A remote center of motion robotic arm for computer assisted surgery

SummaryWe have designed a robotic arm based on a double parallel four bar linkage to act as an assistant in minimally invasive surgical procedures. The remote center of motion (RCM) geometry of the robot arm kinematically constraints the robot motion such that minimal translation of an instrument held by the robot takes place at the entry portal into the patientApos;s body. In addition to the two rotational degrees of freedom comprising the RCM arm, distal translation and rotation are provided to manoeuver the instrument within the patient's body about an axis coincident with the RCM. An XYZ translation stage located proximal to the RCM arm provides positioning capability to establish the RCM location relative to the patients anatomy. An electronics set capable of controlling the system, as well as performing a series of safety checks to verify correct system operation, has also been designed and constructed. The robot is capable of precise positional motion. Repeatability in the ±10 micron range is demonstrated. The complete robotic system consists of the robot hardware and an IBM PC-AT based servo controller connected via a custom shared memory link to a host IBM PS/2. For laparoscopic applications, the PS/2 includes an image capture board to capture and process video camera images. A camera rotation stage has also been designed for this application. We have successfully demonstrated this system as an assistant in a laparoscopic cholecystectomy. Further applications for this system involving active tissue manipulation are under development.

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Development of a Robotic Arm for Automated Harvesting of Asparagus

European Journal of Agriculture and Food Sciences ◽

10.24018/ejfood.2020.2.1.18 ◽

2020 ◽

Vol 2 (1) ◽

Author(s):

Yuki Funami ◽

Shinji Kawakura ◽

Kotaro Tadano

Keyword(s):

Input Data ◽

Degrees Of Freedom ◽

Robotic Arm ◽

Pneumatic Cylinder ◽

Agricultural Crops ◽

Robot Arm ◽

Linkage Mechanism ◽

Robot System ◽

Wheeled Robot ◽

Agricultural Setting

We designed and developed an original arm-robot system that harvests asparagus in both outdoor and indoor agricultural fields. Using the system, we carried out harvesting work automatically with input data related to asparagus vegetation in restricted settings. The developed fixed-site (non-wheeled) robot can reach out its arm to a stem of asparagus from a passage between two ridges on cultivated farmland without touching non-target stems or requiring changes to the farm conditions. Additionally, the hand at the tip of the arm stably grasps, cuts, harvests, and throws the stem it into a specific bag made for the gathering of agricultural crops. In mechanical terms, our originally developed robot arm has four degrees of freedom and is driven by motors. It harvests target asparagus stems without coming into contact with other objects in an agricultural setting, and the hand using the linkage mechanism of a pneumatic cylinder driven by air pressure, can hold the stem firmly and cut it. Our repetitive verification experiments showed that the mechanism is sufficiently accurate. The present study confirmed the robot arm system could be used for automatically harvesting asparagus, and the system was endorsed by several farmers. Moreover, we carried out experiments of harvesting asparagus on actual outdoor land and successfully harvested three stems sequentially under the condition that the operator obtained the positional coordinates earlier.

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Craniofacial Osteomas: From Diagnosis to Therapy

Journal of Clinical Medicine ◽

10.3390/jcm10235584 ◽

2021 ◽

Vol 10 (23) ◽

pp. 5584

Author(s):

Achille Tarsitano ◽

Francesco Ricotta ◽

Paolo Spinnato ◽

Anna Maria Chiesa ◽

Maddalena Di Carlo ◽

...

Keyword(s):

Reconstructive Surgery ◽

Imaging Modality ◽

Cone Beam Ct ◽

Bone Lesion ◽

Computer Assisted Surgery ◽

Computer Assisted ◽

Continuous Growth ◽

Minimally Invasive Surgical ◽

Adjacent Structures ◽

Bony Lesions

An osteoma is a benign bone lesion with no clear pathogenesis, almost exclusive to the craniofacial area. Osteomas show very slow continuous growth, even in adulthood, unlike other bony lesions. Since these lesions are frequently asymptomatic, the diagnosis is usually made by plain radiography or by a computed tomography (CT) scan performed for other reasons. Rarely, the extensive growth could determine aesthetic or functional problems that vary according to different locations. Radiographically, osteomas appear as radiopaque lesions similar to bone cortex, and may determine bone expansion. Cone beam CT is the optimal imaging modality for assessing the relationship between osteomas and adjacent structures, and for surgical planning. The differential diagnosis includes several inflammatory and tumoral pathologies, but the typical craniofacial location may aid in the diagnosis. Due to the benign nature of osteomas, surgical treatment is limited to symptomatic lesions. Radical surgical resection is the gold standard therapy; it is based on a minimally invasive surgical approach with the aim of achieving an optimal cosmetic result. Reconstructive surgery for an osteoma is quite infrequent and reserved for patients with large central osteomas, such as big mandibular or maxillary lesions. In this regard, computer-assisted surgery guarantees better outcomes, providing the possibility of preoperative simulation of demolitive and reconstructive surgery.

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Teaching Manipulator Kinematics by Painting With Light

Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2011-47670 ◽

2011 ◽

Cited By ~ 1

Author(s):

Michael Shomin ◽

Jonathan Fiene

Keyword(s):

Inverse Kinematics ◽

Three Dimensional ◽

Robotic Manipulators ◽

Video Camera ◽

Robotic Arm ◽

End Effector ◽

Teaching Platform ◽

Manipulator Arm ◽

Servo Controller ◽

Six Degree Of Freedom

In this paper, we examine the creation and benefits of a new teaching platform to introduce and reinforce the key concepts of robotic manipulators in an introductory-level robotics course. This system combines a vintage PUMA 260 six-degree-of-freedom robotic arm with modern control circuitry and a Matlab API. The API operates as a servo controller for the robot, thereby allowing students to apply their knowledge of inverse kinematics to a real manipulator arm. To further motivate the exploration of manipulators, we have developed an open-ended project where students engage in the art of three-dimensional light painting. To facilitate this activity, a tricolor LED has been affixed to the end-effector of the robot. With a digital SLR camera, we take a long-exposure photograph as the robot is driven through a trajectory, effectively painting a picture with the end effector. We have also developed a method to quickly assemble pseudo-long-exposure photographs and videos using an inexpensive video camera. We believe this novel setup and project are an effective way to engage and motivate students to learn the underlying math and dynamics of robotic manipulators.

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Derivation of Forward and Inverse Kinematics of 8 - Degrees of Freedom Based Bio-Inspired Humanoid Robotic Arm

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.984-985.1245 ◽

2014 ◽

Vol 984-985 ◽

pp. 1245-1252 ◽

Cited By ~ 1

Author(s):

Jayabalan Sudharsan ◽

L. Karunamoorthy

Keyword(s):

Elbow Joint ◽

Degrees Of Freedom ◽

Humanoid Robot ◽

Learning Algorithm ◽

Inverse Kinematic ◽

Robotic Arm ◽

Human Being ◽

Robot Arm ◽

End Effector ◽

Almost All

Designing a humanoid robot is a complex issue and the exact resemblance of human arm movements has not been achieved in many of the previously developed robots. This paper is going to be much focused on the design of a humanoid robot arm which has a unique approach which has never been developed earlier. Even though all the robots that have been developed using 6-Degrees of Freedom (DOF) and 7-DOF can reach any point in the space, some of the orientation cannot be reached by the end effector plane effectively. So an 8-DOF freedom based robotic arm has been specially designed and developed to resemble the exact movements of the human being. This robot has 3-DOF for shoulder joint, 2-DOF for the elbow joint, and 3-DOF for the wrist with fingers as the end effector. Almost all the robots have only 1-DOF to the elbow joint but here 2-DOF has been proposed to resemble the exact movements of the human being (2-DOF at elbow) to solve the above mentioned problem. Literature reviews and design model are discussed in detail to support the proposal that has been made. Forward and inverse Kinematic relationships are also obtained for the joint link parameter. This humanoid robot arm which has been designed and developed is one of the modules of a human size humanoid robot RALA (Robot based on Autonomous Learning Algorithm).

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Implementasi Persamaan Kinematik Maju Pada Robot Manipulator

Elektron : Jurnal Ilmiah ◽

10.30630/eji.6.1.66 ◽

2014 ◽

Vol 6 (1) ◽

pp. 66-75

Author(s):

Herizon Herizon ◽

Ade Diana

Keyword(s):

Degrees Of Freedom ◽

Robot Manipulator ◽

Angular Position ◽

Robotic Arm ◽

Equation Modeling ◽

Forward Kinematics ◽

Robot Arm ◽

Kinematics Modeling ◽

Trigonometric Equations ◽

Manipulator Control

Robot is one technology that is being developed at this time. Robot manipulators are widely used in industry, especially robotic arm that has a certain degree of freedom. The problems that occurred in the robot arm is the accuracy in determining the position of the object to be moved. This study aims to apply the method forward kinematics equation modeling on the movement of the robot manipulator in particular robot arm 3 degrees of freedom (DOF) equipped with a gripper which serves to clamp and move the object. The method used in this study is an experimental method in phases: the design of hardware and software, interconnect hardware and software in the system of movement of the robot. Joints actuator using servo motors. Manipulator control system is used to adjust the angular position of each joint with CodeVisionAVR programming language that is sent in parallel to the motor driver so as to produce pulses to move the bike. Forward kinematics equation modeling using trigonometric equations. Forward kinematics modeling applications on the movement of the robot arm that is used to provide information about the value of the angle and the coordinates of each joint. Results of testing the hardware controlled by software to show the error (error) the movement of each joint is varied by between 0.06% - 2.567%.

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High-resolution measurement of birefringent fine structure in living cells using a new polarized light microscope

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100136647 ◽

1995 ◽

Vol 53 ◽

pp. 54-55

Author(s):

Rudolf Oldenbourg

Keyword(s):

Light Microscope ◽

Fluorescent Dyes ◽

Polarized Light ◽

Processing System ◽

Video Camera ◽

Molecular Organization ◽

Computer Assisted ◽

Image Recording ◽

Birefringent Crystal ◽

Technological Advances

The recent renaissance of the light microsope is fueled in part by technological advances in components on the periphery of the microscope, such as the laser as illumination source, electronic image recording (video), computer assisted image analysis and the biochemistry of fluorescent dyes for labeling specimens. After great progress in these peripheral parts, it seems timely to examine the optics itself and ask how progress in the periphery facilitates the use of new optical components and of new optical designs inside the microscope. Some results of this fruitful reflection are presented in this symposium.We have considered the polarized light microscope, and developed a design that replaces the traditional compensator, typically a birefringent crystal plate, with a precision universal compensator made of two liquid crystal variable retarders. A video camera and digital image processing system provide fast measurements of specimen anisotropy (retardance magnitude and azimuth) at ALL POINTS of the image forming the field of view. The images document fine structural and molecular organization within a thin optical section of the specimen.

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New polarized-light microscope for fast and orientation independent measurement of birefringent fine structure

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100146254 ◽

1993 ◽

Vol 51 ◽

pp. 82-83

Author(s):

Rudolf Oldenbourg

Keyword(s):

Light Microscope ◽

Polarized Light ◽

Video Camera ◽

Limited Range ◽

Image Point ◽

Computer Assisted ◽

Optical Modulators ◽

Anisotropic Structures ◽

Long Time ◽

Computer Assisted Image

The polarized light microscope has the unique potential to measure submicroscopic molecular arrangements dynamically and non-destructively in living cells and other specimens. With the traditional pol-scope, however, single images display only those anisotropic structures that have a limited range of orientations with respect to the polarization axes of the microscope. Furthermore, rapid measurements are restricted to a single image point or single area that exhibits uniform birefringence or other form of optical anisotropy, while measurements comparing several image points take an inordinately long time.We are developing a new kind of polarized light microscope which combines speed and high resolution in its measurement of the specimen anisotropy, irrespective of its orientation. The design of the new pol-scope is based on the traditional polarized light microscope with two essential modifications: circular polarizers replace linear polarizers and two electro-optical modulators replace the traditional compensator. A video camera and computer assisted image analysis provide measurements of specimen anisotropy in rapid succession for all points of the image comprising the field of view.

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Computer-Assisted High-Re Solution TEM

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100179567 ◽

1990 ◽

Vol 48 (1) ◽

pp. 162-163

Author(s):

F.A. Ponce ◽

H. Hikashi

Keyword(s):

Signal To Noise Ratio ◽

Accurate Determination ◽

Computer Software ◽

Video Camera ◽

Image Contrast ◽

Objective Lens ◽

Computer Assisted ◽

Optical Parameters ◽

Astigmatism Correction

The determination of the atomic positions from HRTEM micrographs is only possible if the optical parameters are known to a certain accuracy, and reliable through-focus series are available to match the experimental images with calculated images of possible atomic models. The main limitation in interpreting images at the atomic level is the knowledge of the optical parameters such as beam alignment, astigmatism correction and defocus value. Under ordinary conditions, the uncertainty in these values is sufficiently large to prevent the accurate determination of the atomic positions. Therefore, in order to achieve the resolution power of the microscope (under 0.2nm) it is necessary to take extraordinary measures. The use of on line computers has been proposed [e.g.: 2-5] and used with certain amount of success.We have built a system that can perform operations in the range of one frame stored and analyzed per second. A schematic diagram of the system is shown in figure 1. A JEOL 4000EX microscope equipped with an external computer interface is directly linked to a SUN-3 computer. All electrical parameters in the microscope can be changed via this interface by the use of a set of commands. The image is received from a video camera. A commercial image processor improves the signal-to-noise ratio by recursively averaging with a time constant, usually set at 0.25 sec. The computer software is based on a multi-window system and is entirely mouse-driven. All operations can be performed by clicking the mouse on the appropiate windows and buttons. This capability leads to extreme friendliness, ease of operation, and high operator speeds. Image analysis can be done in various ways. Here, we have measured the image contrast and used it to optimize certain parameters. The system is designed to have instant access to: (a) x- and y- alignment coils, (b) x- and y- astigmatism correction coils, and (c) objective lens current. The algorithm is shown in figure 2. Figure 3 shows an example taken from a thin CdTe crystal. The image contrast is displayed for changing objective lens current (defocus value). The display is calibrated in angstroms. Images are stored on the disk and are accessible by clicking the data points in the graph. Some of the frame-store images are displayed in Fig. 4.

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