Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application.

This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with "flexible shaft and Double Screw Drive (DSD) mechanism" structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator.

Study on method to simulate light propagation on tissue with characteristics of radial-beam LED based on Monte-Carlo method.

In biomedical, Monte-carlo simulation is commonly used for simulation of light diffusion in tissue. But, most of previous studies did not consider a radial beam LED as light source. Therefore, we considered characteristics of a radial beam LED and applied them on MC simulation as light source.