A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery
- Submitting institution
-
Queen Mary University of London
- Unit of assessment
- 12 - Engineering
- Output identifier
- 638
- Type
- D - Journal article
- DOI
-
10.1109/TRO.2016.2539373
- Title of journal
- IEEE Transactions on Robotics
- Article number
- -
- First page
- 484
- Volume
- 32
- Issue
- 3
- ISSN
- 1552-3098
- Open access status
- Out of scope for open access requirements
- Month of publication
- June
- Year of publication
- 2016
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
3
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- The first integrated design and rapid-manufacturing approach for making robotic instruments using a smart composite structure. This led to scalable devices, avoiding the need of sacrificing robot dexterity, with inherent compliance as one of the most important characteristics both in the structure itself and in the actuation system. This work was awarded Best Poster Award in the 7th Hamlyn Symposium on Medical Robotics (https://www.ukras.org/hamlyn/programme/symposium-proceedings/). This work led to start-up company “Foldaway Haptics” (http://www.foldaway-haptics.com/index.html) and a pending patent (PCT/IB2017/054799). Foldaway Haptics received pre-spinoff funding and won the Best Demonstration Award at the 2018 IEEE Haptics Symposium (https://2018.hapticssymposium.org/).
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -