Miniature Continuum Manipulator with 3-DOF Force Sensing for Retinal Microsurgery

2021 ◽  
pp. 1-34
Author(s):  
Tianci Zhang ◽  
Zhongyuan Ping ◽  
Siyang Zuo
Keyword(s):  
Degrees Of Freedom ◽  
Compliant Mechanism ◽  
Force Sensor ◽  
Experimental Results ◽  
Surgical Instruments ◽  
Force Sensing ◽  
Clinical Value ◽  
Artificial Eye ◽  
Force Sensitivity ◽  
Continuum Manipulator

Abstract Retinal microsurgery requires the precise manipulation of delicate tissue in the interior of the eye. Smart surgical instruments with dexterous tip and force sensing capabilities can permit surgeons to perform more flexible surgical procedures and obtain imperceptible force information, thereby improving the safety and efficiency of microsurgery. In this study, we present an intraocular continuum manipulator with three degrees of freedom (DOF) force sensing capabilities. A contact-aided compliant mechanism based on cutting superelastic Nitinol tubes is used to provide high dexterity. It enables two rotational DOFs at the distal end of the manipulator. Fiber Bragg grating (FBG) fibers are used to provide high-resolution force measurements. Moreover, a novel Nitinol flexure was designed to achieve high axial force sensitivity. The experimental results show that the maximum bending angle of the dexterous tip is more than ±45° for each DOF with high repeatability. In addition, the experimental results demonstrate that the proposed force sensor can provide sub-millinewton resolution. Conclusion: The manipulator has also been validated with an artificial eye model, demonstrating the potential clinical value of the manipulator for retinal microsurgery.

Modal Simulation and Testing of a Micro-Manipulator

2004 ◽  
Vol 127 (3) ◽  
pp. 515-519 ◽  
Author(s):  
Yongjun Lai ◽  
Marek Kujath ◽  
Ted Hubbard
Keyword(s):  
Numerical Simulations ◽  
Degrees Of Freedom ◽  
Compliant Mechanism ◽  
Dynamic Properties ◽  
Experimental Results ◽  
Mass Model ◽  
Thermal Actuators ◽  
Micro Manipulator ◽  
Six Dof

A micro-machined manipulator with three kinematic degrees-of-freedom (DOF): x, y, and φ is presented. The manipulator is driven by three thermal actuators. A six DOF discrete spring-mass model of the compliant mechanism is developed which manifests the dynamic properties of the device. Numerical simulations are compared with experimental results.

Pneumatic Bellows Actuator with Force Sensing Ability and Its Application to a Pneumatic Robot

1995 ◽  
Vol 7 (6) ◽  
pp. 474-482 ◽  
Author(s):  
Yasuhiro Hayakawa ◽  
◽  
Sadao Kawamura ◽  
Keyword(s):  
Dynamic Characteristics ◽  
Pressure Sensors ◽  
Force Sensor ◽  
Experimental Results ◽  
Pneumatic Actuator ◽  
Force Sensing ◽  
Friction Forces ◽  
Static And Dynamic Characteristics ◽  
Metal Bellows ◽  
External Forces

In this paper, we design a new pneumatic actuator using metal bellows. Because this actuator has no sliding parts, there is no influence of friction forces. Therefore, it is expected that the actuator has good performance in positioning and generating exact desired forces. Furthermore, because external forces can be precisely measured through pressure sensors, the bellows actuator works as a force sensor. In order to use the bellows actuator as a force sensor (bellows sensor), we investigate the static and dynamic characteristics of the bellows actuator. Based on these experimental results, the capability of the bellows sensor becomes clear. We use the bellows actuator as a sensing actuator which works as a sensor and an actuator simultaneously. In addition, the effectiveness of the actuator is demonstrated through several experimental results. We design one joint of a robot which is antagonistically activated by the two bellows actuators. Based on some experimental results, we disclose the static and dynamic characteristics of the proposed robot and confirm that it can move flexibly following external forces by utilizing the force sensing ability.

Development of a Compliant-Mechanism-Based Compact Three-Axis Force Sensor for High-Precision Manufacturing

2015 ◽  
Author(s):  
Guangbo Hao ◽  
Marc Murphy ◽  
Xichun Luo
Keyword(s):  
High Precision ◽  
Parallel Mechanism ◽  
Compliant Mechanism ◽  
Experimental Testing ◽  
Force Sensor ◽  
Force Sensing ◽  
Linear Matrix ◽  
Precision Manufacturing ◽  
Decoupling Method ◽  
Compliant Parallel Mechanism

This paper develops a light-weight compact three-axis force senor for high-precision manufacturing application. This sensor uses a cubic three-axial translational compliant parallel mechanism to undergo the loading on its end-effector thereby producing voltages through strain gauges on the deformed beams. The cubic compliant parallel mechanism and sensor system are described at first. Force sensing theoretical analysis is then presented followed by the initial experimental testing and analysis. A linear matrix based multi-axis loading decoupling method is also proposed so that the sensed force can maximally reflect the actual applied force in each axis. The work in this paper is expected to lay a foundation for further investigation into the online force sensing in the high-precision machine tool.

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

DESIGN AND DEVELOPMENT OF AN EFFICIENT COMPUTER SIMULATION MODEL FOR RESPONSE ANALYSIS OF A MOORED SEMI-SUBMERSIBLE

2021 ◽  
Vol 161 (A1) ◽  
Author(s):  
V Domala ◽  
R Sharma
Keyword(s):  
Computer Simulation ◽  
Simulation Model ◽  
Degrees Of Freedom ◽  
Experimental Results ◽  
Response Analysis ◽  
Computer Simulation Model ◽  
Governing Equations ◽  
Design And Development ◽  
Mooring Lines ◽  
Steel Wires

This paper presents the design and development of an efficient modular ‘Computer Simulation Model (CSM)’ for response analysis of a moored semi-submersible. The computer simulation model is designed in two split models (i.e. computational and experimental models) and each of these models consists of various modules. The modules are developed from basic governing equations related to motion and modules are integrated and we aim for a seamless integration. The moored semi-submersible is represented mathematically as six degrees of freedom dynamic system and the coupling effects between the structure and mooring lines are considered. The basic geometric configuration of semi- submersible is modelled and analyzed for stability computations in MS-Excel*TM and then the basic governing equations related to motion are modelled mathematically in a module and solved numerically with Ansys-AQWA**TM. The computational model is validated and verified with some available experimental results. The CSM is utilized to study the surge and sway responses with respect to the horizontal range of mooring lines and our results show good validation with the existing experimental results. Our presented results show that the fibre wires have minimum steady state response in surge and sway degrees of freedom as compared with the steel wires. However, they have large drift as compared with steel wires. Finally, we show that the computer simulation model can help in detailed analysis of responses and results can be utilized for design and development of new age semi-submersibles for optimum performances for a given set of parameters.

Experimental and Numerical Hydrodynamic Modeling of an Underwater Manipulator

2001 ◽  
Author(s):  
A. Khanicheh ◽  
A. Tehranian ◽  
A. Meghdari ◽  
M. S. Sadeghipour
Keyword(s):  
Drag Coefficient ◽  
Dynamic Modeling ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Added Mass ◽  
Hydrodynamic Modeling ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Underwater Manipulator ◽  
Three Degrees Of Freedom

Abstract This paper presents the kinematics and dynamic modeling of a three-link (3-DOF) underwater manipulator where the effects of hydrodynamic forces are investigated. In our investigation, drag and added mass coefficients are not considered as constants. In contrast, the drag coefficient is a variable with respect to all relative parameters. Experiments were conducted to validate the hydrodynamic model for a one degree-of-freedom manipulator up to a three degrees-of-freedom manipulator. Finally, the numerical and experimental results are compared and thoroughly discussed.

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

2015 ◽  
Author(s):  
Antonio Ruiz ◽  
Francisco Campa Gomez ◽  
Constantino Roldan-Paraponiaris ◽  
Oscar Altuzarra
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Compliant Mechanism ◽  
Motion Controller ◽  
End Effector ◽  
Compliant Joints ◽  
Hybrid Manipulator ◽  
Compliant Parallel Mechanism ◽  
Actuated Joints

The present work deals with the development of a hybrid manipulator of 5 degrees of freedom for milling moulds for microlenses. The manipulator is based on a XY stage under a 3PRS compliant parallel mechanism. The mechanism takes advantage of the compliant joints to achieve higher repetitiveness, smoother motion and a higher bandwidth, due to the high precision demanded from the process, under 0.1 micrometers. This work is focused on the kinematics of the compliant stage of the hybrid manipulator. First, an analysis of the workspace required for the milling of a single mould has been performed, calculating the displacements required in X, Y, Z axis as well as two relative rotations between the tool and the workpiece from a programmed toolpath. Then, the 3PRS compliant parallel mechanism has been designed using FEM with the objective of being stiff enough to support the cutting forces from the micromilling, but flexible enough in the revolution and spherical compliant joints to provide the displacements needed. Finally, a prototype of the 3PRS compliant mechanism has been built, implementing a motion controller to perform translations in Z direction and two rotations. The resulting displacements in the end effector and the actuated joints have been measured and compared with the FEM calculations and with the rigid body kinematics of the 3PRS.

Design and Analysis of Force Sensor for Condition Monitoring System of Ball Cold Heading Forming

2013 ◽  
Vol 364 ◽  
pp. 253-256 ◽  
Author(s):  
Qi Zhang ◽  
Ying Jun Li ◽  
Ru Jian Ma ◽  
Xiu Hua Men
Keyword(s):  
Condition Monitoring ◽  
Dynamic Performance ◽  
Force Sensor ◽  
Dynamic Measurement ◽  
Wide Frequency Range ◽  
Force Sensing ◽  
Frequency Range ◽  
Advantages And Disadvantages ◽  
Condition Monitoring System ◽  
Forming Defects

In order to solve the forming defects in the steel ball cold heading process, a novel force sensor which chooses the PVDF piezoelectric films as force-sensing elements is designed. The advantages and disadvantages of piezoelectric force sensor on measurement of the cold heading force are compared with existing force sensors. By using FEM, sensor’s linearity and the structure size are analyzed. Compared with the traditional sensor, this structure is more reasonable. The presented PVDF piezoelectric force sensor has wide frequency range, good dynamic performance, and can realize dynamic measurement.

scholarly journals Static Force Measurement Using Piezoelectric Sensors

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Kyungrim Kim ◽  
Jinwook Kim ◽  
Xiaoning Jiang ◽  
Taeyang Kim
Keyword(s):  
Surface Charge ◽  
Piezoelectric Effect ◽  
Force Measurement ◽  
Piezoelectric Materials ◽  
Force Sensor ◽  
Piezoelectric Sensors ◽  
Force Sensing ◽  
Static Force ◽  
Sensing Applications ◽  
Direct Piezoelectric Effect

In force measurement applications, a piezoelectric force sensor is one of the most popular sensors due to its advantages of low cost, linear response, and high sensitivity. Piezoelectric sensors effectively convert dynamic forces to electrical signals by the direct piezoelectric effect, but their use has been limited in measuring static forces due to the easily neutralized surface charge. To overcome this shortcoming, several static (either pure static or quasistatic) force sensing techniques using piezoelectric materials have been developed utilizing several unique parameters rather than just the surface charge produced by an applied force. The parameters for static force measurement include the resonance frequency, electrical impedance, decay time constant, and capacitance. In this review, we discuss the detailed mechanism of these piezoelectric-type, static force sensing methods that use more than the direct piezoelectric effect. We also highlight the challenges and potentials of each method for static force sensing applications.

Vision-force guided precise robotic assembly for 2.5D components in a semistructured environment

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Boyoung Kim ◽  
Minyong Choi ◽  
Seung-Woo Son ◽  
Deokwon Yun ◽  
Sukjune Yoon
Keyword(s):  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Printed Circuit Board ◽  
Force Sensor ◽  
Circuit Board ◽  
Robotic Assembly ◽  
Ccd Cameras ◽  
Content Type ◽  
3 Dimensional ◽  
Aided Design

Purpose Many manufacturing sites require precision assembly. Particularly, similar to cell phones, assembly at the sub-mm scale is not easy, even for humans. In addition, the system should assemble each part with adequate force and avoid breaking the circuits with excessive force. The purpose of this study is to assemble high precision components with relatively reasonable vision devices compared to previous studies. Design/methodology/approach This paper presents a vision-force guided precise assembly system using a force sensor and two charge coupled device (CCD) cameras without an expensive 3-dimensional (3D) sensor or computer-aided design model. The system accurately estimates 6 degrees-of-freedom (DOF) poses from a 2D image in real time and assembles parts with the proper force. Findings In this experiment, three connectors are assembled on a printed circuit board. This system obtains high accuracy under 1 mm and 1 degree error, which shows that this system is effective. Originality/value This is a new method for sub-mm assembly using only two CCD cameras and one force sensor.

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