scholarly journals Design of Laparoscopic Executive Instruments for Robots

2021 ◽  
Vol 25 (4) ◽  
pp. 299-314
Author(s):  
Veronika Atanasova-Georgieva ◽  
Keyword(s):  
Structural Analysis ◽  
Robot System ◽  
Operating Model ◽  
Engineering Characteristics ◽  
Transmission Mechanisms ◽  
End Effectors

The main objective of this work is focused on improving some technical deficiencies of existing laparoscopic executive instruments to robots. For this reason two main problems have been overtaken: i) to perform a kinematic-structural analysis of existing executive instruments by structural and kinematic criteria, to estimate their engineering characteristics, motivating the need to develop new ones and ii) to develop functionally operating model of an executive tool, with simplified kinematics of actuation of end-effectors, with higher reliability and easier support of the sterility of the instrument. In contrast to daVinchi robot system which includes structures with three orthogonal rotations this study describes other decision with combination of perpendicular and parallel rotations. The design is simplified, no additional transmission mechanisms of the executive links are required, which in turn facilitates the process of control of the device and proved higher reliability.

scholarly journals Impedance Model-Based Optimal Regulation on Force and Position of Bimanual Robots to Hold an Object

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Darong Huang ◽  
Hong Zhan ◽  
Chenguang Yang
Keyword(s):  
Degrees Of Freedom ◽  
Target Position ◽  
Internal Force ◽  
Robot System ◽  
Joint Torques ◽  
Impedance Model ◽  
Generalized Momentum ◽  
Optimal Target ◽  
End Effectors ◽  
Bimanual Robot

Bimanual robots have been studied for decades and regulation on internal force of the being held object by two manipulators becomes a research interest in recent years. In this paper, based on impedance model, a method to obtain the optimal target position for bimanual robots to hold an object is proposed. We introduce a cost function combining the errors of the force and the position and manage to minimize its value to gain the optimal coordinates for the robot end effectors (EE). To implement this method, two necessary algorithms are presented, which are the closed-loop inverse kinematics (CLIK) method to work out joint positions from desired EE pose and the generalized-momentum-based external force observer to measure the subjected force acting on the EE so as to properly compensate for the joint torques. To verify the effectiveness, practicality, and adaptivity of the proposed scheme, in the simulation, a bimanual robot system with three degrees of freedom (DOF) in every manipulator was constructed and employed to hold an object, where the results are satisfactory.

Algorithm for the Extraction of Optimal Gripping Force Range with the Robot Gripper

2012 ◽  
Vol 251 ◽  
pp. 164-168 ◽  
Author(s):  
Dong Hwan Shin ◽  
Choong Pyo Jeong ◽  
Tae Sang Park ◽  
Yoon Gu Kim ◽  
Ji Nung An
Keyword(s):  
Permanent Deformation ◽  
Frictional Coefficient ◽  
Specific Work ◽  
Robot System ◽  
End Effector ◽  
Robot Gripper ◽  
Specific Object ◽  
End Effectors ◽  
Force Range ◽  
Gripping Force

The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper generates the excessive gripping force, then the gripped material can have a permanent deformation. On the other hand, if the gripping force is too small, then the gripped material can be slip from the end-effector, drop to the floor and will get damaged. Therefore, it is important to use the adequate gripping force of the gripper. In this paper, we suggest the algorithm which is easy to automate, for the extraction of optimal gripping force range, with the estimation of frictional coefficient and young’s modulus.

Development of the Quadruped Walking Robot for Humanitarian Demining (Proposal of the System and Basic Experiment of Several Foot-end-effectors)

2000 ◽  
Vol 12 (3) ◽  
pp. 261-267
Author(s):  
Keisuke Kato ◽  
◽  
Shigeo Hirose
Keyword(s):  
Basic Design ◽  
Walking Robot ◽  
Mine Detection ◽  
Robot System ◽  
Design Concepts ◽  
Humanitarian Demining ◽  
Quadruped Walking Robot ◽  
Basic Technology ◽  
End Effectors ◽  
Antipersonnel Mines

This paper proposes a quadruped-walking robot which performs mine detection and removal tasks. Because there are many antipersonnel mines remaining from wars, it is desirable to provide a safe, inexpensive tool which civilians can use to remove these mines The robot has a tool changing system on its back, so by utilizing the legs as manipulation arms and connecting various tools to the feet, it can perform mine detection and removal tasks. We devised several conceptualized tasks for mine detection and removal using a robot system. For these tasks, we developed three kinds of end effectors to attach a walking robot system with the shape-feedback master-slave arm as a kind of basic technology. We discuss the basic design concepts of the robot system and develop it by way of trial experiment.

scholarly journals Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback

2009 ◽  
Vol 2009 ◽  
pp. 1-8 ◽  
Author(s):  
Liying Su ◽  
Lei Shi ◽  
Yueqing Yu
Keyword(s):  
Control Method ◽  
Modular Robots ◽  
Motion Controller ◽  
Robot System ◽  
Optical Position ◽  
Collaborative Assembly ◽  
Position Feedback ◽  
End Effectors ◽  
Set Up ◽  
Joint Velocity

This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods.

Ground Acceleration near St. Michael's Church during the 1886 Charleston, SC, Earthquake

1990 ◽  
Vol 6 (1) ◽  
pp. 81-103 ◽  
Author(s):  
David J. Elton ◽  
Eugene A. Marciano
Keyword(s):  
Structural Analysis ◽  
Coefficient Of Variation ◽  
Structural Design ◽  
Peak Ground Acceleration ◽  
Strong Motion ◽  
Ground Acceleration ◽  
Engineering Characteristics ◽  
Motion Event ◽  
Input Parameters ◽  
Event Based

The historic and continuing seismicity in the southeastern U.S. indicate the seismic threat to the population. However, little is known about the engineering characteristics of eastern U.S. earthquakes because there are no strong motion recordings of them. In particular, the peak ground acceleration, needed for structural design, is not available except through correlations with western U.S. earthquakes or MMI data of unknown uncertainty. This paper estimates the peak ground acceleration experienced by St. Michael's Church during the 1886 Charleston, SC, event based on conventional and probabilistic structural analysis. The 1886 event, rated as MMI X and magnitude 7, is the only historic strong motion event greater than mb = 5 that affected Charleston. The analysis concluded that the peak ground acceleration for the 1886 event was 0.33g. The coefficient of variation of this acceleration was 24%, remarkably small when considering the uncertainty in the input parameters.

RMRS: A Reconfigurable Modular Robot System and its Applications

2012 ◽  
Vol 569 ◽  
pp. 466-471
Author(s):  
Xue Feng Zhou ◽  
Li Jiang ◽  
Chuan Wu Cai ◽  
Hai Fei Zhu
Keyword(s):  
Mobile Robot ◽  
Functional Modules ◽  
Climbing Robot ◽  
Walking Robot ◽  
Robot System ◽  
Reconfigurable Robots ◽  
Biped Walking Robot ◽  
Low Costs ◽  
End Effectors ◽  
Set Up

Modules have been widely used in development of various robots including reconfigurable robots. To build robots flexibly and quickly with low costs, we have developed two basic joint modules and several functional modules including grippers, suckers and wheels/feet as end-effectors. In this paper, we introduce the development of these modules, and present several novel robots built using them. Specifically, we show how to use them to set up a manipulator, a 6-DoF biped walking robot, a wheeled mobile robot, a biped tree-climbing robot, and a biped wall-climbing robot. It has been shown that a few modules can easily spawn a variety of novel robots with modular methodology.

Suturing and tying knots assisted by a surgical robot system in laryngeal MIS

Robotica ◽  
2009 ◽  
Vol 28 (2) ◽  
pp. 241-252 ◽  
Author(s):  
Huijuan Wang ◽  
Shuxin Wang ◽  
Jienan Ding ◽  
Haifeng Luo
Keyword(s):  
Minimally Invasive Surgery ◽  
Surgical Robot ◽  
Knot Tying ◽  
Robot Assisted ◽  
Robot System ◽  
Laryngeal Surgery ◽  
Kinematical Model ◽  
Robot Systems ◽  
Robot Assistance ◽  
End Effectors

SUMMARYSuturing and tying knots assisted by surgical robot systems are complicated and time-consuming tasks in minimally invasive surgery (MIS). It is almost impossible to perform these operations in laryngeal MIS because motions of the end-effectors are greatly confined by a narrow and long laryngoscope tube. This paper presents the robot-assisted operations of suturing and knot-tying in a laryngeal surgery under a self-retaining laryngoscope, which has a greatly confined workspace. In order to use robot assistance to perform the suturing and knot-tying tasks in such a workspace, an appropriate suturing path is planned. The suturing path planning is completed based on a knot-tying algorithm called the bending-twisting knot-tying (BTKT). A robot system for laryngeal MIS called MicroHand III is designed. The kinematical model of the system is developed in the paper. The simulation and experimental results have shown that suturing and knot-tying assisted by MicroHand III system are successful.

Structural analysis of the surface-layer protein of spirillum serpens by high-resolution electron microscopy

1983 ◽  
Vol 41 ◽  
pp. 738-739
Author(s):  
W. H. Wu ◽  
R. M. Glaeser
Keyword(s):  
Electron Microscopy ◽  
Surface Layer ◽  
Structural Analysis ◽  
High Resolution ◽  
Low Dose ◽  
High Resolution Electron Microscopy ◽  
Optical Diffraction ◽  
Surface Layer Protein ◽  
Morphological Unit ◽  
Resolution Electron

Spirillum serpens possesses a surface layer protein which exhibits a regular hexagonal packing of the morphological subunits. A morphological model of the structure of the protein has been proposed at a resolution of about 25 Å, in which the morphological unit might be described as having the appearance of a flared-out, hollow cylinder with six ÅspokesÅ at the flared end. In order to understand the detailed association of the macromolecules, it is necessary to do a high resolution structural analysis. Large, single layered arrays of the surface layer protein have been obtained for this purpose by means of extensive heating in high CaCl2, a procedure derived from that of Buckmire and Murray. Low dose, low temperature electron microscopy has been applied to the large arrays.As a first step, the samples were negatively stained with neutralized phosphotungstic acid, and the specimens were imaged at 40,000 magnification by use of a high resolution cold stage on a JE0L 100B. Low dose images were recorded with exposures of 7-9 electrons/Å2. The micrographs obtained (Fig. 1) were examined by use of optical diffraction (Fig. 2) to tell what areas were especially well ordered.

RNA polymerase: Preparation and structural analysis of helical polymers

1984 ◽  
Vol 42 ◽  
pp. 152-153
Author(s):  
E. Loren Buhle ◽  
Pamela Rew ◽  
Ueli Aebi
Keyword(s):  
Structural Analysis ◽  
Rna Polymerase ◽  
Molecular Level ◽  
X Ray Diffraction ◽  
Helical Polymers ◽  
X Ray ◽  
E Coli ◽  
The Past ◽  
Ordered Arrays ◽  
Low Ionic Strength

While DNA-dependent RNA polymerase represents one of the key enzymes involved in transcription and ultimately in gene expression in procaryotic and eucaryotic cells, little progress has been made towards elucidation of its 3-D structure at the molecular level over the past few years. This is mainly because to date no 3-D crystals suitable for X-ray diffraction analysis have been obtained with this rather large (MW ~500 kd) multi-subunit (α2ββ'ζ). As an alternative, we have been trying to form ordered arrays of RNA polymerase from E. coli suitable for structural analysis in the electron microscope combined with image processing. Here we report about helical polymers induced from holoenzyme (α2ββ'ζ) at low ionic strength with 5-7 mM MnCl2 (see Fig. 1a). The presence of the ζ-subunit (MW 86 kd) is required to form these polymers, since the core enzyme (α2ββ') does fail to assemble into such structures under these conditions.

Interpreting HVEM of muscle-cell impulse networks

1992 ◽  
Vol 50 (1) ◽  
pp. 126-127
Author(s):  
Paul DeCosta ◽  
Kyugon Cho ◽  
Stephen Shemlon ◽  
Heesung Jun ◽  
Stanley M. Dunn
Keyword(s):  
Structural Analysis ◽  
Muscle Cell ◽  
Electron Micrographs ◽  
Relative Size ◽  
Automatic Classification ◽  
Nerve Fibers ◽  
Analysis Algorithm ◽  
Structural Networks

Introduction: The analysis and interpretation of electron micrographs of cells and tissues, often requires the accurate extraction of structural networks, which either provide immediate 2D or 3D information, or from which the desired information can be inferred. The images of these structures contain lines and/or curves whose orientation, lengths, and intersections characterize the overall network.Some examples exist of studies that have been done in the analysis of networks of natural structures. In, Sebok and Roemer determine the complexity of nerve structures in an EM formed slide. Here the number of nodes that exist in the image describes how dense nerve fibers are in a particular region of the skin. Hildith proposes a network structural analysis algorithm for the automatic classification of chromosome spreads (type, relative size and orientation).

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