Shape Deposition Manufacturing of a Soft, Atraumatic, Deployable Surgical Grasper1

2014 ◽  
Vol 8 (3) ◽  
Author(s):  
Joshua Gafford ◽  
Ye Ding ◽  
Andrew Harris ◽  
Terrence McKenna ◽  
Panagiotis Polygerinos ◽  
...  
Keyword(s):  
Shape Deposition Manufacturing

Surface and Shape Deposition Manufacturing for the Fabrication of a Curved Surface Gripper

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Srinivasan A. Suresh ◽  
David L. Christensen ◽  
Elliot W. Hawkes ◽  
Mark Cutkosky
Keyword(s):  
Thin Films ◽  
Laser Cutting ◽  
Biological Systems ◽  
Robotic Systems ◽  
Curved Surfaces ◽  
Structural Elements ◽  
Hard Materials ◽  
Subtractive Manufacturing ◽  
Multiple Materials ◽  
Shape Deposition Manufacturing

Biological systems such as the gecko are complex, involving a wide variety of materials and length scales. Bio-inspired robotic systems seek to emulate this complexity, leading to manufacturing challenges. A new design for a membrane-based gripper for curved surfaces requires the inclusion of microscale features, macroscale structural elements, electrically patterned thin films, and both soft and hard materials. Surface and shape deposition manufacturing (S2DM) is introduced as a process that can create parts with multiple materials, as well as integrated thin films and microtextures. It combines SDM techniques, laser cutting and patterning, and a new texturing technique, surface microsculpting. The process allows for precise registration of sequential additive/subtractive manufacturing steps. S2DM is demonstrated with the manufacture of a gripper that picks up common objects using a gecko-inspired adhesive. The process can be extended to other integrated robotic components that benefit from the integration of textures, thin films, and multiple materials.

Layered Manufacturing With Embedded Components: Process Planning Considerations

1999 ◽  
Author(s):  
Jorge G. Cham ◽  
Beth L. Pruitt ◽  
Mark R. Cutkosky ◽  
Mike Binnard ◽  
Lee E. Weiss ◽  
...  
Keyword(s):  
Process Planning ◽  
Layered Manufacturing ◽  
Manufacturing Processes ◽  
Smart Products ◽  
Design And Manufacturing ◽  
Manufacturing Methods ◽  
The Creation ◽  
Shape Deposition Manufacturing ◽  
Planning Algorithms ◽  
Mechanical Components

Abstract This paper addresses the design and manufacturing of products with embedded components through layered manufacturing processes such as Shape Deposition Manufacturing (SDM). Embedding components allows the creation of novel designs such as “smart” products and integrated assemblies of sensors, actuators and other mechanical components. We present prototypes to illustrate the possibilities for such devices and we address the issues that constrain their process planning. Next, we present a combination of process planning algorithms and manufacturing methods that we have developed to support the design of layered products with embedded components.

Shape deposition manufacturing of 316L parts via feedstock extrusion and green-state milling

2018 ◽  
Vol 18 ◽  
pp. 6-11 ◽  
Author(s):  
Paolo Parenti ◽  
Salvatore Cataldo ◽  
Massimiliano Annoni
Keyword(s):  
Green State ◽  
Shape Deposition Manufacturing

RoboTrikke: Design, Modeling and Experimentation With a Robotic Trikke

2006 ◽  
Author(s):  
Sachin Chitta ◽  
Mustafa Karabas ◽  
Kevin C. Galloway ◽  
Vijay Kumar
Keyword(s):  
Periodic Motion ◽  
Experimental Results ◽  
Steering Wheel ◽  
Underactuated System ◽  
Gait Generation ◽  
Modeling Simulation ◽  
Rocking Motion ◽  
Shape Deposition Manufacturing ◽  
Periodic Inputs

In this paper we present new experimental results for a novel underactuated system called the ROBOTRIKKE. The ROBOTRIKKE is a three-wheeled system that can be driven by periodic motion of its front steering wheel combined with rocking side-to-side motion of a robotic rider. We present two new generations of the ROBOTRIKKE including a ABS model made using Shape Deposition Manufacturing (SDM). We present modeling, simulation and experimental results for gait generation for the ROBOTRIKKE using a combination of periodic inputs for the steering axis and a rider. We show how a rocking motion (as used by human riders) can be used to improve the performance of the ROBOTRIKKE.

Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Joshua Gafford ◽  
Ye Ding ◽  
Andrew Harris ◽  
Terrence McKenna ◽  
Panagiotis Polygerinos ◽  
...  
Keyword(s):  
Grip Force ◽  
Ad Hoc ◽  
Pressure Sensors ◽  
Analytical Framework ◽  
Robotic Platform ◽  
Minimally Invasive Surgical ◽  
Simulated Environment ◽  
Force Monitoring ◽  
Shape Deposition Manufacturing ◽  
Structural Compliance

This paper details the design, analysis, fabrication, and validation of a deployable, atraumatic grasper intended for retraction and manipulation tasks in manual and robotic minimally invasive surgical (MIS) procedures. Fabricated using a combination of shape deposition manufacturing (SDM) and 3D printing, the device (which acts as a deployable end-effector for robotic platforms) has the potential to reduce the risk of intraoperative hemorrhage by providing a soft, compliant interface between delicate tissue structures and the metal laparoscopic forceps and graspers that are currently used to manipulate and retract these structures on an ad hoc basis. This paper introduces a general analytical framework for designing SDM fingers where the desire is to predict the shape and the transmission ratio, and this framework was used to design a multijointed grasper that relies on geometric trapping to manipulate tissue, rather than friction or pinching, to provide a safe, stable, adaptive, and conformable means for manipulation. Passive structural compliance, coupled with active grip force monitoring enabled by embedded pressure sensors, helps to reduce the cognitive load on the surgeon. Initial manipulation tasks in a simulated environment have demonstrated that the device can be deployed though a 15 mm trocar and develop a stable grasp using Intuitive Surgical's daVinci robotic platform to deftly manipulate a tissue analog.

Automated fabrication of complex molded parts using Mold Shape Deposition Manufacturing

1999 ◽  
Vol 20 (2-3) ◽  
pp. 83-89 ◽  
Author(s):  
A.G Cooper ◽  
S Kang ◽  
J.W Kietzman ◽  
F.B Prinz ◽  
J.L Lombardi ◽  
...  
Keyword(s):  
Molded Parts ◽  
Shape Deposition Manufacturing

µ-Mold Shape Deposition Manufacturing of Ceramic Parts

2000 ◽  
Vol 625 ◽  
Author(s):  
S.W. Nam ◽  
J. Stampfl ◽  
H.C. Liu ◽  
S. Kang ◽  
F. B. Prinz
Keyword(s):  
Mechanical Properties ◽  
Pattern Generation ◽  
Pattern Transfer ◽  
Turbine Engine ◽  
Gel Casting ◽  
Shape Deposition Manufacturing ◽  
Metallic Parts ◽  
Complex Parts ◽  
Mold Quality

AbstractRapid Prototyping is a versatile method to build complex-shaped ceramic or metallic parts on a mesoscopic scale. In this work the fabrication of ceramic gas turbine engine parts with Mold Shape Deposition Manufacturing (Mold SDM) is described. Mold SDM exists of two steps: The pattern generation in wax using deposition and machining of wax layers and the pattern transfer process with gel-casting. For parts with feature sizes that are too small for machining, microfabrication methods are used to fabricate the mold. By combining micro- and macro-fabrication, complex parts in a wide variety of sizes can be manufactured.The surface quality of the mold significantly influences the mechanical properties of the final ceramic part. The contribution of the mold quality to the final mechanical properties is studied in this work.

Biomimetic Robotic Mechanisms via Shape Deposition Manufacturing

2000 ◽  
pp. 403-410 ◽  
Author(s):  
Sean A. Bailey ◽  
Jorge G. Cham ◽  
Mark R. Cutkosky ◽  
Robert J. Full
Keyword(s):  
Shape Deposition Manufacturing
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