Dexterous wrists for surgical intervention

Dexterous wrists for surgical intervention. Simaan, N., Goldman, R. E., & Bajo, A. June 2017.

A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.

@patent{simaan_dexterous_2017,
	title = {Dexterous wrists for surgical intervention},
	url = {https://patents.google.com/patent/US9687303B2/en},
	abstract = {A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.},
	nationality = {US},
	language = {en},
	assignee = {Vanderbilt University},
	number = {US9687303B2},
	urldate = {2018-10-29TZ},
	author = {Simaan, Nabil and Goldman, Roger E. and Bajo, Andrea},
	month = jun,
	year = {2017},
	keywords = {capstan, continuum robot, groove, shaft, wrist}
}

Downloads: 0

{"_id":"GgxtiHinqcLHx4mXy","bibbaseid":"simaan-goldman-bajo-dexterouswristsforsurgicalintervention-2017","downloads":0,"creationDate":"2018-10-29T22:19:59.422Z","title":"Dexterous wrists for surgical intervention","author_short":["Simaan, N.","Goldman, R. E.","Bajo, A."],"year":2017,"bibtype":"patent","biburl":"https://bibbase.org/zotero/aorekhov","bibdata":{"bibtype":"patent","type":"patent","title":"Dexterous wrists for surgical intervention","url":"https://patents.google.com/patent/US9687303B2/en","abstract":"A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.","nationality":"US","language":"en","assignee":"Vanderbilt University","number":"US9687303B2","urldate":"2018-10-29TZ","author":[{"propositions":[],"lastnames":["Simaan"],"firstnames":["Nabil"],"suffixes":[]},{"propositions":[],"lastnames":["Goldman"],"firstnames":["Roger","E."],"suffixes":[]},{"propositions":[],"lastnames":["Bajo"],"firstnames":["Andrea"],"suffixes":[]}],"month":"June","year":"2017","keywords":"capstan, continuum robot, groove, shaft, wrist","bibtex":"@patent{simaan_dexterous_2017,\n\ttitle = {Dexterous wrists for surgical intervention},\n\turl = {https://patents.google.com/patent/US9687303B2/en},\n\tabstract = {A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.},\n\tnationality = {US},\n\tlanguage = {en},\n\tassignee = {Vanderbilt University},\n\tnumber = {US9687303B2},\n\turldate = {2018-10-29TZ},\n\tauthor = {Simaan, Nabil and Goldman, Roger E. and Bajo, Andrea},\n\tmonth = jun,\n\tyear = {2017},\n\tkeywords = {capstan, continuum robot, groove, shaft, wrist}\n}\n\n","author_short":["Simaan, N.","Goldman, R. E.","Bajo, A."],"key":"simaan_dexterous_2017","id":"simaan_dexterous_2017","bibbaseid":"simaan-goldman-bajo-dexterouswristsforsurgicalintervention-2017","role":"author","urls":{"Paper":"https://patents.google.com/patent/US9687303B2/en"},"keyword":["capstan","continuum robot","groove","shaft","wrist"],"downloads":0},"search_terms":["dexterous","wrists","surgical","intervention","simaan","goldman","bajo"],"keywords":["capstan","continuum robot","groove","shaft","wrist"],"authorIDs":[],"dataSources":["Q5cy5ZnQZvoGxZ7DT"]}