) Schematic view of the multiDOF–LMA design, (b) the spherical wrist schematic design, and (c) the prototype implementation picture



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