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Journal Articles

An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement

Haiyuan Li, Tian He, Mingda Yang, Minghui Chao, Qinjian Zhang, Hongxing Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2025, 17(6): 065001.
Paper No: JMR-24-1347
https://doi.org/10.1115/1.4067530
Published Online: January 20, 2025
View Article titled, An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement
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Topics: Calibration, Needles, Robots, Kinematics, Probes, Ultrasound
Journal Articles

Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture

Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054503.
Paper No: JMR-22-1386
https://doi.org/10.1115/1.4062761
Published Online: July 20, 2023
View Article titled, Development of a Base-Actuated Three-Rhombus Configured Remote Center of Motion Mechanism for Lumbar Puncture
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Topics: Design, End effectors, Kinematics, Optimization, Needles, Errors, Linkages, Jacobian matrices, Engineering prototypes
Journal Articles

Design and Validation of a Nonparasitic 2R1T Parallel Hand-Held Prostate Biopsy Robot With Remote Center of Motion

Wenhe Jiang, Dongmei Wu, Wei Dong, Jiajun Ding, Zhichao Ye, Pei Zeng, Yongzhuo Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051009.
Paper No: JMR-23-1128
https://doi.org/10.1115/1.4062793
Published Online: July 20, 2023
View Article titled, Design and Validation of a Nonparasitic 2R1T Parallel Hand-Held Prostate Biopsy Robot With Remote Center of Motion
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Topics: Design, Kinematics, Robots, Robotics, Needles
Journal Articles

Efficient Mechanism Design and Systematic Operation Planning for Tube-Wire Flexible Needles

Jaeyeon Lee, Jing Wang, Wooram Park
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2018, 10(6): 065001.
Paper No: JMR-18-1099
https://doi.org/10.1115/1.4041259
Published Online: September 17, 2018
View Article titled, Efficient Mechanism Design and Systematic Operation Planning for Tube-Wire Flexible Needles
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Topics: Needles, Design, Wire, Biological tissues, Switches