scholarly journals Material Characterization of Hardening Soft Sponge Featuring MR Fluid and Application of 6-DOF MR Haptic Master for Robot-Assisted Surgery

Materials ◽  
2018 ◽  
Vol 11 (8) ◽  
pp. 1268 ◽  
Author(s):  
Jong-Seok Oh ◽  
Jung Sohn ◽  
Seung-Bok Choi
Keyword(s):  
Viscoelastic Property ◽  
Material Characterization ◽  
Degrees Of Freedom ◽  
Reaction Force ◽  
Robot Assisted ◽  
Magneto Rheological ◽  
6 Degrees Of Freedom ◽  
Force Characteristics ◽  
Robot Assisted Surgery

In this work, the material characterization of hardening magneto-rheological (MR) sponge is analyzed and a robot-assisted surgery system integrated with a 6-degrees-of-freedom (DOF) haptic master and slave root is constructed. As a first step, the viscoelastic property of MR sponge is experimentally analyzed. Based on the viscoelastic property and controllability, a MR sponge which can mimic the several reaction force characteristics of human-like organs is devised and manufactured. Secondly, a slave robot corresponding to the degree of the haptic master is manufactured and integrated with the master. In order to manipulate the robot motion by the master, the kinematic analysis of the master and slave robots is performed. Subsequently, a simple robot cutting surgery system which is manipulated by the haptic master and MR sponge is established. It is then demonstrated from this system that using both MR devices can provide more accurate cutting surgery than the case using the haptic master only.

Characterization of Anastomosis Techniques for Robot Assisted Surgery

2014 ◽  
pp. 109-112
Author(s):  
Jordi Campos ◽  
Enric Laporte ◽  
Gabriel Gili ◽  
Carlos Peñas ◽  
Alicia Casals ◽  
...  
Keyword(s):  
Robot Assisted ◽  
Robot Assisted Surgery

Experimental Characterization of a T-Shaped Programmable Multistable Mechanism

2018 ◽  
Vol 140 (9) ◽  
Author(s):  
Mohamed Zanaty ◽  
Simon Henein
Keyword(s):  
Numerical Simulations ◽  
Reaction Force ◽  
Experimental Measurements ◽  
Experimental Characterization ◽  
Stable States ◽  
Stability Behavior ◽  
The Stability ◽  
Force Characteristics ◽  
Good Agreement

Programmable multistable mechanisms (PMM) exhibit a modifiable stability behavior in which the number of stable states, stiffness, and reaction force characteristics are controlled via their programming inputs. In this paper, we present experimental characterization for the concept of stability programing introduced in our previous work (Zanaty et al., 2018, “Programmable Multistable Mechanisms: Synthesis and Modeling,” ASME J. Mech. Des., 140(4), p. 042301.) A prototype of the T-combined axially loaded double parallelogram mechanisms (DPM) with rectangular hinges is manufactured using electrodischarge machining (EDM). An analytical model based on Euler–Bernoulli equations of the T-mechanism is derived from which the stability behavior is extracted. Numerical simulations and experimental measurements are conducted on programming the mechanism as monostable, bistable, tristable, and quadrastable, and show good agreement with our analytical derivations within 10%.

First Industrial Strength Multi-Axial Robotic Testing Campaign for Composite Material Characterization

2012 ◽  
Author(s):  
John G. Michopoulos ◽  
John C. Hermanson ◽  
Athanasios Iliopoulos
Keyword(s):  
Experimental Data ◽  
Composite Material ◽  
Material Characterization ◽  
Research Laboratory ◽  
Degrees Of Freedom ◽  
Naval Research Laboratory ◽  
Naval Research ◽  
Robotic Testing ◽  
6 Degrees Of Freedom ◽  
Industrial Strength

In this paper we are reporting on the first successful campaign of systematic, automated and massive multiaxial tests for composite material constitutive characterization. The 6 degrees of freedom system developed at the Naval Research Laboratory (NRL) called NRL66.3, was used for this task. This was the in-augural run that served as the validation of the proposed overall constitutive characterization methodology. It involved accomplishing performing 1152 tests in 12 business days reaching a peak throughput of 212 tests per day. We describe the context of the effort in terms of the reasoning and the actual methods behind it. Finally, we present representative experimental data and associated constitutive characterization results for representative loading paths.

Design and control of a parallel mechanism haptic master for robot surgery using magneto-rheological clutches and brakes

2018 ◽  
Vol 29 (19) ◽  
pp. 3829-3844 ◽  
Author(s):  
Seung-Woo Cha ◽  
Seok-Rae Kang ◽  
Yong-Hoon Hwang ◽  
Seung-Bok Choi ◽  
Yang-Sup Lee ◽  
...  
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Repulsive Force ◽  
The Body ◽  
Tracking Accuracy ◽  
Magneto Rheological ◽  
Feed Forward Controller ◽  
Repulsive Forces ◽  
6 Degrees Of Freedom ◽  
And Control

This article presents tracking control performances of the repulsive force and torque of a haptic master with 6 degrees of freedom, which can be applied to robot-assisted minimally invasive surgeries. The proposed haptic master is activated by two types of actuators that use magneto-rheological fluid: magneto-rheological clutch and magneto-rheological brake. The body segment (or lower part) of the haptic master generates the repulsive forces for the three translational axes using the magneto-rheological clutch, while the wrist segment (or upper part) generates the repulsive torque for the three rotational axes through the use of the magneto-rheological brake. After analyzing the kinematic and dynamic equations, an appropriately sized haptic master is designed and manufactured. The field-dependent force and torque characteristics of the magneto-rheological actuators are experimentally investigated. Then, for successful tracking control performances, a fuzzy plus proportional–integral–derivative feedback controller is used for the repulsive force while a feed-forward controller associated with a hysteretic compensator for the repulsive torque. The effectiveness of the proposed 6-degree-of-freedom haptic master is experimentally validated by demonstrating high tracking accuracy of the force and torque.

scholarly journals Differences in tibiofemoral kinematics between the unloaded robotic passive path and a weightbearing knee simulator

2012 ◽  
Vol 3 (2) ◽  
pp. 2 ◽  
Author(s):  
Markus Wünschel ◽  
Ulf Leichtle ◽  
JiaHsuan Lo ◽  
Nikolaus Wülker ◽  
Otto Müller
Keyword(s):  
Knee Joint ◽  
Degrees Of Freedom ◽  
Weight Bearing ◽  
Reaction Force ◽  
Joint Kinematics ◽  
Vertical Ground Reaction Force ◽  
Knee Simulator ◽  
6 Degrees Of Freedom ◽  
Tibiofemoral Kinematics

Cadaveric <em>in vitro</em> studies are essential to test hypotheses concerning surgical manipulations in the same individual. Robotic technologies as well as different knee-models have been developed to get an in-depth comprehension of knee joint kinematics. The purpose of this study was to compare utilization of these different established principles. Ten human cadaveric knee specimens were used to measure the kinematics during a weight-bearing flexion in a 6-degrees-of-freedom knee simulator. While flexing the knee, joint quadriceps muscle forces were dynamically simulated to reach a vertical ground reaction force of 100N. Fourteen knee specimens were mounted in 6-degrees-of-freedom robotic manipulator with a universal force sensor. The unloaded flexing motion of each specimen was measured by finding positions for each degree of flexion where all forces are minimal (passive path). The kinematic data of the kneesimulator and the robot concerning <em>internal-external</em> rotation, <em>anterior-posterior</em> translation, <em>varus-valgus</em> motion, and <em>medial-lateral </em>translation was examined. For all investigated degrees of freedom the kinematics of the robotic passive path differed from the loaded kinematics in the knee simulator. Simulated bodyweight as well as the examination method used has a substantial influence on joint kinematics during flexion which has to be considered when interpreting biomechanical studies as well as clinical tests.

Experimental study of the optimum puncture pattern of robot-assisted needle insertion into hyperelastic materials

2020 ◽  
Vol 235 (1) ◽  
pp. 28-43
Author(s):  
Yao Wang ◽  
Zhuang Fu ◽  
Zhi-Feng Zhao ◽  
Yun Shen ◽  
Tie-Feng Zhang ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Needle Insertion ◽  
Robot Assisted ◽  
Matching Problem ◽  
Insertion Depth ◽  
Ct Guided ◽  
Hyperelastic Materials ◽  
Multiple Regression Method ◽  
Puncture Force ◽  
6 Degrees Of Freedom

The robot-assisted insertion surgery plays a crucial role in biopsy and therapy. This study focuses on determining the optimum puncture pattern for robot-assisted insertion, aiming at the matching problem of needle insertion parameters, thereby to reduce the pain for patients and to improve the reachability to the lesion point. First, a 6-degrees of freedom (DOFs) Computed Tomography (CT)-guided surgical robotic system for minimally invasive percutaneous lung is developed and used to perform puncture experiments. The effects of four main insertion factors on the robotic puncture are verified by designing the orthogonal test, where the inserting object is the artificial skin-like specimen with high transparent property and a digital image processing method is used to analyze the needle tip deflection. Next, the various phases of puncture process are divided and analyzed in detail in view of the tissue deformation and puncture force. Then, short discussion on the comparison of puncture force with different effect factors for the same beveled needle is presented. The same pattern can be observed for all of the cases. Finally, based on the experimental data, the formulations of the puncture force and needle deflection which depends on Gauge size, insertion velocity, insertion angle, and insertion depth are developed using the multiple regression method, which can be used to get an optimum puncture pattern under the constrains of minimum peak force and minimum needle tip deflection. The developed models have the effectiveness and applicability on determining the optimum puncture pattern for one puncture event, and which can also provide insights useful for the setting of insertion parameters in clinical practice.

Robot-Assisted Cortical Bone Trajectory Insertion of Pedicle Screws: 2-Dimensional Operative Video

2019 ◽  
Vol 18 (5) ◽  
pp. E171-E171
Author(s):  
Justice O Agyei ◽  
Asham Khan ◽  
Patrick K Jowdy ◽  
Timothy E O’Connor ◽  
Joshua E Meyers ◽  
...  
Keyword(s):  
Cortical Bone ◽  
Pedicle Screw ◽  
Degrees Of Freedom ◽  
Pedicle Screws ◽  
Complication Rates ◽  
Robot Assisted ◽  
Cortical Bone Trajectory ◽  
Screw Insertion ◽  
Pedicle Screw Insertion ◽  
6 Degrees Of Freedom

Abstract Robot-assisted pedicle screw insertion has been slowly gaining popularity in the spine surgery community. In previous studies, robotics has been shown to increase accuracy and reduce complication rates compared to other navigation technologies, although those studies have been conducted using traditional trajectories for pedicle screw insertion. We present a surgical video in which a robotics system (Mazor X; Mazor Robotics Ltd, Caesarea, Israel) was used to create cortical bone trajectories for the insertion of the screws. The patient in this case is a 52-yr-old woman with severe L4-5 disc herniation requiring a transforaminal interbody fusion with the insertion of pedicle screws. The robotic system's scan-and-plan technique was utilized, in which an intraoperative computed tomography (CT) scan generates a real-time operative plan. Other techniques for inserting pedicle screws using cortical bone trajectories include CT navigation and fluoroscopic guidance. These techniques allow the surgeon to manually direct the screw under precise guidance in multiple planes, although the surgeon is still using all 6 degrees of freedom the human hand provides. With robotic guidance, a pilot hole is drilled, which eliminates 4 of 6 degrees of freedom, which can potentially reduce the risk of misplaced screws. To our knowledge, this is the first video demonstrating pedicle screw insertion through cortical bone trajectories using robotic guidance. Future studies are warranted to compare cortical bone trajectory insertion using different navigation techniques to determine the long-term efficacy of each technique. The patient gave informed consent for surgery and video recording. Institutional review board approval was deemed unnecessary.

scholarly journals Dynamic characterization of multi-component sensors for force and moment

2018 ◽  
Vol 7 (2) ◽  
pp. 577-586 ◽  
Author(s):  
Jan Nitsche ◽  
Rolf Kumme ◽  
Rainer Tutsch
Keyword(s):  
Degrees Of Freedom ◽  
Special Focus ◽  
Dynamic Characterization ◽  
Force Components ◽  
Set Up ◽  
6 Degrees Of Freedom ◽  
Photogrammetric Measurement ◽  
Sinusoidal Excitation ◽  
Load Mass

Abstract. An improved set-up for the characterization of multi-component sensors for force and moment is presented. It aims at calibrating such sensors under continuous sinusoidal excitation. Special focus is put on the design of load masses and adapting elements to activate uniaxial force and moment components where possible. To identify the motion and acceleration of the load mass with 6 degrees of freedom, a photogrammetric measurement system is implemented in the existing set-up. Using the set-up described, different experiments are performed to analyse a commercial multi-component sensor and perform a parameter identification for its force components.

Intramolecular Proton Transfer in the Isomerization of Hydroxyacetone: A Detailed Characterization Based on Reaction Force Analysis and the Bond Fragility Spectrum

2020 ◽  
Author(s):  
Wallace Derricotte ◽  
Huiet Joseph
Keyword(s):  
Chemical Potential ◽  
Reaction Force ◽  
Intramolecular Proton Transfer ◽  
Intermediate Energy ◽  
Force Analysis ◽  
Activation Energy Barrier ◽  
Detailed Characterization ◽  
Proton Transfers ◽  
Reaction Force Constant

The mechanism of isomerization of hydroxyacetone to 2-hydroxypropanal is studied within the framework of reaction force analysis at the M06-2X/6-311++G(d,p) level of theory. Three unique pathways are considered: (i) a step-wise mechanism that proceeds through formation of the Z-isomer of their shared enediol intermediate, (ii) a step-wise mechanism that forms the E-isomer of the enediol, and (iii) a concerted pathway that bypasses the enediol intermediate. Energy calculations show that the concerted pathway has the lowest activation energy barrier at 45.7 kcal mol<sup>-1</sup>. The reaction force, chemical potential, and reaction electronic flux are calculated for each reaction to characterize electronic changes throughout the mechanism. The reaction force constant is calculated in order to investigate the synchronous/asynchronous nature of the concerted intramolecular proton transfers involved. Additional characterization of synchronicity is provided by calculating the bond fragility spectrum for each mechanism.

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