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Technical Brief

Design and Analysis of a Bimanual Multifunctional Robot for NOTES1

[+] Author and Article Information
Tao Shen

Department of Mechanical and Materials Engineering,
University of Nebraska-Lincoln,
Lincoln, NE 68588

Carl Nelson

Department of Mechanical and Materials Engineering,
University of Nebraska-Lincoln,
Lincoln, NE 68588;
Department of Surgery,
University of Nebraska Medical Center,
Omaha, NE 68198

Dmitry Oleynikov

Department of Surgery,
University of Nebraska Medical Center,
Omaha, NE 68198

DOI: 10.1115/1.4033781Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030903 (Aug 01, 2016) (3 pages) Paper No: MED-16-1100; doi: 10.1115/1.4033781 History: Received March 01, 2016; Revised March 17, 2016

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Copyright © 2016 by ASME
Topics: Robots , Design
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Figures

Grahic Jump Location
Fig. 6

Peg transfer test (marker indicates failure to reach peg: ∇ = left arm and ⋄ = right arm)

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Fig. 4

The kinematics of the bimanual arm

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Fig. 3

The bimanual robot

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Fig. 2

Multifunction manipulator

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Fig. 1

NOTES robotic system overview [4]

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