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Journal Articles

Special Issue: Mechanisms, Transmissions, and Applications

Med Amine Laribi, Carl A. Nelson, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. September 2024, 16(9): 090201.
Paper No: JMR-24-1388
https://doi.org/10.1115/1.4066077
Published Online: August 7, 2024
View Article titled, Special Issue: Mechanisms, Transmissions, and Applications
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Topics: Design, Machinery, Robotics, Robots, Satellites, Screws, Sensitivity analysis, Stiffness
Proceedings Papers

A Modular Articulated Instrument for Manual Laparoscopic Manipulation

Lily Scholnik, Carl A. Nelson
Proc. ASME. DMD2024, 2024 Design of Medical Devices Conference, V001T08A005, April 8–10, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DMD2024-1043
https://doi.org/10.1115/DMD2024-1043
View Paper titled, A Modular Articulated Instrument for Manual Laparoscopic Manipulation
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Topics: Instrumentation, Surgery, Surgical tools, Design, Shapes, Biological tissues, Simulation
Proceedings Papers

Robotic Ultrasound for Remote Diagnostics: Design and Prototyping

Lily Scholnik, Carl A. Nelson, Jason Christensen
Proc. ASME. DMD2024, 2024 Design of Medical Devices Conference, V001T07A002, April 8–10, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DMD2024-1048
https://doi.org/10.1115/DMD2024-1048
View Paper titled, Robotic Ultrasound for Remote Diagnostics: Design and Prototyping
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Topics: Design, Robotics, Ultrasound
Proceedings Papers

Validation of the Intu-VR-vention Program for Enhancing Medical Training through Virtual Reality (VR) Storyboard Integration for Intubation

Sophia Jensen, McGuire Leiting, Bo-Dee Romero, Noah Wester, Henry J. Runge, Carl A. Nelson, Ka-Chun Siu
Proc. ASME. DMD2024, 2024 Design of Medical Devices Conference, V001T06A007, April 8–10, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DMD2024-1078
https://doi.org/10.1115/DMD2024-1078
View Paper titled, Validation of the Intu-VR-vention Program for Enhancing Medical Training through Virtual Reality (VR) Storyboard Integration for Intubation
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Topics: Biomedicine, Collaboration, Decision making, Education, Virtual reality
Proceedings Papers

Improved Portable Instrument Tracking System for Surgical Training

Victoria Nelson, Han Wei (Kelvin) Ang, Simon Thengvall, Carl A. Nelson, Hong Li, Irene Suh, Ka-Chun Siu
Proc. ASME. DMD2024, 2024 Design of Medical Devices Conference, V001T06A006, April 8–10, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DMD2024-1077
https://doi.org/10.1115/DMD2024-1077
View Paper titled, Improved Portable Instrument Tracking System for Surgical Training
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Topics: Portable instruments, Surgery, Virtual reality
Proceedings Papers

User-Centered Design Enhancements for Minimally Invasive Stapler-Cutter Instruments

Nick Swerczek, Peyton Kullmann, Carl A. Nelson, Mark A. Carlson
Proc. ASME. DMD2024, 2024 Design of Medical Devices Conference, V001T08A007, April 8–10, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DMD2024-1063
https://doi.org/10.1115/DMD2024-1063
View Paper titled, User-Centered Design Enhancements for Minimally Invasive Stapler-Cutter Instruments
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Topics: Instrumentation, Surgery, User-centered design, Design, Cables, Kinematics, Pulleys, Surgical tools
Proceedings Papers

A Variable-Stiffness Link for Safe Robot Interactions

Carl A. Nelson, Nick Swerczek, Amber Tannehill
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A082, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114980
https://doi.org/10.1115/DETC2023-114980
View Paper titled, A Variable-Stiffness Link for Safe Robot Interactions
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Topics: Actuators, Robots, Stiffness
Proceedings Papers

SEA-Leg: A Wheel-Leg Hybrid Locomotion Platform for Uncontrolled Environments Using Series Elastic Actuators

Nick Swerczek, Carl A. Nelson, John Cerny, Amber Tannehill
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A091, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116769
https://doi.org/10.1115/DETC2023-116769
View Paper titled, SEA-Leg: A Wheel-Leg Hybrid Locomotion Platform for Uncontrolled Environments Using Series Elastic Actuators
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Topics: Actuators, Mechanical admittance, Robotics, Seas, Stiffness, Wheels
Proceedings Papers

ARTICULATED SURGICAL STAPLER WITH IMPROVED RANGE OF MOTION FOR MINIMALLY INVASIVE COLORECTAL SURGERY

Nick Swerczek, Carl A. Nelson, Mark A. Carlson
Proc. ASME. DMD2023, 2023 Design of Medical Devices Conference, V001T10A005, April 17–19, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DMD2023-5056
https://doi.org/10.1115/DMD2023-5056
View Paper titled, ARTICULATED SURGICAL STAPLER WITH IMPROVED RANGE OF MOTION FOR MINIMALLY INVASIVE COLORECTAL SURGERY
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Proceedings Papers

Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions

Jay S. Chae, Carl A. Nelson, José Baca, Mukul Mukherjee
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A033, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91274
https://doi.org/10.1115/DETC2022-91274
View Paper titled, Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions
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Topics: Astronauts, Design, Kinematics, Muscle, Robotics, Space vehicles
Proceedings Papers

Design and Modeling of a Robot for De-Icing Overhead Power Lines

Carl A. Nelson
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A046, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89554
https://doi.org/10.1115/DETC2022-89554
View Paper titled, Design and Modeling of a Robot for De-Icing Overhead Power Lines
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Topics: Deicing, Design, Modeling, Robotics, Robots, Transmission lines
Proceedings Papers

Experimental Validation and Design Refinement of a Disposable, Articulated Surgical Instrument

Monica Bomze, Carl A. Nelson
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T11A004, April 11–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DMD2022-1011
https://doi.org/10.1115/DMD2022-1011
View Paper titled, Experimental Validation and Design Refinement of a Disposable, Articulated Surgical Instrument
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Topics: Biocompatibility, Cycles, Deflection, Design, Durability, Instrumentation, Stiffness, Stress, Surgery, Surgical tools
Proceedings Papers

Kinematic Synthesis of Gait Correction for a Rehabilitation Machine

Zvonimir Pusnik, Carl A. Nelson, Judith M. Burnfield, Thad W. Buster
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A041, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68538
https://doi.org/10.1115/DETC2021-68538
View Paper titled, Kinematic Synthesis of Gait Correction for a Rehabilitation Machine
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Topics: Kinematics, Machinery
Proceedings Papers

Kirigami-Based Disposable Laparoscopic Instruments Under Direct Surgeon Control

Carl A. Nelson
Proc. ASME. DMD2021, 2021 Design of Medical Devices Conference, V001T13A001, April 12–15, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DMD2021-1010
https://doi.org/10.1115/DMD2021-1010
View Paper titled, Kirigami-Based Disposable Laparoscopic Instruments Under Direct Surgeon Control
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Topics: Instrumentation, Kinematics, Laparoscopic devices, Design, Engineering simulation, Simulation, Surgery, Tendons
Journal Articles

Special Issue: Medical Robotics and Human Interfaces

Med Amine Laribi, Carl A. Nelson, Nandini Duraiswamy
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Guest Editorial
J. Med. Devices. March 2021, 15(1): 010301.
Paper No: MED-20-1235
https://doi.org/10.1115/1.4049474
Published Online: January 28, 2021
View Article titled, Special Issue: Medical Robotics and Human Interfaces
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Topics: Biomedicine, Robotics
Proceedings Papers

Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration

Nathan A. Jensen, Carl A. Nelson
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A019, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22098
https://doi.org/10.1115/DETC2020-22098
View Paper titled, Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration
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Topics: Kinematics, Optimization, Performance evaluation, Robots, Manipulators, Degrees of freedom, Geometry, Jacobian matrices
Proceedings Papers

Design of a Portable Venomanometer System for Episcleral Venous Pressure Measurement

Tze Yeen Yap, Carl A. Nelson, Deepta Ghate, Vikas Gulati, Shan Fan, Sachin Kedar, Meghal Gagrani, Adam Hahn, Blaine Minden, Luke Moorhous, Zachary Fowler, Deepak Khazanchi
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T10A004, April 6–9, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DMD2020-9021
https://doi.org/10.1115/DMD2020-9021
View Paper titled, Design of a Portable Venomanometer System for Episcleral Venous Pressure Measurement
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Topics: Design, Military systems, Pressure, Pressure measurement, Traumatic brain injury, Performance, Surgery, Testing, Wounds
Proceedings Papers

Towards Manufacturing Scale-Up of Air Retention Device for Colonoscopy

Pin Hao Cheng, Carl A. Nelson, Joy Wolfe
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T06A004, April 6–9, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DMD2020-9022
https://doi.org/10.1115/DMD2020-9022
View Paper titled, Towards Manufacturing Scale-Up of Air Retention Device for Colonoscopy
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Topics: Manufacturing, Testing, Workflow
Proceedings Papers

Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery

John Lowery, Carl A. Nelson
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T06A001, April 6–9, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DMD2020-9010
https://doi.org/10.1115/DMD2020-9010
View Paper titled, Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery
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Topics: Design, Robots, Surgery, Design engineering, Engineering prototypes, Engineering simulation, Kinematics, Robotics, Simulation, Tendons
Journal Articles

Erratum: “Design and Validation of a Biosensor Implantation Capsule Robot” [ASME J. Biomech. Eng., 2017, 139(8), 081003; DOI: 10.1115/1.4036607 ]

Wanchuan Xie, Weston M. Lewis, Jared Kaser, C. Ross Welch, Pengbo Li, Carl A. Nelson, Vishal Kothari, Seth P. Harris, Benjamin S. Terry
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Errata
J Biomech Eng. July 2020, 142(7): 077001.
Paper No: BIO-20-1008
https://doi.org/10.1115/1.4046699
Published Online: April 8, 2020
View Article titled, Erratum: “Design and Validation of a Biosensor Implantation Capsule Robot” [ASME J. Biomech. Eng., 2017, 139(8), 081003; DOI: 10.1115/1.4036607 ]
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Topics: Biosensors, Design, Robots