scholarly journals Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Mohammad Jabari ◽  
Manizhe Zakeri ◽  
Farrokh Janabi-Sharifi ◽  
Somayeh Norouzi-Ghazbi
Keyword(s):  
Inverse Kinematics ◽  
Body Cavity ◽  
The Body ◽  
Tracking Accuracy ◽  
Continuum Robots ◽  
Concentric Tube Robots ◽  
Constrained Environments ◽  
Force Range ◽  
The Cost ◽  
Distal Tube

Inverse kinematics (IK) of concentric tube continuum robots (CTRs) is associated with two main problems. First, the robot model (e.g., the relationship between the configuration space parameters and the robot end-effector) is not linear. Second, multiple solutions for the IK are available. This paper presents a general approach to solve the IK of CTRs in the presence of constrained environments. It is assumed that the distal tube of the CTR is inserted into a cavity while its proximal end is placed inside a tube resembling the vessel enabling the entry to the organ cavity. The robot-tissue interaction at the beginning of the organ-cavity imposed displacement and force constraints to the IK problem to secure a safe interaction between the robot and tissue. The IK in CTRs has been carried out by treating the problem as an optimization problem. To find the optimized IK of the CTR, the cost function is defined to be the minimization of input force into the body cavity and the occupied area by the robot shaft body. The optimization results show that CTRs can keep the safe force range in interaction with tissue for the specified trajectories of the distal tube. Various simulation scenarios are conducted to validate the approach. Using the IK obtained from the presented approach, the tracking accuracy is achieved as 0.01 mm which is acceptable for the application.

scholarly journals A low-cost wireless endoscope camera: a preliminary report

2021 ◽  
Vol 27 (1) ◽  
Author(s):  
J. M. Lazarus ◽  
M. Ncube
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Video Transmission ◽  
Low Cost ◽  
Battery Life ◽  
Resource Constrained ◽  
High Definition ◽  
Industry Standard ◽  
Constrained Environments ◽  
The Cost

Abstract Background Technology currently used for surgical endoscopy was developed and is manufactured in high-income economies. The cost of this equipment makes technology transfer to resource constrained environments difficult. We aimed to design an affordable wireless endoscope to aid visualisation during rigid endoscopy and minimally invasive surgery (MIS). The initial prototype aimed to replicate a 4-mm lens used in rigid cystoscopy. Methods Focus was placed on using open-source resources to develop the wireless endoscope to significantly lower the cost and make the device accessible for resource-constrained settings. An off the shelf miniature single-board computer module was used because of its low cost (US$10) and its ability to handle high-definition (720p) video. Open-source Linux software made monitor mode (“hotspot”) wireless video transmission possible. A 1280 × 720 pixel high-definition tube camera was used to generate the video signal. Video is transmitted to a standard laptop computer for display. Bench testing included latency of wireless digital video transmission. Comparison to industry standard wired cameras was made including weight and cost. The battery life was also assessed. Results In comparison with industry standard cystoscope lens, wired camera, video processing unit and light source, the prototype costs substantially less. (US$ 230 vs 28 000). The prototype is light weight (184 g), has no cables tethering and has acceptable battery life (of over 2 h, using a 1200 mAh battery). The camera transmits video wirelessly in near real time with only imperceptible latency of < 200 ms. Image quality is high definition at 30 frames per second. Colour rendering is good, and white balancing is possible. Limitations include the lack of a zoom. Conclusion The novel wireless endoscope camera described here offers equivalent high-definition video at a markedly reduced cost to contemporary industry wired units and could contribute to making minimally invasive surgery possible in resource-constrained environments.

Myiasis in Bufo regularis caused by a Tabanid Larva

Parasitology ◽  
1924 ◽  
Vol 16 (1) ◽  
pp. 111-112
Author(s):  
Edward Hindle
Keyword(s):  
Fibrous Tissue ◽  
Dorsal Surface ◽  
Body Cavity ◽  
The Body ◽  
Careful Examination ◽  
Large Female ◽  
Considerable Time ◽  
Ventral Region ◽  
Cylindrical Structure ◽  
The Right

In December, 1922, whilst dissecting a large female example of Bufo regularis, one of my students noticed a cylindrical structure extending along the ventral region of the body-cavity. A careful examination showed that this structure consisted of an elongated sac-like diverticulum of the right lung, containing an almost full-grown specimen of a dipterous larva, which could be seen through the membraneous wall of the diverticulum. The base of the latter, in addition to its point of origin from the lung, was also connected to the dorsal surface of the liver by strands of fibrous tissue, suggesting that the growth had been in existence some considerable time in order to cause such adhesions. Posteriorly, the diverticulum hung freely in the body cavity and extended to the extreme hinder end. Its dimensions were 5·5 cm. in length, by 0·5 cm. in diameter, but tapering towards each extremity.

ENCAPSULATION OF RHABDITOID NEMATODES IN MOSQUITOES

1962 ◽  
Vol 40 (7) ◽  
pp. 1269-1275 ◽  
Author(s):  
Joan F. Bronskill
Keyword(s):  
Aedes Aegypti ◽  
Endemic Species ◽  
Body Cavity ◽  
Fourth Instar ◽  
The Body ◽  
Histological Structure ◽  
Adult Tissue ◽  
Defence Reaction ◽  
Blood Sinus

In third and fourth instar larvae of Aedes aegypti (L.), juveniles of the rhabditoid, DD136, penetrate the blood sinus and cardial epithelium of the proventriculus to enter the body cavity of the host, where they complete their development. By 5 hours, a thick capsule developed about many of the ensheathed immature adults of DD136 within the body cavity of A. aegypti larvae. This rapid defence reaction of the mosquito to DD136, which has both a melanin and a cellular manifestation, occurs both in the exotic mosquito A. aegypti and in the two endemic species tested, Aedes stimulans (Walker) and Aedes trichurus (Dyar). The resistance of A. stimulans to an endemic rhabditoid, possibly of the Diplogasteridae, is also similar. The histological structure of the capsule is not affected during metamorphosis in A. aegypti; however, during histogenesis of adult tissue displacement and (or) distortion of some tissues and organs may be caused by the presence of the capsule within the host's body cavity. The activity of the adult A. aegypti is normal when this distortion or displacement is minor. Though usually encapsulated DD136 are retained within the body cavity of A. aegypti during metamorphosis, sometimes they are partially or completely expelled from the host's body cavity at the time of molting.

Studies on Tapeworm Physiology

1949 ◽  
Vol 26 (1) ◽  
pp. 1-15
Author(s):  
J. D. SMYTH
Keyword(s):  
Bacterial Infections ◽  
Detrimental Effect ◽  
Horse Serum ◽  
Body Cavity ◽  
The Body ◽  
Nutrient Media ◽  
Medium Strength ◽  
By Products ◽  
Histochemical Examination

1. Plerocercoid larvae of the pseudophyllidean cestode Ligula intestinalis from the body cavity of roach, were cultured in vitro at 40°C. in a variety of saline and nutrient media. About 65% of such cultures were aseptic. 2. During cultivation, larvae produced acid by-products (unidentified) and the pH fell rapidly. 3. The presence of these acid by-products slowed down development, or, if present in sufficient quantity, caused death. 4. In order to obtain development in nutrient media in a period (3 days) comparable to that required in a bird (the normal host) it was necessary to renew the medium 24-hourly. 5. 6% of the eggs produced from a worm cultured in horse serum were fertile. Fertile eggs were never obtained from larvae cultured in any other media. 6. Certain bacterial infections had no apparent detrimental effect on development, but others were toxic. 7. Some larvae underwent development in non-nutrient medium (¾ strength Locke's solution). The exact conditions under which this occurred was not determined. 8. Fragments (3 cm. long), of larvae or larvae with either scolex or posterior half removed, underwent development to the stage of oviposition in nutrient media. 9. Histochemical examination revealed that the plerocercoid larvae were almost fat-free. During cultivation, very large quantities of cytoplasmic fat were produced the quantity being proportional to the duration of cultivation. Fat was produced even under starvation conditions (i.e. during cultivation in saline) and can be considered a metabolic by-product. 10. The fresh plerocercoid contained great quantities of glycogen in the parenchyma and muscle regions. After cultivation in nutrient or saline media, considerable quantities were still present.

Influence of the cost of technological equipment of body production on indicators of efficiency of working processes

2021 ◽  
pp. 28-32
Author(s):  
Keyword(s):  
Quality Index ◽  
Production Efficiency ◽  
Statistical Data ◽  
The Body ◽  
Technological Equipment ◽  
Production Body ◽  
Body Production ◽  
The Cost ◽  
Efficiency Indicators ◽  
Selection Of

The possibilities for the development of bodywork in the context of the growing level of competition are analyzed in the article. The technological processes of bodywork are considered and the problem of choosing technological equipment is indicated. The statistical data about the efficiency indicators of company body divisions, operating in the body repair market in Krasnoyarsk, are presented. A composite quality index for the equipment of the bodywork department (using the example of body stocks) is proposed and calculated, and on its basis, some recommendations are given for companies which plan to enter the market of body repair services. Keywords: body production, body repair, body equipment, body production efficiency, selection of technological equipment

Comparison of Inverse Kinematics Algorithms for Multi-Section Continuum Robots

2021 ◽  
Vol 22 (8) ◽  
pp. 420-424
Author(s):  
D. Yu. Kolpashchikov ◽  
O. M. Gerget
Keyword(s):  
Inverse Kinematics ◽  
Complex Geometry ◽  
Forward Kinematics ◽  
Non Destructive Testing ◽  
Invasive Procedures ◽  
Destructive Testing ◽  
Continuum Robots ◽  
Unique Type ◽  
Non Destructive ◽  
Constant Section

Continuum robots are a unique type of robots that move due to the elastic deformation of their own body. Their flexible design allows them to bend at any point along their body, thus making them usable in workspaces with complex geometry and many obstacles. Continuum robots are used in industry for non-destructive testing and in medicine for minimally invasive procedures and examinations. The kinematics of continuum robots consisting of a single bending section are well known, as is the forward kinematics for multi-section continuum robots. There exist efficient algorithms for them. However, the problem of inverse kinematics for multi-section continuum robots is still relevant. The complexity of the inverse kinematics for multi-section continuum robots is quite high due to the nonlinearities of the robots’ motion. The article discusses in detail the modification of the FABRIK algorithm proposed by the authors, as well as a Jacobian-based iterative algorithm. A comparison of inverse kinematics algorithms for multi-section continuum robots with constant section length is given and the results of the experiment are described.

Improving the efficiency of metal-bonded diamond abrasive end tools by improving manufacturing technology

2021 ◽  
Vol 23 (2) ◽  
pp. 66-80
Author(s):  
Valentin Smirnov ◽  
◽  
Dmitry Lobanov ◽  
Vadim Skeeba ◽  
Ivan Golyushov ◽  
...  
Keyword(s):  
High Speed ◽  
High Speed Steel ◽  
Carbon Steels ◽  
Manufacturing Technology ◽  
The Body ◽  
Processing Technologies ◽  
Medium Carbon ◽  
The Cost ◽  
Diamond Abrasive ◽  
Bearing Part

Introduction. Difficult-to-machine materials with enhanced physical and mechanical properties are increasingly being used in various industries. Such materials are used in mechanical engineering for the manufacture of parts and assemblies of machines and mechanisms, in the production and processing of food products where increased operational requirements are required. In modern production, along with traditional methods of intensifying technological operations, combined and hybrid processing technologies are used. For the finishing of products, abrasive grinding with a diamond tool is used. One of the problems hindering the wide practical application of this method in industry is the fact that it has a high prime cost caused by the cost of materials used in the manufacture and the laboriousness of the tool shaping process. This leads to the need to develop a new technology for manufacturing diamond tools. The purpose of the work is to increase the efficiency of the end diamond abrasive tool with a metal bond by using carbon steels as a body material, increasing the strength of the connection between the body and the diamond-bearing part, as well as choosing an effective tool manufacturing technology. Research methodology. To gain this task, a technology for manufacturing end diamond abrasive tools is developed and tested. Allowing using the technology of capacitor welding to connect the diamond-bearing part with the shank and use medium-carbon hardened high-quality steels with a hardness of 45-60 HRC as the shank material. The strength of the connection of the body with the working diamond-bearing part of the grinding head samples is determined by tensile testing on a 1958U10 tensile machine with maximum load 100 kN. The quality of the joint is assessed visually by the presence of discontinuities in the joint, as well as by examining the microstructure and measuring the microhardness of the weld and heat-affected zones. The microhardness of the welded joint is measured using an HMV-G21ST semi-automatic microhardness tester (Shimadzu, Japan) at a load of 50 g. Results and discussion. Thus, the results of comparative studies allow us to assert that the strength of the connection between the shank and the working diamond-bearing part according to the proposed technology surpasses similar characteristics of the strength of the connection between the shank and the diamond-bearing layer of grinding heads obtained by the method selected by the prototype. Conclusions. The proposed technology for the manufacture of diamond heads increases the strength of the connection between the body and the diamond-bearing working part, reduces the cost of manufacturing the grinding heads due to the use of hardened medium-carbon steels as the material of the tool body instead of high-speed steel grades, the technology is simplified and the possibility of automating the manufacture of tools appears.

scholarly journals The occurrence of Contracaecum sp. larvae (Nematoda : Anisakidae) in the catfishClarias gariepinus (Burchell) from Lake Chivero, Zimbabwe

2004 ◽  
Vol 71 (1) ◽  
Author(s):  
M. Barson
Keyword(s):  
Significant Relationship ◽  
Condition Factor ◽  
Clarias Gariepinus ◽  
Parasite Prevalence ◽  
Body Cavity ◽  
The Body ◽  
Nematode Parasites ◽  
Significant Difference ◽  
Third Stage ◽  
Males And Females

Clarias gariepinus were collected from Lake Chivero, Zimbabwe, and examined for nematode parasites from November 2000 to May 2002. Of the 202 specimens collected, 42.6 % were infected with third-stage larvae of Contracaecum sp. in the body cavity. The intensity of the infection was 1-7 worms per fish (mean intensity = 2.2). Seasonal variation in the prevalence of the parasite was not obvious and there was no significant difference in the prevalence of infection between males and females (c2 = 2.228; P > 0.05). No significant relationship between host size and prevalence was established. There was also no significant relationship between intensity and the body condition factor (r = 0.11; P > 0.05). The low parasite prevalence may have been caused by the disruption of the infection cycle since piscivorous birds, which are the final hosts of the parasite, do not feed on C. gariepinus in Lake Chivero.

scholarly journals Studies of the Nucleopolyhedrovirus Infection Process in Insects by Using the Green Fluorescence Protein as a Reporter

1998 ◽  
Vol 72 (4) ◽  
pp. 3377-3382 ◽  
Author(s):  
John W. Barrett ◽  
Andy J. Brownwright ◽  
Mark J. Primavera ◽  
Subba Reddy Palli
Keyword(s):  
Fat Body ◽  
Secondary Infection ◽  
Green Fluorescence Protein ◽  
Body Cavity ◽  
Infection Process ◽  
The Body ◽  
Green Fluorescence ◽  
Temporal Regulation ◽  
Baculovirus Infection ◽  
Fluorescence Protein

ABSTRACT A recombinant Autographa californica multicapsid nucleopolyhedrovirus (AcMNPV) expressing the green fluorescence protein (GFP) under the control of the AcMNPV polyhedrin promoter was constructed to study the spatial and temporal regulation of baculovirus infection in a permissive host. Larvae that ingested AcMNPV-GFP showed localized expression of GFP in the midgut epithelial cells, as well as hemocytes, at 24 h postinfection. The presence of fluorescence in these tissues indicated not only that the virus was replicating but also that the very late viral proteins were being synthesized. Secondary infection occurred within the tracheal cells throughout the body cavity, confirming earlier reports, and these foci of infection allowed entry of the virus into other tissues, such as the epidermis and the fat body.

A study of the host relations of Halictophagus pontifex Fox (Strepsiptera), a parasite of Cercopidae (Hem., Aphrophorinae), in Uganda

1970 ◽  
Vol 60 (1) ◽  
pp. 33-42 ◽  
Author(s):  
D. J. Greathead
Keyword(s):  
Regression Analysis ◽  
Life Cycle ◽  
Multiple Regression Analysis ◽  
Multiple Regression ◽  
Population Data ◽  
Body Cavity ◽  
The Body ◽  
Density Dependent ◽  
Grassland Site ◽  
Host Relations

The relations of the Strepsipterous parasite Halictophagus pontifex Fox to seven species of its Cercopid (Aphrophorinae) hosts were studied at a grassland site in Uganda. Dissections of weekly samples of the Cercopids collected by sweeping showed that the duration of the life-cycle of H. pontifex is 30–40 days. The parasite is found only in adult hosts which can support as many individuals (up to 7) in Poophilus costalis (Wlk.) as can develop in the space available in the body cavity. Both the maximum number of parasites per host and the rate of parasitism are related to the volume of the host. Parasitism arrests development of the ovaries of female hosts; they may reproduce after emergence of male parasites but not after exhaustion of females because of reinfection by triungulins. Graphical and regression analysis of the population data (no. individuals/1 000 sweeps) show that, for P. costalis, parasitism by H. pontifex is density dependent and the chief regulating factor. Rainfall 58–64 days before sampling also was correlated with P. costalis density, but multiple regression analysis showed it to be insignificant.

Sign in / Sign up

Export Citation Format

Share Document