Research Catalog

Engineering approaches to mechanical and robotic design for minimally invasive surgery (MIS)

Title
Engineering approaches to mechanical and robotic design for minimally invasive surgery (MIS) / Ali Faraz, Shahram Payandeh.
Author
Faraz, Ali.
Publication
Boston : Kluwer Academic, [2000], ©2000.
Supplementary Content
Table of Contents

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Additional Authors
Payandeh, Shahram, 1957-
Description
xvii, 183 pages : illustrations; 24 cm.
Series Statement
Kluwer international series in engineering and computer science
Uniform Title
Kluwer international series in engineering and computer science.
Subject
  • Surgical instruments and apparatus > Design and construction
  • Endoscopic surgery
  • Robotics in medicine
  • Biomedical engineering
  • Minimally Invasive Surgical Procedures > instrumentation
  • Biomedical Engineering
  • Equipment Design
  • Robotics
Bibliography (note)
  • Includes bibliographical references (p. [169]-177) and index.
Contents
  • 1. Introduction. 1. Typical set-up for laparoscopic surgery. 2. Surgical Problems in Endosurgery. 3. Research Objectives. 4. Book Overview and Contributions -- 2. Passive Robotics: Laparoscopic Stand. 1. Kinematic Synthesis. 2. Synthesis of the Positioning Arm. 3. Multi-Arms Integration. 4. Features of Mechanical Design. 5. Prototype Development and Evaluation. 6. Discussions -- 3. Flexible Stem Graspers. 1. Synthesis of Flexible Laparoscopic Extenders. 2. Laparoscopic Workspace Formulation. 3. Optimal Design of the Flexible Stem. 4. Features of the Mechanical Design. 5. Discussion -- 4. Automated Devices. 1. New Suturing Device with CCM Design. 2. Friction Analysis of the Belt Mechanism. 3. Large Scale Experimental Prototype. 4. Miniaturization Challenges -- 5. Force Reflecting Graspers. 1. Design Concepts. 2. Type Synthesis of Tunable Spring. 3. Size Synthesis of Tunable Spring. 4. Design Integration. 5. Simulation Results.
  • 6. Bandwidth Analysis. 7. Experimental Results. 8. Discussion and Further Developments -- 6. Robotic Extenders. 1. Configuration of Robotic Extenders. 2. Kinematic of the Extender. 3. Jacobian Formulation. 4. Inverse Velocity Kinematics. 5. Constrained Motion. 6. Toward Larprascopic Tele-Surgery -- 7. Conclusions. 1. Contributions of the Book. 2. Suggestions for Future Work. App. A. General Friction Models of Joints -- App. B. Sample Drawings of Flexible Stem -- App. C. Jacobian Derivation.
ISBN
0792377923
LCCN
00020445
OCLC
  • ocm43296540
  • SCSB-4235357
Owning Institutions
Columbia University Libraries