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‘Snap-On’ robotic modules that can integrate distally with existing commercially-available endoscopic equipment have the potential to provide new capabilities such as enhanced dexterity, bilateral manipulation and feedback sensing with minimal disruption of the current clinical workflow. However, the desire for fully-distal integration of sensors and actuators and the resulting form factor requirements...
This paper presents 800-$\mu \text{m}$ thick, biocompatible sensing skins composed of arrays of pressure sensors. The arrays can be configured to conform to the surface of medical instruments so as to act as disposable sensing skins. In particular, the fabrication of cylindrical geometries is considered here for use on endoscopes. The sensing technology is based on polydimethylsiloxane synthetic...
Articulation based on flexure hinges is increasingly popular in microrobotics because of the absence of Coulomb friction, ease of manufacturability, fluid motion, durability, and large angular ranges. However, the inherent flexibility of these hinges makes modeling very complex and specific to the particular engineering applications for which they were developed. In this paper we describe the development...
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