...Michael Head; Carl A. Nelson 09 06 2011 09 06 2011 gears medical robotics reliability surgery Surgical manipulation has been successfully demonstrated using a robotic spherical serial mechanism (called CoBRASurge) having a remote center of rotation driven through...

... function deployment to mathematically determine important design criteria. These methods were applied to the design of several novel mechanisms for achieving multifunctionality in a modular surgical instrument. The new actuation mechanism transfers squeezing motion from the hand through a gear train...

... mechanism transfers squeezing motion from the hand through a gear train to the distal end of the tool where a pin-slot mechanism actuates the tool tip. An ergonomic slider mechanism translates linear thumb motion into rotation of the tool’s shaft through a gear train. A binary ratcheting mechanism is used...

... uses slotted disks, each mounted to the rotating ring gear of a planetary gear assembly. The sun gears of each planetary gear set are driven from a common shaft to create differential speed sectors, allowing for about two decades of input frequencies to be obtained using a single motor and driveshaft...