Background: Hysterectomy, the most common major gynecological operation worldwide, consists of removal of the uterus and can be performed abdominally, vaginally, or laparoscopically. A uterine manipulator is a key device used for uterine manipulation and cannulation in hysterectomies. The challenges of conventional manipulators are to move the uterus in two distinct planes and to identify cervical landmarks during circular cut and coagulation. Material and methods: In this study, a structural synthesis of the two degrees of freedom parallel manipulator was performed considering the constraints noted by surgeons. Computer-aided design and assembly of the manipulator, the cervicovaginal cap with LEDs, and the external parts were performed before rapid prototyping. The final design of the uterine manipulator was then manufactured from stainless steel and tested on an artificial uterus model using a test chamber. Results: This article presents the design, production and testing processes of an innovative manipulator with a motion capability up to 80° workspace both in the sagittal and coronal planes and an illumination system, easily detectable by the laparoscope, was successfully implemented on the manipulator’s cervical cap in order to overcome the drawbacks of conventional uterine manipulators. Conclusions: Despite all the current studies and uterine manipulators on the market, no research has incorporated all the features mentioned above.

This study introduces a novel single-degree-of-freedom polycentric knee mechanism specifically designed for transfemoral prostheses to address dual challenges of stability during the stance phase and biomimetic motion during the swing phase. Leveraging analytical kinematic synthesis, the proposed mechanism integrates separate kinematic designs for each of the gait phases into a combined structure that prevents singularity issues during full knee flexion, which is a significant limitation in conventional active designs. The stance phase mechanism emphasizes stability through precise control of the instantaneous center of rotation (ICR) and weight-bearing support, while the swing phase mechanism adopts a biomimetic motion trajectory. In order to validate the proposed methodology, kinematic synthesis, numerical simulations, and visual analyses were conducted. Incorporating insights from polycentric prostheses and orthotic applications, the proposed mechanism achieves a seamless transition between two different configurations by keeping its overall mobility. Additionally, its possible compatibility with motorized actuation offers a foundation for active prosthesis systems, paving the way for adapting the advantages of polycentric prosthesis to active devices. This innovative approach offers a scientifically grounded pathway for improving transfemoral prosthetic systems, advancing both their biomechanical utility and user comfort.

This study introduces a compact low-cost single degree of freedom end-effector type upper arm rehabilitation system (PARS) along with its hardware and software elements. Proposed system is also suitable to be used in conjunction with a gaming environment. Throughout the study structural setup of the system was explained in detail along with its electronics, control system and gaming software. Introduced virtual gaming interface supports various game levels with different difficulties generated via interaction type control algorithms. Having simple structural design constructed by using basic available components, proposed system can be easily manufactured and utilized in physical rehabilitation procedures by using supplied open source codes. Introduced systems compactness and user friendly interface also allow its usage for individual home therapies for remote rehabilitation treatment procedures.

Throughout history, humans have observed living or non-living things in nature and then imitated them in relation to these observations. This is due to the fact that the energy found in nature is generally consumed at an optimal level in order for it to endure. Biomimetic inspiration in many designs and applications is widely displayed, including within the field of engineering. In this paper, we were inspired by the double set of jaws found in the moray eel, which gives this fish a huge advantage while hunting, with a mobile pharyngeal jaw that works together with its oral jaw in order to overcome ineffective suction capabilities. A procedure that mimics the hunting motion of the moray eel was utilized by considering the overall movement as a single degree of freedom with multiple outputs on account of the repeating motion that is required during hunting. This procedure includes structural and dimensioning synthesis, wherein the latter was utilized with analytic kinematic synthesis for each linkage transfer. The flexibilities in parameters were taken into account with a novel multiple iterative kinematic synthesis algorithm that resulted in various mechanisms with the same purpose. Among the excessive number of resultant mechanisms, the optimization was carried out by considering the highest torque transmission ratio at critical timings that were specified as bio-constraints. In the end, the kinematic movement validation was utilized.

Background: The method of stem cell transfer to narrow cochlear canals in vivo to generate hair cells is still an unclear operation. Thus, the development of any possible method that will ensure the usage of medical microrobots in small cochlear workspaces is a challenging procedure.Methods: The current study tries to introduce a macro‐micro manipulator system composed of a 6‐DoF industrial serial manipulator as a macro manipulator and a proposed 5‐DoF parallel manipulator with dual end effectors as a micro manipulator carrying permanent magnets for tetherless microrobot actuation inside the cochlea.Results: Throughout the study, structural synthesis and kinematic analysis of the proposed micro manipulator were introduced. A prototype of the manipulator was manufactured and its hardware verification procedures were carried out using motion capture cameras and surgical navigation registration methodologies.Conclusions: Following motion training, the assembled macro‐micro manipulator was successfully utilised to actuate a microrobot placed inside a manufactured cochlea mockup model.