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Motion And Force Transmission Of A Flexible Instrument Inside A Curved Endoscope, Jitendra P. Khatait
Motion And Force Transmission Of A Flexible Instrument Inside A Curved Endoscope, Jitendra P. Khatait
Jitendra P Khatait
Flexible instruments are increasingly used to perform advanced and complex surgical procedures either manually or robotically. The success of flexible instruments in surgery requires high motion and force fidelity, and controllability of the tip. However, the friction and the limited stiffness of such instruments limit their motion and force transmission. The implementation of flexible instruments in surgery necessitates their characterization, the development of proper tools to understand the effect of various mechanical parameters on their overall performance, and an improvement in motion and force fidelity. Therefore, this thesis describes 2-D and 3-D flexible multibody models of a flexible surgical instrument …
Design And Development Of Orifice-Type Aerostatic Thrust Bearing, Jitendra P. Khatait
Design And Development Of Orifice-Type Aerostatic Thrust Bearing, Jitendra P. Khatait
Jitendra P Khatait
Air bearings are extensively used in precision machines and equipment in recent years. Unlike conventional bearings, there is no physical contact between the sliding surfaces. The moving surface can glide smoothly on the other surface, minimising the control effort to achieve high accuracy and precision. Analytical study was carried out avoiding complexities in the formulation. The governing parameters were kept at a minimum. This helped in easy understanding of the dynamics and performance behavior of the air bearings. A simple design methodology was also developed to assist in the design or the selection process of the bearing. Finally, a three-dimensional …