scholarly journals A Co-Robotic Positioning Device for Carrying Surgical End-Effectors

2006 ◽  
Author(s):  
Silvia Frumento ◽  
Rinaldo C. Michelini ◽  
Rainer Konietschke ◽  
Ulrich Hagn ◽  
Tobias Ortmaier ◽  
...  
Keyword(s):  
Hand Surgery ◽  
High Accuracy ◽  
Ophthalmic Surgery ◽  
Robotic Arms ◽  
Surgical Tools ◽  
Base Position ◽  
Front End ◽  
Positioning Device ◽  
End Effectors ◽  
Operating Surgeon

The development of a remotely operated, Co-Robotic Positioning Device (CRPD) for instrumental backing and optimal base position to robotic arms in tele-surgery is discussed. To optimise the setting of robotic operating rooms (ROR) by reducing the structures’ size around the patient and by selecting task-driven layouts, the design of a hanging servo-carrier coming from the ceiling is chosen, rather than a device located on the floor. The present study prospects a split-duty approach, distinguishing the Co-Robotic Positioning Device, CRPD, from the front-end effectors, each subsystem hierarchically controlled by remote location, in keeping with optimal protocols. The attention is focused on the slave-carrier, to establish an optimal design of the CRPD, based on the characteristics of robotic effectors and the surgical task. The CRPD is conceived to support (up to four) robotic effectors, each one equipped with proper tools (endoscope, scalpels, scissors, suture needles, etc.). The CRPD, actually, by optimally positioning the robotic arms, avoids the need of manual deployment, in current setups often necessary to avoid singularities or collisions. The Automatic Changing Device for Surgical Tools, ACD-ST, is another significant device of the conceived slave-carrier. It allows the tele-operating surgeon to change the tools (scalpels, scissors, etc.) by a direct command from his console. Example applications aim at ticklish endoscopic/tomic operations that require high accuracy with low involved forces such as cardio-thoracic-surgery, abdominal surgery, spine-surgery, microsurgery (neurosurgery, hand-surgery, ophthalmic-surgery, ear-nose-throat surgery), say, the typical domains of MIRS, where robotic surgery is quickly expanding.

scholarly journals Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application

2015 ◽  
Author(s):  
Guochao Bai ◽  
Peng Qi ◽  
Kaspar Althoefer ◽  
Duanling Li ◽  
Xianwen Kong ◽  
...  
Keyword(s):  
Eye Movement ◽  
Surgical Procedures ◽  
Mechanical Design ◽  
The Self ◽  
The Other ◽  
Design Parameters ◽  
Functional Requirements ◽  
Ophthalmic Surgery ◽  
Surgical Tools ◽  
End Effectors

Development of a mechanism with dual remote center of motion (dual-RCM mechanism) intended for teleoperated ophthalmic surgery is reported in this paper. First, characteristics of RCM mechanisms are analyzed. Then, a method to synthesize dual-RCM mechanisms is proposed. Further the mechanical design parameters are optimized to synthesize types of mechanisms meeting functional requirements as well as workspace constraints. The dual-RCM mechanism intended for teleoperated ophthalmic surgery includes two end-effectors: one provides the tool insertion, the other tracks eye movement. The superiority is embodied in the self-synchronized motion of double end-effectors, which allows RCM point of the working instrument to track the penetration point real-time, thereby enhancing microsurgical accuracy. In the proposed implementation, a conceptual helmet mechanical architecture integrating surgical tools with triple-parallelogram linkages is introduced to release the surgeon’s hands by enabling more robotic technologies during the procedures. The vision of the research is to help revolutionize the ophthalmic surgical procedures from bimanual fashion to master-slave teleoperation.

scholarly journals Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

10.5772/5783 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 26 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Kazuhisa Mitobe ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Force Control ◽  
Humanoid Robot ◽  
Flat Surface ◽  
Rotation Angle ◽  
Basic Research ◽  
Orientation Data ◽  
Robotic Arms ◽  
End Effectors

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

Synergy Micro-Electronics Technology with a High Linearity BiCMOS Sample-and-Hold Circuit

2013 ◽  
Vol 473 ◽  
pp. 50-53
Author(s):  
Jie Lin ◽  
Fei Yan Mu
Keyword(s):  
Dynamic Range ◽  
Harmonic Distortion ◽  
High Accuracy ◽  
Pipeline Adc ◽  
Nonlinearity Error ◽  
Front End ◽  
Sample And Hold ◽  
Spurious Free Dynamic Range ◽  
Bicmos Process ◽  
Free Dynamic

A high accuracy BiCMOS sample and hold (S/H) circuit employed in the front end of a12bit 10 MS/s Pipeline ADC is presented. To reduce the nonlinearity error cause by the sampling switch, a signal dependent clock bootstrapping system is introduced. It is implemented using 0.6 um BiCMOS process. An 88.77 dB spurious-free dynamic range (SFDR), and a -105.20 dB total harmonic distortion (THD) are obtained.

Design of a Multi-Palm Robotic Hand for Assembly Tasks

2016 ◽  
Author(s):  
Reza Movassagh-Khaniki ◽  
Neda Hassanzadeh ◽  
Abhijit Makhal ◽  
Alba Perez-Gracia
Keyword(s):  
Collaborative Work ◽  
Synthesis Process ◽  
Robotic Hand ◽  
Robot Arm ◽  
Robotic Hands ◽  
Robotic Arms ◽  
Bimanual Task ◽  
Tree Topologies ◽  
End Effectors ◽  
Assembly Tasks

Some robotic tasks, especially those in which there are interactions between manipulated objects, require the collaborative work of two robotic arms equipped with end-effector grippers or robotic hands. Most of the current applications in which a bimanual task is attempted by a robot use two robot arm manipulators with simple grippers, in which the end-effectors are used for grasping and the remaining motion is performed by the robotic arms. In this work, we propose the design of a highly dexterous multi-fingered robotic hand, able to perform the bimanual task when attached to a simple arm manipulator. Dexterous robotic hands can be designed with more than one splitting stage; their design for a task can be done using kinematic synthesis for tree topologies. The synthesis process is applied in this case to the design of a robotic hand with three palms for a bimanual task consisting of assembling an emergency stop button.

FAT-based robust adaptive control of cooperative multiple manipulators without velocity measurement

Robotica ◽  
2021 ◽  
pp. 1-31
Author(s):  
Ali Deylami ◽  
Alireza Izadbakhsh
Keyword(s):  
Approximation Property ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Fourier Series Expansion ◽  
Unmodeled Dynamics ◽  
Cooperative System ◽  
Robotic Arms ◽  
Robust Adaptive ◽  
End Effectors ◽  
The Stability

Abstract This article addresses the problem of pose and force control in a cooperative system comprised of multiple n-degree-of-freedom (n-DOF) electrically driven robotic arms that move a payload. The proposed controller should be capable of maintaining the position and orientation of the payload in the desired path. In addition, the force exerted by robot end effectors on the object must remain limited. The system has unmodeled dynamics, and measuring the robot joint velocities is impossible. Therefore, a FAT-based observer–controller is designed to estimate the uncertainty and velocities based on universal approximation property of Fourier series expansion. The stability of the system is confirmed based on Lyapunov’s stability theorem. Finally, the proposed adaptive controller–observer is applied on two 3-DOF cooperative robotic arms carrying a payload, and the results are precisely analyzed. The results of the proposed approach are also compared with two state-of-art powerful approximation method.

Galileo E5 Signal Acquisition and Tracking Based on a Wide-Band Customized Universal Peripheral N210 Platform

2013 ◽  
Vol 765-767 ◽  
pp. 2686-2690
Author(s):  
Ning Yan Guo ◽  
Yan Zhao ◽  
Tian Xing Chu
Keyword(s):  
Radio Frequency ◽  
Wide Band ◽  
High Accuracy ◽  
Signal Acquisition ◽  
Multipath Mitigation ◽  
Front End ◽  
Rf Front End ◽  
Galileo E5

GNSS navigation has its own advantages which make researchers focus on how to effectively receive and process GNSS signals. This typically needs to utilize flexible specialized radio frequency front-ends, and we need to investigate novel software solutions. Due to the good performance of the Galileo E5 signal, the study of its acquisition, tracking and multipath mitigation has become increasingly significant. This paper has developed a customized 100MHz wide-band GNSS front-end. Three wide-band datasets of Galileo E5 signal were collected for case study. Final acquisition and tracking results of Galileo E5a signal successfully verified this customized RF front-end usability. It offers great potential for further studying the multi-constellation GNSS compatibility and interoperability to achieve high accuracy and continuity of GNSS navigation.

scholarly journals NIRPS: the Near-InfraRed Planet Searcher joining HARPS on the 3.6-m

2021 ◽  
Author(s):  
Nolan Grieves ◽  
François Bouchy ◽  
René Doyon ◽  
Etienne Artigau ◽  
Lison Malo ◽  
...  
Keyword(s):  
Adaptive Optics ◽  
Near Infrared ◽  
High Efficiency ◽  
State Of The Art ◽  
High Accuracy ◽  
M Dwarfs ◽  
Front End ◽  
Neon Lamp ◽  
Low Mass ◽  
Stability Results

<p>The Near-InfraRed Planet Searcher (NIRPS) is designed to be an ultra-stable infrared spectrograph to be installed on ESO’s 3.6 m Telescope in La Silla, Chile. NIRPS is an adaptive optics (AO) fiber-fed spectrograph operating from 0.98 to 1.8 μm and will be operated simultaneously with the optical high-resolution spectrograph HARPS. NIRPS can operate in two modes fed by two different fiber links permanently mounted at the Cassegrain focus that use either 0.4 arcsecond-fibers for the High Accuracy Mode (HAM) or 0.9 arcsecond-fibers for the High Efficiency Mode (HEM). The wavelength range of NIRPS is optimal for low-mass M dwarfs and the simultaneous NIRPS and HARPS observations will improve stellar activity filtering methods given their different wavelength coverages. The NIRPS front-end and AO system were already tested on-sky at La Silla. The spectrograph and back-end is being shipped to La Silla and installed in Summer/Fall 2021. Already we have adapted the state-of-the-art ESPRESSO data reduction pipeline for NIRPS, obtained accurate wavelength solutions with a Uranium Neon lamp, and obtained drift stability results below 50 cm/s with a Fabry–Pérot etalon. We discuss the current and expected instrument performance and the expected results of NIRPS.</p>

scholarly journals Design and Implementation of a Robotic Arm Assistant with Voice Interaction Using Machine Vision

Automation ◽  
2021 ◽  
Vol 2 (4) ◽  
pp. 238-251
Author(s):  
George Nantzios ◽  
Nikolaos Baras ◽  
Minas Dasygenis
Keyword(s):  
Quality Of Life ◽  
Low Cost ◽  
Kinematic Model ◽  
High Accuracy ◽  
Robotic Arm ◽  
High Definition ◽  
Robotic Arms ◽  
Voice Interaction ◽  
Robotic Assistant

It is evident that the technological growth of the last few decades has signaled the development of several application domains. One application domain that has expanded massively in recent years is robotics. The usage and spread of robotic systems in commercial and non-commercial environments resulted in increased productivity, efficiency, and higher quality of life. Many researchers have developed systems that improve many aspects of people’s lives, based on robotics. Most of the engineers use high-cost robotic arms, which are usually out of the reach of typical consumers. We fill this gap by presenting a low-cost and high-accuracy project to be used as a robotic assistant for every consumer. Our project aims to further improve people’s quality of life, and more specifically people with physical and mobility impairments. The robotic system is based on the Niryo-One robotic arm, equipped with a USB (Universal Serial Bus) HD (High Definition) camera on the end-effector. To achieve high accuracy, we modified the YOLO algorithm by adding novel features and additional computations to be used in the kinematic model. We evaluated the proposed system by conducting experiments using PhD students of our laboratory and demonstrated its effectiveness. The experimental results indicate that the robotic arm can detect and deliver the requested object in a timely manner with a 96.66% accuracy.

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