Development and Analysis of a Parallel Structure Mechanism with Slotted Arcuate Guides and a Constant Entry Point

2022 ◽  
pp. 31-38
Author(s):  
A.V. Dukhov ◽  
A.A. Romanov ◽  
M.N. Erofeev ◽  
I.N. Kravchenko ◽  
A.V. Nikolaev
Keyword(s):  
Inverse Problem ◽  
Laparoscopic Surgery ◽  
3D Model ◽  
Entry Point ◽  
Parallel Structure ◽  
Structural Synthesis ◽  
Output Link ◽  
Scientific Medicine ◽  
Plasma Properties ◽  
Urgent Task

The development and study of new mechanisms of a parallel structure ensuring the constancy of the point of instrument entry into the working area is an urgent task of surgery and scientific medicine. A structural synthesis of a parallel structure mechanism designed for robotic laparoscopic surgery has been performed. The proposed mechanism is equipped with arcuate guides with slots installed on the base perpendicular to each other. At the intersection of the slots, there is a bushing through which a straight shaft connected to the output link moves linearly. This arrangement provides a constant entry point, which allows the developed mechanism to be used in laparoscopic surgery and studies of plasma properties. For this mechanism, the inverse problem of positions has been solved, the working area has been determined, and a 3D model has been developed.

Structural Synthesis and Analysis of Mechanisms with an Output Link Performing Two Rotational and One Translational Movements

2021 ◽  
pp. 43-49
Author(s):  
A.I. Edakin ◽  
T.V. Edakina ◽  
V.V. Samoilova ◽  
V.S. Ramzhaev
Keyword(s):  
Load Capacity ◽  
Three Dimensional ◽  
Kinematic Pair ◽  
Structural Synthesis ◽  
Output Link ◽  
Plasma Properties ◽  
Belt Drives ◽  
Pair Mating ◽  
Three Dimensional Models ◽  
Surgical Operations

The article considers mechanisms based on a hinged flat parallelogram with an additional link, ensuring the ability to maintain the insertion point of the tool installed on the output link. A rotational kinematic pair coupled to the base allows the plane of rotation of the articulated parallelogram to change the angle of inclination. The proposed design should have a greater load capacity than the available analogues, since the rotational kinematic pair mating the articulated parallelogram with the base is made in the form of two semi-axes, and the output link is located between the intermediate links of this parallelogram. The equality of the rotation angles of the output link and the intermediate links of the articulated parallelogram is ensured by the presence of additional links or belt drives. Three-dimensional models of these mechanisms are presented, and their structural synthesis is carried out in various modifications. Depending on the modification, it becomes possible to apply such mechanisms not only in industry, including additive technologies, but also in the field of medicine during surgical operations and in the study of plasma properties.

Projection Mapping of a Liver 3D Model for a Laparoscopic Surgery Support System

2021 ◽  
Vol 2021 (0) ◽  
pp. 2P1-L02
Author(s):  
Yuri TAKAHASHI ◽  
Atsushi KONNO ◽  
Kazuya SASE ◽  
Teppei TSUJITA ◽  
Xiaoshuai CHEN
Keyword(s):  
Laparoscopic Surgery ◽  
Support System ◽  
3D Model ◽  
Projection Mapping

Evolution of Medical Reasoning

2018 ◽  
pp. 75-92
Author(s):  
Erwin B. Montgomery
Keyword(s):  
Inverse Problem ◽  
Biomedical Science ◽  
Allopathic Medicine ◽  
Scientific Medicine ◽  
Medical Terms ◽  
The Face ◽  
Medical Reasoning ◽  
Schools Of Medicine ◽  
Aristotle's Metaphysics

The challenge to certainty in the face of enormous variability generates an epistemic conundrum. The response to this conundrum has driven the evolution of medicine. The rationalist/allopathic tradition holds that an economical set of principles and facts exists from which each patient’s unique situation can be constructed. There are striking parallels between the allopathic tradition and science. Indeed, it was the ascendency of biomedical science that enabled allopathic medicine to triumph over competitive schools of medicine, such as the empirics in the form of homeopaths. The ascendancy of scientific medicine that allopathics claimed is now institutionalized. However, such economization risks the inverse problem in that there may not be any unique explanation for a particular disease phenomenology, thus giving rise to the possibility of misdiagnosis and mistreatment. Nonetheless, the rationalist/allopathic tradition follows from Aristotle’s metaphysics translated into medical terms by Galen, whose influence is still felt.

Process Optimization of 3D Optical Fiber Laser Cutting Robot for Press Hardening of UHSS

2013 ◽  
Vol 753-755 ◽  
pp. 2033-2036 ◽  
Author(s):  
Hui Qiang Liu ◽  
Yi Sheng Zhang ◽  
Pei Xing Liu
Keyword(s):  
Laser Cutting ◽  
3D Model ◽  
Complex Structure ◽  
High Strength ◽  
High Energy ◽  
Entry Point ◽  
Press Hardening ◽  
Energy Beam ◽  
Cutting Head ◽  
Offline Programming

The hot forming parts of high strength steel are difficult to cut with the presses and the traditional high-energy beam due to its high tensile strength which can be up to 1500Mpa and its complex structure. And the 3D laser cutting is an effective way to solve the problem. However some problems in the laser process affect the efficiency and quality seriously, including interference between the robot arms and the cutting head with the untrimmed parts, difficulty in determining the entry point and over burning etc. In this research three measures are taken to cut the anti-collision beam, including using photogrammetric technology to get its uncutted 3D model for offline programming to avoid interference, selecting appropriate entry point to trim without interrupt, amending normals and adjusting the process parameters at corners to prevent over burning. The results show that the efficiency and quality are improved and a creative new offline programming method is put forward.

Designing Statically Determinable Mechanisms of Technological Mechatronic Machines with Parallel Kinematics

2019 ◽  
Vol 20 (7) ◽  
pp. 428-436
Author(s):  
A. K. Tolstosheev ◽  
V. A. Tatarintsev
Keyword(s):  
Structural Analysis ◽  
Hierarchical Structure ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Parallel Structure ◽  
Parallel Kinematics ◽  
Output Link ◽  
Parallel Connection ◽  
Kinematic Chains ◽  
Chain Increase

The work is devoted to improving the reliability and manufacturability of mechatronic machine designs with parallel kinematics by replacing statically indeterminable manipulators with statically determinable mechanisms. A technique is proposed in which the design of statically determinable manipulators of technological mechatronic machines with parallel kinematics is performed by modifying the structure of prototypes and includes three steps: identifying and analyzing redundant links, eliminating redundant links, checking the correctness of eliminating redundant links. To determine the number of degrees of freedom of the mechanism, identify redundant links, and verify the solution, the authors use the proposed methodology for structural analysis of parallel structure mechanisms. In structural analysis, a manipulator is represented by a hierarchical structure and is considered as a parallel connection of elementary mechanisms with an open kinematic chain; as a kinematic chain consisting of leading and driven parts; as a set of links and kinematic pairs; as a kinematic connection of the output link and the rack. The article implements the following techniques for eliminating redundant links: mobility increase in kinematic pairs; introduction of unloading links and passive kinematic pairs to the kinematic chain; exclusion of extra links and pairs from the kinematic chain; increase in mobility in some kinematic pairs simultaneously with the exclusion of other kinematic pairs that have become superfluous. The authors developed several variants of structural schemes of self-aligning manipulators based on the Orthoglide mechanism, which retain the basic functional proper ties of the prototype. To increase the number of self-aligning mechanism diagrams, the redistribution of mobilities and links within the connecting kinematic chain and between connecting kinematic chains is used. The proposed methodics allow to determine the number of degrees of freedom of the mechanism, the number and type of redundant links, eliminate redundant links and, on an alternative basis, build structural diagrams of statically determinable mechanisms of technological mechatronic machines with parallel kinematics.

Telemanipulator for Dexterity Enhanced Laparoscopic Surgery Based on the Direct Coupling of Two Parallel Mechanisms

2000 ◽  
Author(s):  
Claude Reboulet ◽  
Alain Theron
Keyword(s):  
Laparoscopic Surgery ◽  
Performance Index ◽  
Direct Coupling ◽  
Parallel Structure ◽  
Parallel Mechanisms ◽  
Mechanical Coupling ◽  
Global Performance ◽  
Kinesthetic Feedback

Abstract This paper deals with the design of a mechanism based on a new kinematics which behaves as a master slave manipulator. Thanks to a direct mechanical coupling, this telemanipulator is easy and cheap to build, since it requires neither sensor nor actuator. Moreover this new mechanism, based on a redundant parallel structure, is well adapted to surgical applications or more generally to all tasks requiring micro-manipulation. Finally, a relationship between some global performance index and the capability of kinesthetic feedback, is shown.

scholarly journals STRUCTURAL SYNTHESIS OF PARALLEL MECHANISMS THAT PROVIDE PLANE-PARALLEL MOTION OF THE OUTPUT LINK BASED ON THE THEORY OF SCREWS AND VIRTUAL KINEMATIC CHAINS

2016 ◽  
Vol 2 (1) ◽  
pp. 185-194
Author(s):  
Гапоненко ◽  
Elena Gaponenko ◽  
Рыбак ◽  
Larisa Rybak ◽  
Малышев ◽  
...  
Keyword(s):  
Kinematic Chain ◽  
Parallel Mechanisms ◽  
Structural Synthesis ◽  
Output Link ◽  
Kinematic Chains ◽  
Plane Parallel ◽  
Parallel Movement ◽  
Parallel Motion ◽  
Movable Platform ◽  
Virtual Circuits

This article describes the method of structural synthesis of a class of parallel mechanisms that provide plane-parallel movement of the movable platform. The considered method is based on the theory of screws and the concept of virtual circuits. We obtain the structure of parallel mechanisms, containing three connecting kinematic chain.

Design and Analysis of Parallel Mechanism with Linear Drives Located on the Base at Specified Angles

2021 ◽  
pp. 41-48
Author(s):  
Y.V. Rodionov ◽  
A.N. Sukhostavskiy ◽  
A.A. Romanov ◽  
A.V. Dukhov ◽  
I.V. Pelin
Keyword(s):  
Coordinate System ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Relative Movement ◽  
Structural Synthesis ◽  
Output Link ◽  
Constraint Equations ◽  
Inverse Kinematics Problem

The article considers a novel parallel mechanism with drives located on the base at different angles to its plane. This arrangement allows performing a relative movement between objects under water or in space (in aggressive environments). The new mechanism topology is compact for transportation and efficient for operation in aggressive environments. Structural synthesis has been performed; the number of degrees of freedom of the output link was calculated. A general approach to solving the inverse kinematics problem of positions is proposed and an example for a kinematic chain is shown. Denavit — Hartenberg matrices are used to solve the problem of positions. The position of the output link described by this matrix is used to represent the points of this link in the base coordinate system. The constraint equations are applied, which are the distances between the points of the base and the output link.

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