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Design and Control of Roller Grasper V2 for In-Hand Manipulation [article]

Shenli Yuan, Lin Shao, Connor L. Yako, Alex Gruebele, J. Kenneth Salisbury
2020 arXiv   pre-print
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped  ...  In this work, we present a novel non-anthropomorphic robot grasper with the ability to manipulate objects by means of active surfaces at the fingertips.  ...  CONCLUSION AND FUTURE WORK This paper presents Roller Grasper V2, a new design for a grasper based on steerable spherical rollers located at the finger tips.  ... 
arXiv:2004.08499v2 fatcat:o2qiabs7qvap3mmmvu3ax4gyne

Pop-up tissue retraction mechanism for endoscopic surgery

S. Becker, T. Ranzani, S. Russo, R. J. Wood
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Acknowledgements ACKNOWLEDGMENT The authors would like to acknowledge Harvard School of Engineering and Applied Sciences and the Wyss Institute for Biologically-Inspired Engineering for their support  ...  We would also like to thank Daniel Vogt for help with actuator batch fabrication consistency, Kaitlyn Becker for help with high-level vacuum gripper design, and Joshua Gafford for technical assistance  ...  for manipulation [1].  ... 
doi:10.1109/iros.2017.8202255 dblp:conf/iros/BeckerRRW17 fatcat:ea6rkvvpm5bevnwr2a6bhlvz6m

CARS 2020—Computer Assisted Radiology and Surgery Proceedings of the 34th International Congress and Exhibition, Munich, Germany, June 23–27, 2020

2020 International Journal of Computer Assisted Radiology and Surgery  
The traditional platforms of CARS Congresses for the scholarly publication and communication process for the presentation of R&D ideas were congress centers or hotels, typically hosting 600-800 participants  ...  Preface Analogue and Digital CARS 2020 Congress The overarching purpose of the scholarly publication and communication process of IJCARS in the context of the CARS congress could be defined as: "To enable  ...  In order to reduce the radiation exposure, a 4 DOF robot system that controls the guidewire and the catheter and offers haptic feedback function for the guidewire insertion has been developed by Cha et  ... 
doi:10.1007/s11548-020-02171-6 pmid:32514840 fatcat:lyhdb2zfpjcqbf4mmbunddwroq

A foundation for the design and assessment of improved instruments for minimally invasive surgery

John Gunnar Person
The goals of this project are to establish a foundation for research into the design and assessment of improved instruments for minimally invasive surgery (MIS).  ...  to 4 degrees of freedom which restores the natural motion mapping between the hand and instrument tip across the fulcrum point in the abdomen wall.  ...  Acknowledgements The same randomized block ANOVA technique employed in examining the suturing results was performed on the pick-and-place tasks. The results and ANOVA table are presented in  ... 
doi:10.14288/1.0080974 fatcat:jw5gyfybsvda3j6ccebp2xt6bu

The 48th Congress of the European Society for Surgical Research, May 29 – June 1, 2013, Istanbul, Turkey

2013 European Surgical Research  
Comparison of Laparoscopic and Open Appendectomy in a University Hospital.  ...  Most probably this can explain the rise of IUM in last decade. PP 101 Is It Safe To Fully Adopt Laparoscopic Approach for the Treatment of Appendicitis?  ...  Group 1 represented the Sham group while the Group 2 represented the control group. on the other hand, midline laparotomy was performed in Group 3 after carbon dioxide insufflation for 15 minutes.  ... 
doi:10.1159/000351978 pmid:23736377 fatcat:kqe2oyz7fbg5piu5bk6z7zppg4