Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery

2018 ◽  
Vol 15 (04) ◽  
pp. 1850017
Author(s):  
Guoli Song ◽  
Che Hou ◽  
Yiwen Zhao ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Minimally Invasive ◽  
Spinal Surgery ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Control Design ◽  
Torque Sensor ◽  
Minimally Invasive Spinal Surgery ◽  
Minimally Invasive Surgical ◽  
And Control

Design of the hollow modular joint plays an important role in modern robot layout, fixation, and wiring. In this paper, a hollow modular joint that meets the requirement of a minimally invasive surgical robot is proposed. The mechanical and control design is sequentially illustrated, and the torque sensor and its optimization are provided. Furthermore, a free-force control method is introduced. To analyze the designed module, the simulation of the redundant robot, comprised of the designed joint in seven degrees of freedom, is presented. The results of analyses showed that the designed hollow modular joint is valid and effective.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

scholarly journals Minimally invasive techniques in spinal surgery: current practice

1998 ◽  
Vol 4 (2) ◽  
pp. E10 ◽  
Author(s):  
Parviz Kambin ◽  
Thomas Gennarelli ◽  
Frank Hermantin
Keyword(s):  
Minimally Invasive ◽  
Spinal Surgery ◽  
Current Practice ◽  
Herniated Disc ◽  
Operative Techniques ◽  
Spinal Motion ◽  
Minimally Invasive Spinal Surgery ◽  
Epidural Steroid ◽  
Visual Diagnosis ◽  
Invasive Techniques

Minimally invasive spinal surgery under arthroscopic or endoscopic magnification and illumination is emerging as an alternative, reliable method of treatment in a variety of spinal disorders. The operative techniques being used for discectomy and retrieval of herniated disc fragments or stabilization of unstable spinal motion segments are being utilized for visual diagnosis and debridement of infectious discitis and osteomyelitis transpedicular and transforaminal vertebral body biopsy, temporary diagnostic fixation of unstable lumbar motion segments, and transforaminal epidural steroid therapy.

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.

O0009. Preliminary Outcome of Minimally Invasive Spinal Surgery in Spinal Metastasis patients: Chulabhorn Hospital Experience

2021 ◽  
Vol 150 ◽  
pp. 263
Author(s):  
Warayos Trathitephun ◽  
Rathapoom Suwanaratana ◽  
Jatupon Kongtharvonskul ◽  
Wishuda Udomwongsub
Keyword(s):  
Minimally Invasive ◽  
Spinal Surgery ◽  
Spinal Metastasis ◽  
Minimally Invasive Spinal Surgery ◽  
Hospital Experience
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