Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery

2020 ◽  
Author(s):  
John Lowery ◽  
Carl A. Nelson
Keyword(s):  
Laparoscopic Surgery ◽  
Test Bench ◽  
Mechanical Design ◽  
Cost Effective ◽  
Robotic Arm ◽  
Robot Arm ◽  
Kinematic Simulations

Abstract This paper outlines the design of a reconfigurable, partially disposable, tendon-driven robotic arm for providing assistance in laparoscopic surgery. The rationale for its development and design objectives are provided, followed by a description of its mechanical design. Kinematic simulations to assess workspace are presented, and a first-stage assessment of the functionality of a prototype using a custom test bench is also included.

A Robotic Arm for Electric Scooters

2011 ◽  
pp. 94-109
Author(s):  
Samuel N. Cubero
Keyword(s):  
Frail Elderly ◽  
Mechanical Design ◽  
People With Disabilities ◽  
Robotic Arm ◽  
Robot Arm ◽  
Self Sufficiency ◽  
Electric Scooter ◽  
Manipulator Arm ◽  
And Performance ◽  
Three Degree Of Freedom

This chapter describes the mechanical design, manufacture and performance of a three-degree-of-freedom manipulator arm and gripper that can be attached to a mobile vehicle or electric scooter. Known by the acronym “ESRA”, or “Electric Scooter Robot Arm”, this device can be remotely or automatically controlled to pick up and retrieve heavy objects, such as books or grocery products, from high shelves or difficult-to-reach locations. Such tasks are often considered to be arduous or even impossible for the frail elderly and people with disabilities. This chapter describes one example of how the combination of mechanical and electronic engineering technology can be used to perform physically strenuous tasks and enable the frail elderly and people with disabilities to enjoy a greater degree of self-sufficiency, independence and physical productivity. It includes the design process for robotic arm manipulators and actuators. It also provides a brief overview of existing “state of the art” robotic and machine vision technologies, and how these can be used to perform many everyday domestic or household chores.

scholarly journals Design and Construction of a Cost-Effective Didactic Robotic Arm for Playing Chess, Using an Artificial Vision System

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1154 ◽  
Author(s):  
Cristian del Toro ◽  
Carlos Robles-Algarín ◽  
Omar Rodríguez-Álvarez
Keyword(s):  
Visual Servoing ◽  
Mechanical Design ◽  
Vision System ◽  
Cost Effective ◽  
Artificial Vision ◽  
Robotic Arm ◽  
Chess Game ◽  
Human Opponent ◽  
The University ◽  
Design And Construction

This paper presents the design and construction of a robotic arm that plays chess against a human opponent, based on an artificial vision system. The mechanical design was an adaptation of the robotic arm proposed by the rapid prototyping laboratory FabLab RUC (Fabrication Laboratory of the University of Roskilde). Using the software Solidworks, a gripper with 4 joints was designed. An artificial vision system was developed for detecting the corners of the squares on a chessboard and performing image segmentation. Then, an image recognition model was trained using convolutional neural networks to detect the movements of pieces on the board. An image-based visual servoing system was designed using the Kanade–Lucas–Tomasi method, in order to locate the manipulator. Additionally, an Arduino development board was programmed to control and receive information from the robotic arm using Gcode commands. Results show that with the Stockfish chess game engine, the system is able to make game decisions and manipulate the pieces on the board. In this way, it was possible to implement a didactic robotic arm as a relevant application in data processing and decision-making for programmable automatons.

Industrial part localization and grasping using a robotic arm guided by 2D monocular vision

2018 ◽  
Vol 45 (6) ◽  
pp. 794-804 ◽  
Author(s):  
Zhaohui Zheng ◽  
Yong Ma ◽  
Hong Zheng ◽  
Yu Gu ◽  
Mingyu Lin
Keyword(s):  
Camera Calibration ◽  
High Precision ◽  
Calibration Method ◽  
Monocular Vision ◽  
Robotic Arm ◽  
Robot Arm ◽  
Content Type ◽  
Calibration Algorithm ◽  
Target Locating ◽  
Practical Implications

Purpose The welding areas of the workpiece must be consistent with high precision to ensure the welding success during the welding of automobile parts. The purpose of this paper is to design an automatic high-precision locating and grasping system for robotic arm guided by 2D monocular vision to meet the requirements of automatic operation and high-precision welding. Design/methodology/approach A nonlinear multi-parallel surface calibration method based on adaptive k-segment master curve algorithm is proposed, which improves the efficiency of the traditional single camera calibration algorithm and accuracy of calibration. At the same time, the multi-dimension feature of target based on k-mean clustering constraint is proposed to improve the robustness and precision of registration. Findings A method of automatic locating and grasping based on 2D monocular vision is provided for robot arm, which includes camera calibration method and target locating method. Practical implications The system has been integrated into the welding robot of an automobile company in China. Originality/value A method of automatic locating and grasping based on 2D monocular vision is proposed, which makes the robot arm have automatic grasping function, and improves the efficiency and precision of automatic grasp of robot arm.

Improved Artificial Potential Field Method Manipulator Inverse Kinematics

2013 ◽  
Vol 273 ◽  
pp. 119-123
Author(s):  
Ding Jin Huang ◽  
Teng Liu
Keyword(s):  
Potential Field ◽  
Inverse Kinematics ◽  
Search Space ◽  
Field Method ◽  
Robotic Arm ◽  
Artificial Potential Field ◽  
Robot Arm ◽  
Potential Field Method ◽  
Inverse Kinematics Problem ◽  
Artificial Potential Field Method

The use of traditional analytical method for manipulator inverse kinematics is able to get a display solution with the limitations of the application, only when the robotic arm has a specific structure. In view of the insufficient, this paper presents an improved artificial potential field method to solve the inverse kinematics problem of the manipulator which does not have a special structure. Firstly, establish the standard DH model for the robot arm. Then the strategy that improves search space of artificial potential field method and motion control standard is presented by combining artificial potential field method with the manipulator. Finally, the simulation results show that the proposed method is effective.

Topology Optimization in the Conceptual Design: Take the Frame of a Bender as Example

2011 ◽  
Vol 267 ◽  
pp. 297-301
Author(s):  
Yong Wang ◽  
Guo Niu Zhu ◽  
Bo Yu Sun
Keyword(s):  
Topology Optimization ◽  
Design Process ◽  
Mechanical Design ◽  
Cost Effective ◽  
Optimization Techniques ◽  
Structural Topology Optimization ◽  
Structural Topology ◽  
Effective Manner ◽  
Stress And Deformation ◽  
Design Proposal

The paper is concerned with topology optimization in the mechanical design process. The disadvantage of current process of mechanical design is discussed and a new design process based on structural topology optimization is presented. The design process with structural topology optimization in mechanical design is discussed by the example of the frame of a bender. Static analysis is made to the original model first according to the whole structure and working characteristic of the machine, the stress and deformation distribution are obtained and then topology optimization is carried out. On the basis of topology optimization, the layout of the initial design proposal is obtained and the weight of the frame is substantially reduced while the performance enhanced. The application of the method demonstrates that through innovative utilization of the topology optimization techniques, the conceptual proposals can be obtained and the overall mechanical design process can be improved substantially in a cost effective manner.

scholarly journals An integrated system design interface for operating 8-DoF robotic arm

2022 ◽  
Author(s):  
Madhav Rao
Keyword(s):  
Upper Limb ◽  
System Integration ◽  
Integrated System ◽  
Microsoft Kinect ◽  
Robotic Arm ◽  
Robot Arm ◽  
Game Engine ◽  
Kinematic Modeling ◽  
Articulated Robot ◽  
Integrated System Design

This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

A remote center of motion robotic arm for computer assisted surgery

Robotica ◽  
1996 ◽  
Vol 14 (1) ◽  
pp. 103-109 ◽  
Author(s):  
B. Eldridge ◽  
K. Gruben ◽  
D. LaRose ◽  
J. Funda ◽  
S. Gomory ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Computer Assisted Surgery ◽  
Video Camera ◽  
Robotic Arm ◽  
Computer Assisted ◽  
Robot Arm ◽  
Minimally Invasive Surgical ◽  
Tissue Manipulation ◽  
Servo Controller ◽  
Rotation Stage

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.

Nep-Endotrainer: A cost-effective home-made laparoscopic simulation tool

2021 ◽  
Vol 23 (2) ◽  
pp. 52-55
Author(s):  
Uttam Laudari ◽  
Deepak Mahat ◽  
Rosi Pradhan ◽  
Suyog Bhandari ◽  
Deepak Raj Singh
Keyword(s):  
Laparoscopic Surgery ◽  
Mobile Phones ◽  
Cost Effective ◽  
Simulation Tool ◽  
Drilling Machine ◽  
Web Camera ◽  
The Cost ◽  
Training Modules ◽  
Established Treatment ◽  
The Web

Introduction: Laparoscopic surgery is an established treatment modality worldwide. Opportunities to acquire this skill using expensive simulation at workplace are not always feasible due to cost, time and accessibility constraints. Nep-Endotrainer is a cost effective homemade laparoscopic simulation tool built in Nepal. Methods: Nep-Endotrainer was built using plastic manikins easily available in market. Nine apertures were created with a drilling machine, four on each side of umbilicus and one at the epigastric region. These apertures were covered by thick piece of rubber of vehicle tire with apertures in them. Logitech® C270 HD webcam was fixed interiorly with metal screws. The base of the manikin was fixed to a wooden board with hinge joint. Five different interchangeable training modules were assembled in 10×10 cm2 size wooden boards. The LED light was fixed interiorly near the web camera. The camera USB can be easily connected with laptops, tablets and mobile phones. We used discarded hand instruments from laparoscopic centers to reduce the cost of the endotrainer. Conclusion: Nep-Endotrainer is accessible to any personal budget and can be readily constructed. It allows more frequent practice at home, outside the venue and hours of surgical departments.

Underactuated Part Alignment System (UPAS) for Industrial Assembly Tasks

2011 ◽  
Author(s):  
Brian J. Slaboch ◽  
Philip Voglewede
Keyword(s):  
Degrees Of Freedom ◽  
Vertical Plane ◽  
Cost Effective ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Planning Techniques ◽  
Alignment System ◽  
Compliant Assembly ◽  
Industrial Assembly ◽  
Assembly Tasks

This paper introduces the Underactuated Part Alignment System (UPAS) as a cost-effective and flexible approach to aligning parts in the vertical plane prior to an industrial robotic assembly task. The advantage of the UPAS is that it utilizes the degrees of freedom (DOFs) of a SCARA (Selective Compliant Assembly Robot Arm) type robot in conjunction with an external fixed post to achieve the desired part alignment. Three path planning techniques will be presented that can be used with the UPAS to achieve the proper part rotation.

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