Flexible Robotics in Medicine

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