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Articles 1 - 3 of 3
Full-Text Articles in Mechanical Engineering
On The Application Of Mechanical Vibration In Robotics-Assisted Soft Tissue Intervention, Iman Khalaji
On The Application Of Mechanical Vibration In Robotics-Assisted Soft Tissue Intervention, Iman Khalaji
Electronic Thesis and Dissertation Repository
Mechanical vibration as a way of transmitting energy has been an interesting subject to study. While cyclic oscillation is usually associated with fatigue effect, and hence a detrimental factor in failure of structures and machineries, by controlled transmission of vibration, energy can be transferred from the source to the target. In this thesis, the application of such mechanical vibration in a few surgical procedures is demonstrated.
Three challenges associated with lung cancer diagnosis and treatment are chosen for this purpose, namely, Motion Compensation, tumor targeting in lung Needle Insertion and Soft Tissue Dissection:
- A robotic solution is proposed …
Design Of A Haptic Interface For Medical Applications Using Magneto-Rheological Fluid Based Actuators, Nima Najmaei
Design Of A Haptic Interface For Medical Applications Using Magneto-Rheological Fluid Based Actuators, Nima Najmaei
Electronic Thesis and Dissertation Repository
This thesis reports on the design, construction, and evaluation of a prototype two degrees-of-freedom (DOF) haptic interface, which takes advantage of Magneto-Rheological Fluid (MRF) based clutches for actuation. Haptic information provides important cues in teleoperated systems and enables the user to feel the interaction with a remote or virtual environment during teleoperation. The two main objectives in designing a haptic interface are stability and transparency. Indeed, deficiencies in these factors in haptics-enabled telerobotic systems has the introduction of haptics in medical environments where safety and reliability are prime considerations. An actuator with poor dynamics, high inertia, large size, and heavy …
Uncertainty Quantification For A Class Of Mems-Based Vibratory Angular Rate Sensors, Nujhat Abedin
Uncertainty Quantification For A Class Of Mems-Based Vibratory Angular Rate Sensors, Nujhat Abedin
Electronic Thesis and Dissertation Repository
Numerical schemes that are suitable for predicting response statistics of mass-spring and ring gyroscopes are developed when this class of vibratory gyroscopes are subjected to certain system parameters as well as environment uncertainties. The emphasis is placed on the steady-state part of the response since it is more critical to the operation of a gyroscope. A peak-picking approach which simulates the demodulation process which is used in practice is employed first before applying the Monte Carlo simulation method to predict the response statistics. A number of simulation trials to predict response statistics have been performed for mass-spring and ring-type gyroscopes …