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Journal Articles

Data-based Shape Self-sensing of a Cable-Driven Notched Continuum Mechanism Using Multi-dimensional Intrinsic Force Information for Surgical Robot

Accepted Manuscript
Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
Publisher: ASME
J. Mechanisms Robotics.
Paper No: JMR-23-1220
https://doi.org/10.1115/1.4063369
Published Online: September 7, 2023
View Article titled, Data-based Shape Self-sensing of a Cable-Driven Notched Continuum Mechanism Using Multi-dimensional Intrinsic Force Information for Surgical Robot
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Topics: Cables, Robots, Shapes, Surgery
Journal Articles

Analysis and Optimization of a 6-DoF 3- R R P S Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery

Michael Clancy, Fayez Alruwaili, Marzieh S. Saeedi-Hosseiny, Sean McMillan, Iulian I. Iordachita, Mohammad H. Abedin-Nasab
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061006.
Paper No: JMR-23-1106
https://doi.org/10.1115/1.4063167
Published Online: August 29, 2023
View Article titled, Analysis and Optimization of a 6-DoF 3- R R P S Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery
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Topics: Design, Femoral fractures, Fracture (Materials), Fracture (Process), Genetic algorithms, Optimization, Parallel mechanisms, Robots, Stress, Surgery
Journal Articles

Design and Analysis of a Six-Degree-of-Freedom Microsurgical Instruments Based on Rigid-Flexible Coupling Multi-Body System

Xuewen Wang, Yang Yu, Jinhe Yang, Zhenbang Xu, Haipeng Liu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051007.
Paper No: JMR-22-1076
https://doi.org/10.1115/1.4062791
Published Online: July 20, 2023
View Article titled, Design and Analysis of a Six-Degree-of-Freedom Microsurgical Instruments Based on Rigid-Flexible Coupling Multi-Body System
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Topics: Instrumentation, Kinematics, Modeling, Errors, Stress, Surgery, Design
Journal Articles

Design, Dimensional Synthesis and Evaluation of a Novel Two-Degrees-of-Freedom Spherical Remote Center of Motion Mechanism for Minimally Invasive Surgery

Jianmin Li, Jiatong Wang, Jianchang Zhao, Guowu Wei
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051005.
Paper No: JMR-23-1017
https://doi.org/10.1115/1.4062673
Published Online: June 26, 2023
View Article titled, Design, Dimensional Synthesis and Evaluation of a Novel Two-Degrees-of-Freedom Spherical Remote Center of Motion Mechanism for Minimally Invasive Surgery
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Topics: Design, Kinematics, Surgery, Engineering prototypes, Linkages
Journal Articles

Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model

Wenjie Wang, Jie Wang, Congcong Chen, Yang Luo, Xiaohua Wang, Lingtao Yu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041005.
Paper No: JMR-22-1292
https://doi.org/10.1115/1.4062464
Published Online: June 5, 2023
View Article titled, Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model
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Topics: Design, Errors, Robots, Ropes, Surgery, Algorithms, Engineering prototypes, Robustness, Position control
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
View Article titled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
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Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Article titled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
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Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
Journal Articles

Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery

Tianci Zhang, Zhongyuan Ping, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041002.
Paper No: JMR-20-1252
https://doi.org/10.1115/1.4049976
Published Online: April 9, 2021
View Article titled, Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery
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Topics: Design, Manipulators, Nickel titanium alloys, Fiber Bragg gratings, Bending (Stress), Surgery, Resolution (Optics), Calibration, Degrees of freedom, Force sensors
Journal Articles

Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms

Kendall Seymour, Pietro Bilancia, Spencer Magleby, Larry Howell
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031002.
Paper No: JMR-20-1382
https://doi.org/10.1115/1.4049439
Published Online: March 15, 2021
View Article titled, Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms
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Topics: Cylinders, Deflection, Finite element analysis, Hinges, Membranes, Modeling, Nickel titanium alloys, Stiffness, Surgery, Cantilever beams
Journal Articles

Surgical Applications of Compliant Mechanisms: A Review

Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, G. K. Ananthasuresh, Sarthak Misra
Journal: Journal of Mechanisms and Robotics
Article Type: Review Articles
J. Mechanisms Robotics. April 2021, 13(2): 020801.
Paper No: JMR-20-1344
https://doi.org/10.1115/1.4049491
Published Online: January 22, 2021
View Article titled, Surgical Applications of Compliant Mechanisms: A Review
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Topics: Compliant mechanisms, Design, Surgery, Grasping, Cutting, Robots
Journal Articles

Master Device With Bending Safety for Flexible Surgical Robots

Daekeun Ji, Seongbo Shim, Seunguk Kim, Sanghyun Joung, Jaesung Hong
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061003.
Paper No: JMR-19-1468
https://doi.org/10.1115/1.4046996
Published Online: May 11, 2020
View Article titled, Master Device With Bending Safety for Flexible Surgical Robots
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Topics: Robots, Surgery, Wire, Tension, Design, Kinematics
Journal Articles

A Miniature Robotic-Assisted Tool for Large Area Endomicroscopy Scanning

Haibo Wang, Derui Kong, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031012.
Paper No: JMR-19-1069
https://doi.org/10.1115/1.4045647
Published Online: February 6, 2020
View Article titled, A Miniature Robotic-Assisted Tool for Large Area Endomicroscopy Scanning
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Topics: Biological tissues, Imaging, Probes, Robotics, Rotation, Trajectories (Physics), Motors, Surgery, Design engineering, Kinematics
Journal Articles

Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing

Hritwick Banerjee, Tai Kai Li, Godwin Ponraj, Senthil Kumar Kirthika, Chwee Ming Lim, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031010.
Paper No: JMR-19-1184
https://doi.org/10.1115/1.4045424
Published Online: January 14, 2020
View Article titled, Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing
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Topics: Manufacturing, Sensors, Stiffness, Surgery, Design, Tactile sensors, Stress, Biological tissues, Pressure, Robotics
Journal Articles

Kinematic Optimization of a Reconfigurable Spherical Parallel Mechanism for Robotic-Assisted Craniotomy

Terence Essomba, Yang Hsu, Juan Sebastian Sandoval Arevalo, Med Amine Laribi, Said Zeghloul
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060905.
Paper No: JMR-19-1081
https://doi.org/10.1115/1.4044411
Published Online: September 11, 2019
View Article titled, Kinematic Optimization of a Reconfigurable Spherical Parallel Mechanism for Robotic-Assisted Craniotomy
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Topics: Kinematics, Optimization, Parallel mechanisms, Scanning probe microscopy, Robotics, Design, Drills (Tools), Surgery
Journal Articles

Design of Compliant Three-Dimensional Printed Surgical End-Effectors for Robotic Lumbar Discectomy

Benjamin V. Johnson, Zekun Gong, Brian A. Cole, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020914.
Paper No: JMR-18-1380
https://doi.org/10.1115/1.4042543
Published Online: February 27, 2019
View Article titled, Design of Compliant Three-Dimensional Printed Surgical End-Effectors for Robotic Lumbar Discectomy
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Topics: Cables, Design, End effectors, Instrumentation, Robotics, Surgery, Discectomies, Testing, Kinematics, Grasping
Journal Articles

Robotic Visible Forceps Manipulator With a Novel Linkage Bending Mechanism

Boyu Zhang, Zhuxiu Liao, Penghui Yang, Hongen Liao
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011012.
Paper No: JMR-18-1055
https://doi.org/10.1115/1.4041941
Published Online: December 10, 2018
View Article titled, Robotic Visible Forceps Manipulator With a Novel Linkage Bending Mechanism
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Topics: Linkages, Manipulators, Robotics, Surgery, Phantoms, Visualization, Design, Engineering prototypes, Endoscopic devices, Wire
Journal Articles

On the Development of a New Master Device Used for Medical Tasks

Houssem Saafi, Med Amine Laribi, Said Zeghloul, Marc Arsicault
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2018, 10(4): 044501.
Paper No: JMR-17-1210
https://doi.org/10.1115/1.4039590
Published Online: April 11, 2018
View Article titled, On the Development of a New Master Device Used for Medical Tasks
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Topics: Biomedicine, Haptics, Kinematics, Manipulators, Robots, Scanning probe microscopy, Surgery, Optimization, Design
Journal Articles

Surgical Robot With Variable Remote Center of Motion Mechanism Using Flexible Structure

Sho Yoshida, Takahiro Kanno, Kenji Kawashima
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031011.
Paper No: JMR-17-1201
https://doi.org/10.1115/1.4039396
Published Online: April 5, 2018
View Article titled, Surgical Robot With Variable Remote Center of Motion Mechanism Using Flexible Structure
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Topics: Control equipment, Control systems, Flexible structures, Robotics, Robots, Rotation, Surgery, Pneumatic cylinders, Design, Rods
Journal Articles

Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators

Sajid Nisar, Takahiro Endo, Fumitoshi Matsuno
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031013.
Paper No: JMR-16-1222
https://doi.org/10.1115/1.4035991
Published Online: March 23, 2017
View Article titled, Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators
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Topics: Actuators, Design, Kinematics, Manipulators, Optimization, Surgery, Degrees of freedom, Cables, Pulleys
Journal Articles

Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery

Qinchuan Li, Jacques Marie Hervé, Pengcheng Huang
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031012.
Paper No: JMR-16-1207
https://doi.org/10.1115/1.4035989
Published Online: March 23, 2017
View Article titled, Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery
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Topics: Chain, Generators, Actuators, Manipulators, Kinematics, Surgery