Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection

2016 ◽  
Author(s):  
Giuseppe Del Giudice ◽  
Nima Sarli ◽  
Stanley D. Herrell ◽  
Nabil Simaan
Keyword(s):  
Design Process ◽  
Degrees Of Freedom ◽  
Modular Architecture ◽  
Continuum Robots ◽  
Position Sensing ◽  
Actuation Force ◽  
Design Considerations ◽  
Continuum Robot ◽  
Modular Format

The last decade has seen rapid growth in exploring the potential of continuum robots for a variety of surgical applications. The design of these robots requires unique electro-mechanical architectures of actuation units that satisfy operational requirements of precision, workspace, and payload capabilities. This paper presents the task-based design process of a compact nine degrees of freedom actuation unit for transurethral resection of bladder tumor (TURBT). This actuation unit has a unique modular architecture allowing partial decoupling of actuation, force and position sensing in a compact modular format. The derivation of task specifications based on kinematic simulations takes into account workspace, accuracy and force application capabilities for TURBT. Design considerations for supporting modularity, serviceability, sterilization, and compactness are presented. The detailed exposition of the design process serves as a case study that will be helpful for other groups interested in the development and integration of surgical continuum robots.

Development of a Multi-Cable-Driven Continuum Robot Controlled by Parallel Platforms

2020 ◽  
pp. 1-11 ◽  
Author(s):  
Xinbo Chen ◽  
Jiantao Yao ◽  
Tong Li ◽  
Haili Li ◽  
Pan Zhou ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Load Capacity ◽  
Continuum Robots ◽  
Position Accuracy ◽  
Continuum Robot ◽  
In Series ◽  
Kinematic Models ◽  
Parallel Platform ◽  
Tube Structure ◽  
The Continuum

Abstract Cable-driven continuum robots exhibit excellent capabilities in the unstructured environment due to their inherent compliance and dexterity. To improve the reliability and load capacity of continuum robots, increasing the number of cables is often used in the control of continuum robots. However, the number of actuators will increase with the cables. To tackle this challenge, this work proposes a method for increasing the number of cables without increasing actuators in a continuum robot through parallel platforms. The parallel platforms are used to control all the cables in the continuum robot, and can be separated from the continuum robot to enable the remote drive of a manipulation arm by using the cable-tube structure. The manipulation arm is composed of several independent bending modules in series, which can be configured freely according to the demand of degrees of freedom. Further, each bending module is controlled independently by a parallel platform, which can avoid the mutual interference between the cables of one bending module and another one, improve the position accuracy and simplify the control difficulty of the manipulation arm. To evaluate the proposed method, this work develops a prototype of six-cable-driven continuum robot controlled by 3RPS parallel platforms, and presents some basic kinematic models to describe its function, and then an experimental work characterizing its performance. Experimental results illustrated the importance of increasing the number of cables, the rationality of kinematic models of the continuum robot, and the feasibility of controlling multiple cables by a parallel platform.

scholarly journals Design for Empathy: A Co-Design Case Study with the Finnish Parliament

2019 ◽  
Vol 1 (1) ◽  
pp. 99-108
Author(s):  
Enni-Kukka S E Tuomala ◽  
Weston L Baxter
Keyword(s):  
Political Parties ◽  
Design Process ◽  
Future Research ◽  
Human Centered Design ◽  
Design Considerations ◽  
Design Case Study ◽  
Empathy Gap ◽  
Ongoing Project

AbstractGlobalisation and the mixing of people, cultures, religions and languages fuels pressing healthcare, educational, political and other complex sociocultural issues. Many of these issues are driven by society's struggle to find ways to facilitate deeper and more emotionally meaningful ways to help people connect and overcome the empathy gap which keeps various groups of people apart. This paper presents a process to design for empathy – as an outcome of design. This extends prior work which typically looks at empathy for design – as a part of the design process, as is common in inclusive design and human centered design process. We reflect on empathy in design and challenge the often internalised role of the designer to be more externalised, to shift from an empathiser to become an empathy generator. We develop and demonstrate the process to design for empathy through a co-creation case study aiming to bring empathy into politics. The ongoing project is set in the Parliament of Finland, and involves co- creation with six Members of the Parliament from five political parties. Outcomes of the process and case study are discussed, including design considerations for future research.

scholarly journals Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 142
Author(s):  
Yong Zhong ◽  
Luohua Hu ◽  
Yinsheng Xu
Keyword(s):  
Degrees Of Freedom ◽  
Engineering Ethics ◽  
The Body ◽  
Confined Space ◽  
Medical Field ◽  
Continuum Robots ◽  
Surgical Interventions ◽  
New Methods ◽  
Continuum Robot ◽  
The Continuum

Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.

Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators

2017 ◽  
Author(s):  
Chase G. Frazelle ◽  
Apoorva Kapadia ◽  
Ian Walker
Keyword(s):  
Physical System ◽  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Input Device ◽  
Continuum Robots ◽  
Continuum Robot ◽  
Master Device

We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted Degrees-of-Freedom (DoF), a kinematically similar input device capable of nine degrees-of-freedom is designed and used. The device is capable of achieving configurations identical to a three-section continuum robot and simplifies the control of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.

scholarly journals Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators

2018 ◽  
Vol 10 (2) ◽  
Author(s):  
Chase G. Frazelle ◽  
Apoorva Kapadia ◽  
Ian Walker
Keyword(s):  
Physical System ◽  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Input Device ◽  
Continuum Robots ◽  
Continuum Robot ◽  
Master Device

We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted degrees-of-freedom (DoF), a kinematically similar input device capable of 9DoF is designed and used. The device is capable of achieving configurations identical to a three-section continuum robot and simplifies the teleoperation of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.

Developing design literacy through brand-based artefacts

2019 ◽  
Vol 2 (1) ◽  
Author(s):  
Catarina LELIS
Keyword(s):  
Empirical Study ◽  
Focus Groups ◽  
Design Process ◽  
Basic Design ◽  
Willingness To Participate ◽  
Socially Responsible ◽  
Interaction Structure ◽  
Functional Prototype ◽  
High Willingness

The brand is a powerful representational and identification-led asset that can be used to engage staff in creative, sustainable and developmental activities. Being a brand the result of, foremost, a design exercise, it is fair to suppose that it can be a relevant resource for the advancement of design literacy within organisational contexts. The main objective of this paper was to test and validate an interaction structure for an informed co-design process on visual brand artefacts. To carry on the empirical study, a university was chosen as case study as these contexts are generally rich in employee diversity. A non-functional prototype was designed, and walkthroughs were performed in five focus groups held with staff. The latter evidenced a need/wish to engage with basic design principles and high willingness to participate in the creation of brand design artefacts, mostly with the purposeof increasing its consistent use and innovate in its representation possibilities, whilst augmenting the brand’s socially responsible values.

Causing a Stir

2019 ◽  
Vol 2 (1) ◽  
Author(s):  
Camilo POTOCNJAK-OXMAN
Keyword(s):  
Design Process ◽  
Collaborative Design ◽  
Entrepreneurial Activity ◽  
Design Team ◽  
Design Processes ◽  
Early Stages

Stir was a crowd-voted grants platform aimed at supporting creative youth in the early stages of an entrepreneurial journey. Developed through an in-depth, collaborative design process, between 2015 and 2018 it received close to two hundred projects and distributed over fifty grants to emerging creatives and became one of the most impactful programs aimed at increasing entrepreneurial activity in Canberra, Australia. The following case study will provide an overview of the methodology and process used by the design team in conceiving and developing this platform, highlighting how the community’s interests and competencies were embedded in the project itself. The case provides insights for people leading collaborative design processes, with specific emphasis on some of the characteristics on programs targeting creative youth

Cyberphysical Design Automation Framework for Knowledge-based Engineering

2013 ◽  
Vol 1 (1) ◽  
pp. 158-178
Author(s):  
Urcun John Tanik
Keyword(s):  
System Design ◽  
Design Process ◽  
Design Automation ◽  
Design Theory ◽  
Knowledge Bases ◽  
Knowledge Based ◽  
Knowledge Based Engineering ◽  
Cyberphysical System ◽  
Automation Framework

Cyberphysical system design automation utilizing knowledge based engineering techniques with globally networked knowledge bases can tremendously improve the design process for emerging systems. Our goal is to develop a comprehensive architectural framework to improve the design process for cyberphysical systems (CPS) and implement a case study with Axiomatic Design Solutions Inc. to develop next generation toolsets utilizing knowledge-based engineering (KBE) systems adapted to multiple domains in the field of CPS design automation. The Cyberphysical System Design Automation Framework (CPSDAF) will be based on advances in CPS design theory based on current research and knowledge collected from global sources automatically via Semantic Web Services. A case study utilizing STEM students is discussed.

come_NET

2018 ◽  
Author(s):  
Konstantin Aal ◽  
Anne Weibert ◽  
Kai Schubert ◽  
Mary-Ann Sprenger ◽  
Thomas Von Rekowski
Keyword(s):  
Social Media ◽  
Design Process ◽  
Participatory Design ◽  
Controlled Environment ◽  
Design And Implementation ◽  
Neighborhood Contexts ◽  
Study Results ◽  
Computer Club ◽  
Close Cooperation

The case study presented in this chapter discusses the design and implementation of an online platform, “come_NET,” in the context of intercultural computer clubs in Germany. This tool was built in close cooperation with the children and adult computer club participants. It was designed to foster the sharing of ideas and experiences across distances, support collaboration, and make skills and expertise accessible to others in the local neighborhood contexts. In particular, the participatory-design process involving the children in the computer clubs fostered a profound understanding of the platform structure and functionalities. The study results show how younger children in particular were able to benefit, as the closed nature of the platform enabled them to gather experience as users of social media, but in a safe and controlled environment.

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