Academic literature on the topic 'Robotic retractor design'
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic 'Robotic retractor design.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Journal articles on the topic "Robotic retractor design"
1
Ramírez-Beltrán, V. O., L. A. Z.-Avilés, R. M. Valdovinos-Rosas, J. J. Reyes-Lagos, and G. M. Cruz-Martínez. "Design Specifications for an Auxiliary Incision Retractor in Dacryocystorhinostomy Surgeries." Applied Sciences 10, no. 2 (January 14, 2020): 605. http://dx.doi.org/10.3390/app10020605.
Full textAbstract:
It is presented the design specifications for a Retractor Robotic System (RRS) based on the surgical necessities in the incisions procedure for a dacryocystorhinostomy. The specifications are conformed by a mathematical model, the experimental data measured, a modular flexible architecture, energy supplier system, the mechanical group, and the safety system. The specifications suggest that the use of flexible polymeric materials for the RRS provide a mayor adaptability of the system with the biological tissue; so a pneumatic actuator could be a suitable option.
2
Chen, Ching-Han, Chia-Ming Kuo, Chen-Yuan Chen, and Jia-Hong Dai. "RETRACTED: The design and synthesis using hierarchical robotic discrete-event modeling." Journal of Vibration and Control 19, no. 11 (June 27, 2012): 1603–13. http://dx.doi.org/10.1177/1077546312449645.
Full text
3
Hoang, Manh, Viet Le, Kim Nguyen, Van Nguyen, Jayoung Kim, Eunpyo Choi, Seungmin Bang, Byungjeon Kang, Jong-Oh Park, and Chang-Sei Kim. "A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch." Micromachines 11, no. 1 (January 17, 2020): 98. http://dx.doi.org/10.3390/mi11010098.
Full textAbstract:
Capsule endoscopes (CEs) have emerged as an advanced diagnostic technology for gastrointestinal diseases in recent decades. However, with regard to robotic motions, they require active movability and multi-functionalities for extensive, untethered, and precise clinical utilization. Herein, we present a novel wireless biopsy CE employing active five degree-of-freedom locomotion and a biopsy needle punching mechanism for the histological analysis of the intestinal tract. A medical biopsy punch is attached to a screw mechanism, which can be magnetically actuated to extrude and retract the biopsy tool, for tissue extraction. The external magnetic field from an electromagnetic actuation (EMA) system is utilized to actuate the screw mechanism and harvest biopsy tissue; therefore, the proposed system consumes no onboard energy of the CE. This design enables observation of the biopsy process through the capsule’s camera. A prototype with a diameter of 12 mm and length of 30 mm was fabricated with a medical biopsy punch having a diameter of 1.5 mm. Its performance was verified through numerical analysis, as well as in-vitro and ex-vivo experiments on porcine intestine. The CE could be moved to target lesions and obtain sufficient tissue samples for histological examination. The proposed biopsy CE mechanism utilizing punch biopsy and its wireless extraction–retraction technique can advance untethered intestinal endoscopic capsule technology at clinical sites.
4
Xu, Wenkang, Chenxiao Cai, and Yun Zou. "RETRACTED ARTICLE: Cascade controller design and stability analysis in FES-aided upper arm stroke rehabilitation robotic system." Nonlinear Dynamics 79, no. 2 (October 7, 2014): 1099–114. http://dx.doi.org/10.1007/s11071-014-1726-1.
Full text
5
Guo, Jin, Jin-Huat Low, Yoke-Rung Wong, and Chen-Hua Yeow. "Design and Evaluation of a Novel Hybrid Soft Surgical Gripper for Safe Digital Nerve Manipulation." Micromachines 10, no. 3 (March 15, 2019): 190. http://dx.doi.org/10.3390/mi10030190.
Full textAbstract:
Forceps are essential tools for digital nerve manipulation during digital nerve repair surgery. However, surgeons have to operate forceps with extreme caution to prevent detrimental post-operative complications caused by over-gripping force. Their intrinsically safe characteristics have led to the increasing adoption of soft robotics in various biomedical applications. In this paper, a miniaturized hybrid soft surgical gripper is proposed for safe nerve manipulation in digital nerve repair surgery. This new surgical gripper includes a soft inflatable actuator and a gripper shell with a hook-shaped structure. The ability to achieve a compliant grip and safe interaction with digital nerves is provided by the inflated soft pneumatic actuator, while the rigid hook retractor still allows surgeons to scoop up the nerve from its surrounding tissues during surgery. The performance of the proposed surgical gripper was evaluated by the contact/pulling force sensing experiments and deformation measurement experiments. In the cadaver experiments, this new surgical gripper was able to complete the required nerve manipulation within the limited working space. The average deformation of the digital nerve with an average diameter of 1.45 mm gripped by the proposed surgical gripper is less than 0.22 mm. The average deformity is less than 15% of its original diameter.
6
Xu, Wenkang, Chenxiao Cai, and Yun Zou. "Retraction Note to: Cascade controller design and stability analysis in FES-aided upper arm stroke rehabilitation robotic system." Nonlinear Dynamics 82, no. 3 (October 5, 2015): 1609. http://dx.doi.org/10.1007/s11071-015-2422-5.
Full text
7
Barzilai, Ori, Mark H. Bilsky, and Ilya Laufer. "The Role of Minimal Access Surgery in the Treatment of Spinal Metastatic Tumors." Global Spine Journal 10, no. 2_suppl (April 2020): 79S—87S. http://dx.doi.org/10.1177/2192568219895265.
Full textAbstract:
Study Design: Literature review. Objective: To provide an overview of the recent advances in minimal access surgery (MAS) for spinal metastases. Methods: Literature review. Results: Experience gained from MAS in the trauma, degenerative and deformity settings has paved the road for MAS techniques for spinal cancer. Current MAS techniques for the treatment of spinal metastases include percutaneous instrumentation, mini-open approaches for decompression and tumor resection with or without tubular/expandable retractors and thoracoscopy/endoscopy. Cancer care requires a multidisciplinary effort and adherence to treatment algorithms facilitates decision making, ultimately improving patient outcomes. Specific algorithms exist to help guide decisions for MAS for extradural spinal metastases. One major paradigm shift has been the implementation of percutaneous stabilization for treatment of neoplastic spinal instability. Percutaneous stabilization can be enhanced with cement augmentation for increased durability and pain palliation. Unlike osteoporotic fractures, kyphoplasty and vertebroplasty are known to be effective therapies for symptomatic pathologic compression fractures as supported by high level evidence. The integration of systemic body radiation therapy for spinal metastases has eliminated the need for aggressive tumor resection allowing implementation of MAS epidural tumor decompression via tubular or expandable retractors and preliminary data exist regarding laser interstitial thermal therapy and radiofrequency ablation for tumor control. Neuronavigation and robotic systems offer increased precision, facilitating the role of MAS for spinal metastases. Conclusions: MAS has a significant role in the treatment of spinal metastases. This review highlights the current utilization of minimally invasive surgical strategies for treatment of spinal metastases.
8
Dhawale, Nihav, Shreyas Mandre, and Madhusudhan Venkadesan. "Dynamics and stability of running on rough terrains." Royal Society Open Science 6, no. 3 (March 2019): 181729. http://dx.doi.org/10.1098/rsos.181729.
Full textAbstract:
Stability of running on rough terrain depends on the propagation of perturbations due to the ground. We consider stability within the sagittal plane and model the dynamics of running as a two-dimensional body with alternating aerial and stance phases. Stance is modelled as a passive, impulsive collision followed by an active, impulsive push-off that compensates for collisional losses. Such a runner has infinitely many strategies to maintain periodic gaits on flat ground. However, these strategies differ in how perturbations due to terrain unevenness are propagated. Instabilities manifest as tumbling (orientational instability) or failing to maintain a steady speed (translational instability). We find that open-loop strategies that avoid sensory feedback are sufficient to maintain stability on step-like terrains with piecewise flat surfaces that randomly vary in height. However, these open-loop runners lose orientational stability on rough terrains whose slope also varies randomly. The orientational instability is significantly mitigated by minimizing the tangential collision, which typically requires sensory information and anticipatory strategies such as leg retraction. By analysing the propagation of perturbations, we derive a single dimensionless parameter that governs stability. This parameter provides guidelines for the design and control of both biological and robotic runners.
9
Mageswaran, Prasath, Robert F. McLain, Robb Colbrunn, Tara Bonner, Elijah Hothem, and Adam Bartsch. "Plate fixation in the cervical spine: traditional paramedian screw configuration compared with unique unilateral configuration." Journal of Neurosurgery: Spine 18, no. 6 (June 2013): 575–81. http://dx.doi.org/10.3171/2013.3.spine12949.
Full textAbstract:
Object This study compared the fixing strength and stability achieved by a unilateral plate and screw configuration against a standard cervical fixation plate using a single-level corpectomy and allograft strut graft model. Methods Multidirectional in vitro flexibility tests were performed using a robotic spine testing system. Human cadaveric spines were assessed for spinal stability after vertebral corpectomy and anterior instrumentation. Specimens were mounted cranially and caudally on custom jigs that were then attached to load cells on the robotic system's end effector and base pedestal. C2–T1 spine specimens (n = 6) were tested intact; then after C-5 corpectomy (the vertebral body was excised), allograft placement and anterior plate fixation were performed. The surgeons performed a uniform corpectomy and reconstruction of each specimen in a protocol fashion. Two plates were compared: a unilateral 4-hole cervical plate designed to obtain rigid fixation using 4 convergent fixation screws all placed unilateral to the vertebral midline, and a standard cervical plate with bilateral plate screw configuration. The plate testing sequence was selected at random to limit bias. Fixation screws were matched for length and diameter. Pure moments were applied under load control (maximum 1.8 Nm) in flexion, extension, left/right lateral bending, and left/right axial rotation. Vertebral motion was measured using an optoelectronic system. The mean relative range of motion between C-4 and C-6 was compared among groups using repeated-measures ANOVA (significance level of 0.05). Results In comparing the intact construct and 2 different plates in all planes of motion, only motion in extension (intact vs unilateral plate, p = 0.003; intact vs standard plate, p = 0.001) and left axial rotation (intact vs unilateral plate, p = 0.019) were significantly affected. In terms of immediate cervical stability after 1-level corpectomy and placement of an allograft reconstruction, the unilateral plate showed comparable stiffness to the standard plate in all 3 motion planes (flexion [p = 0.993], extension [p = 0.732], left lateral bending [p = 0.683], right lateral bending [p = 0.546], left axial rotation [p = 0.082], and right axial rotation [p = 0.489]). The unilateral plate showed a trend toward improved stiffness in axial rotation. In no direction did the unilateral configuration prove significantly less stiff than the traditional configuration. Conclusions The unilateral plate design proposed here requires minimal dissection and retraction beyond the midline of tissues susceptible to scar, postoperative pain, and swelling. The authors' study suggests that a unilateral plate can be configured to provide comparable fixation strength and torsional stiffness compared with traditional, widely accepted plate designs.
10
Jomartov, Assylbek, Aziz Kamal, and Azizbek Abduraimov. "Development of a planar cable parallel robot for practical application in the educational process." Eastern-European Journal of Enterprise Technologies 4, no. 7(112) (August 31, 2021): 67–75. http://dx.doi.org/10.15587/1729-4061.2021.237772.
Full textAbstract:
Cable-driven parallel robot (CDPR) has the great potential for various applications in industry and in everyday life. They consist of an end effector and a base, which connected by several cables. CDPRs have a large workspace compared to the workspace of classic parallel robots. CDPR have a simpler structure have good dynamic properties, high carrying capacity, mobility and low cost. The only drawback is that the CDPR cables can only work for retraction and cannot push. This article presents the design of a prototype of a planar CDPR with four cables for practical use in the educational process. This prototype of a planar CDPR is necessary for a better understanding of the design features, structure, kinematics, statics and dynamics of the CDPR by students. The planar CDPR performs two translational motions, due to the controlled 4 cables, and one rotational motion of the end effector. The research of the kinematics and statics of the planar cable-driven parallel robot is carried out. Simulation of the motion of a planar cable-driven parallel robot in the Python programming language has been carried out. A design was developed and a prototype of the planar cable-driven parallel robot was manufactured. Experimental researches of a prototype of the planar cable-driven parallel robot have been carried out. The results of experimental researches have shown that the CDPR works well enough. During the tests of the prototype of the planar cable-driven parallel robot, it was found that the distortions of the trajectory of the end effector depend on the tension of the cables. It is necessary to monitor the tension level using strain gauges. Based on the analysis of the results obtained, the effectiveness of the use of the prototype of a planar CDPR in the educational process of the robotics course has been confirmed
Dissertations / Theses on the topic "Robotic retractor design"
1
Tao, Tainyi. "Design, modelling and fabrication of a robotic retractor for colorectal surgery." Thesis, Queen Mary, University of London, 2017. http://qmro.qmul.ac.uk/xmlui/handle/123456789/24781.
Full textAbstract:
This research presents the design, fabrication and controller development of a robotic retractor which driven by a robotic manipulator for laparoscopic colorectal surgery. The system consists of a dual-head fan retractor and a manipulator. The dual-head fan retractor comprises two fan devices, retractor wrist, tubular element and handle. The fan device is facilitated with a fan end-effector, an expansion mechanism and a clutchspring mechanism. Two fan devices have been used in the system to provide an anthropoid hand-holding shape which is specifically advanced for surgical purpose because intestine tends to slip when subject to disturbance and the anthropoid handholding shape can effectively halt that. One of the two fan devices is rotatable which makes the anthropoid hand-holding shape achievable. The retractor wrist possesses a triggering device, based on clutch-spring mechanism, for rotating the rotatable fan device. The clutch-spring mechanism has an impact on rotating the palms of the fan devices. In front of the handle, it is the so called front body which includes two fan devices, retractor wrist and tubular element. The front body can be controlled and is motorised using two motors fixed to the tubular element. The dual-head fan retractor is modelled in SolidWorks, and stress analysis of the retractor has been carried out by SolidWorks Simulation. Then, the mathematical model of the fan blades is developed. A 3-joint manipulator is modelled and controlled by a computed torque PD control approach as part of an investigative study to fit such a system to the retractor for robotic manipulation. Based on this investigation, the retractor is attached to a 2-joint robotic manipulator which has one rotational joint and a prismatic joint. This manipulator is mathematically modelled, and the dynamic equations are obtained. Control methods from Azenha and Khatib are simulated and compared. Azenha & Machado's method has fewer input parameters and less oscillation when utilising the same control gains. Timeoptimal control is then successfully developed for the above 2-joint manipulator. This study clearly indicates that a retractor to be used for laparoscopic surgery can be effectively controlled using a multi-joints and multi degrees of freedom robotic manipulator.
Conference papers on the topic "Robotic retractor design"
1
Johnson, Benjamin V., Zekun Gong, Brian A. Cole, and David J. Cappelleri. "Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85257.
Full textAbstract:
In this paper, the design of disposable 3D printed surgical end-effectors for robotic lumbar discectomy is presented. Discectomy is the surgery to remove the herniated disc material that is pressing on a nerve root or spinal cord. This surgery is performed to relieve pain or numbness caused by the pressure on the nerve. The limited workspace of the spine (< 27 cm3) results in challenging design requirements for surgical instruments. We propose a new cannula-based robotic lumbar discectomy procedure that can accommodate multiple articulated tools in the workspace at the same time and can be controlled teleoperatively by the surgeon. We present designs for two instruments for this proposed system: an articulated nerve retractor and an articulated grasper. The end-effectors of each are 3D printed with multiple materials, with flexible links acting as joints of the mechanism. These flexible links are actuated by cables which provide sufficient articulation and manipulation forces in the surgical workspace. The end-effector’s articulated flexible joint kinematics is modeled and tested for range of motion capabilities. The retraction forces for the nerve retractor and the grasping force for the grasper are also experimentally tested and verified to meet all the design requirements. Additionally, fatigue testing of the flexible joint is presented and teleoperated control for the instruments is demonstrated.
2
Rox, Margaret F., Richard J. Hendrick, S. Duke Herrell, and Robert J. Webster. "An Experimental Comparison of Two User Interface Designs for a Hand-Held Surgical Robot." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3372.
Full textAbstract:
There is a trend towards miniaturization in surgical robotics with the objective of making surgeries less invasive [1]. There has also been increasing recent interest in hand-held robots because of their ability to maintain the current surgical workflow [2, 3]. We have previously presented a system that integrates small-diameter concentric tube robots [4, 5] into a hand-held robotic device [3], as shown in Figure 1. This robot was designed for transurethral laser surgery in the prostate. It provides the surgeon with two dexterous manipulators through a 5mm port in a traditional transurethral endoscope. This system enables the surgeon to retract tissue and aim a fiber optic laser simultaneously to resect prostate tissue. This robot provides the surgeon with a total of ten degrees of freedom (DOF) that must be simultaneously coordinated, including endoscope orientation (3 DOF), endoscope insertion (1 DOF), as well as the tip position of each concentric tube manipulator (3 DOF per manipulator). In [3], a simple user interface was employed that involved thumb joysticks (which also had pushbutton capability) and a unidirectional index finger trigger, as shown in Figure 2 (Left). The thumb joysticks were mapped to manipulator tip motion in the plane of the endoscope image, and the trigger was used for motion perpendicular to the plane. Whether the finger trigger extended or retracted the tip of the concentric tube manipulator was toggled via the pushbutton capability of the thumb joystick. While surgeons could learn this mapping with some effort, and were able to use it to accomplish a cadaver study, the experiments made clear that further work was needed in creating an intuitive user interface — particularly with respect to how motion perpendicular to the image plane is controlled. This paper describes a first step toward improving the user interface; we integrate a bidirectional dial input in place of the unidirectional index finger trigger, so that extension and retraction perpendicular to the image plane can be controlled without the need for a pushbutton toggle. In this paper we describe the design of this dial input and present the results of a user study comparing it to the interface in [3].
3
Rocheleau, David N., and Matthew M. Moore. "Camera Positioning Mechanism for ARIES: An Autonomous Mobile Robot." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1154.
Full textAbstract:
Abstract ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the development of CPS-II, the second generation camera positioning system used in the project. The first generation camera positioning system (CPS-I) positioned four identical but separate camera packages. CPS-II positions a single camera package which consists of vision cameras and other required sensors such as a bar-code reader and light stripe projectors. CPS-II is attached to the top of a mobile robot and consists of two mechanisms. The first is a lift mechanism composed of 6 interlocking rail-elements which starts from a retracted position and extends up and down to position the camera package to survey a column of drums four high. The second is a parallelogram special case Grashof four-bar mechanism which is used to deploy the camera package off the back of the robot. Both mechanisms are the subject of this paper.
4
Chowdhury, A. M. Masum Bulbul, Jinsai Cheng, Michael J. Cullado, and Tao Shen. "Design and Analysis of a Wire-Driven Multifunctional Robot for Single Incision Laparoscopic Surgery." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22471.
Full textAbstract:
Abstract Single Incision Laparoscopic Surgery (SILS) is a fast-growing method in the field of MIS (Minimally Invasive Surgery) that has the potential to represent the future of laparoscopic surgeries. The major benefits of SILS results from a single incision which makes surgeries essentially scar-less, and it can reduce wound infection substantially as well as recuperation time. Many new researches are now focusing on developing cutting edge technologies to support SILS; however, the practical applications of SILS are constrained by a number of intricacies such as space limitation, absence of dexterous multitasking tools, lack of sufficient actuation force and poor visualization. Deployment and retraction of surgical tools or robots are done manually in the absence of a multitasking tool manipulator which increases the surgery time, risk of injury and surgeon’s fatigue. Our research focuses on designing a novel operative hardware (multitasking manipulator) to facilitate the SILS technique with automatic tool changing capability. A wire driven mechanism has been implemented in the design to minimize the damage to the electronic hardware during sterilization since the electronic actuation and sensing components are located remotely from the end-effector which requires heat or chemical sterilization before surgery. And a wire-driven articulated robotic arm has also been designed to support the manipulator. The details of the robotic design and analysis are conducted in the paper. The feasibility of this robotic method has been demonstrated by experiments.
5
Tavakkolmoghaddam, Farid, Krishnanand Kaipa, Siqin Dong, Michel Audette, Tomaz Mesar, and Eric C. Feliberti. "Design and Making of a Hand-Held Spillage-Free Specimen Retrieval Robot for Laparoscopic Surgery." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-98134.
Full textAbstract:
Abstract This paper presents the design and making of RoboCatch, a novel hand-held robot that aids surgeons in performing spillage-free specimen retrieval in laparoscopic surgery. The proposed design significantly modifies and extends conventional instruments that are currently used for this task. Specimen retrieval is initiated by introducing the robot’s trocar into the surgical site. A webbed three-fingered grasper slides out of the trocar and unfolds in an umbrella like-fashion. A pair of atraumatic forceps, concentrically aligned with the grasper, slide outward to grasp an excised specimen and retract it into the center of the grasper, which then closes to achieve a secured containment of the specimen. Finally, the robot is manually removed from the abdominal cavity. Physical validation experiments involving specimen retrieval of porcine meat samples revealed that the robot could retrieve specimens of masses ranging from 1 gram to 40 grams.
6
Hosek, Martin. "An Actuation Mechanism for a Dual-Arm Robotic Manipulator." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14646.
Full textAbstract:
An actuation mechanism for a dual-arm scara-type robot for automated pick-place operations in semiconductor and flatpanel-display manufacturing applications is described. The mechanism consists of a pivoting platform and two linkages coupled to the platform through a pair of revolute joints. The opposite ends of the linkages are connected to the upper arms of the robot by another pair of revolute joints, forming a pair of three-bar mechanisms coupled through the pivoting platform. When the platform is in its neutral position, both of the arms are retracted. The geometry of the components of the mechanism is selected so that rotation of the platform from the neutral position in one direction produces desirable radial motion of one arm while the other arm is kept almost stationary in the retracted position. The arms exchange their roles when the platform rotates from the neutral position in the opposite direction. Alternatively, to achieve absolutely no motion of the retracted arm while the other one extends, the pivoting motion of the platform can be replaced by a rocking arrangement with two pivot points. In this configuration, the locations of the two pivot points coincide with the locations of the revolute joints between the linkages and the upper arms when the platform is in the neutral position. As a result, rotation of the platform with respect to one of the pivot points produces no motion of the corresponding arm while the other one extends. Compared to a conventional design, which utilizes a pair of motors coupled to the robot arms through a pair of belt arrangements, the present mechanism eliminates one of the two motors, including its electronic circuitry, and replaces the belt drives with rigid linkages, thus reducing the complexity and cost, and improving the reliability and cleanliness of the robotic system.
7
Krishnasamy, Jay, and Martin Hosek. "Design Optimization of an Actuation Mechanism for a Dual-Arm Robotic Manipulator." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-41577.
Full textAbstract:
The design optimization of an actuation mechanism for a dual-arm scara-type robotic manipulator is presented. The manipulator is to be used in a vacuum environment for wafer handling applications in the semi-conductor manufacturing industry. The actuation mechanism consists of a pivoting platform that serves as the common driver link for two four-bar mechanisms each of which drives a scara-type arm. Each of the scara-type arms has a substrate carrying end-effector to pick from or place substrates on a process module. When the pivoting platform is in its neutral position, both of the arms are retracted. When the platform swings to one side, the arm on that side extends while the arm on the other side remains close to retracted position. The actuation mechanism is unique in that it uses just one motor to control the extension of both arms in contrast to the conventional design where each arm requires a motor of its own. However, the design needs to be optimized in order to minimize the effects of kinematic coupling between the two arms and, at the same time, keep the motor torque requirements and encoder resolution requirements to within practical limits. In this article, the relationships between the link lengths of the actuation mechanism, the kinematic coupling between the two arms, maximum encoder resolution requirements and motor torque requirements are described. These relationships are presented in the context of motion profiles characterized by limits on substrate acceleration — a typical requirement in wafer handling applications in vacuum. A methodology for determining link lengths to minimize motor torques and kinematic coupling between arms is presented.
8
Zhu, W. D., and J. Ni. "Energetics and Stability of Translating Media With an Arbitrarily Varying Length." In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/vib-8316.
Full textAbstract:
Abstract The dynamics of a class of translating media with an arbitrarily varying length is investigated. The tension in the media arising from their longitudinal accelerations is incorporated. The dynamic stability of the continuous media relative to the inertial and moving coodinate systems is studied from the energy standpoint. The exact expressions for the rates of change of energies of the media are derived and interpreted from both the control volume and system viewpoints. The monotonic behavior of the energy of vibration of the translating media during extrusion and retraction is affected by their jerks rather than accelerations. Examples including a robotic arm through a prismatic joint and an elevator hoist cable in a high rise building validate the analysis. In particular, the results explain an inherent “unstable shortening cable behavior” in elevator industry.
9
Rouleau, Michael, and Dennis Hong. "Design of an Underactuated Robotic End-Effector With a Focus on Power Tool Manipulation." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35513.
Full textAbstract:
End-effectors require careful design considerations to be able to successfully hold and use power tools while maintaining the ability to also grasp a wide range of other objects. This paper describes the design of an end effector for a humanoid robot built for disaster response scenarios. The end effector is comprised of two independently actuated fingers with two opposing stationary rigid hollow pylons built to allow the pinching of objects and to provide protection for the opposing fingers when retracted and not in use. Each finger has two degrees of freedom (DOF) and is actuated with one servo motor through the use of an underactuated four bar linkage. Using only two fingers and two actuators the end-effector has the ability to hold a power tool while also being able to simultaneously actuate the trigger of the tool independently. The combination of compliant fingers and rigid pylons along with the careful design of the palm structure creates a strong robust dexterous end-effort that is simple to control.
10
Comber, David B., Jonathon E. Slightam, Eric J. Barth, Vito R. Gervasi, and Robert J. Webster. "Design and Precision Control of an MR-Compatible Flexible Fluidic Actuator." In ASME/BATH 2013 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/fpmc2013-4481.
Full textAbstract:
Magnetic resonance imaging (MRI) offers many benefits to image-guided interventions, including excellent soft tissue distinction, little to no repositioning of the patient, and zero radiation exposure. The closed, narrow bore of a high field MRI scanner limits clinician access to the patient, such that an MR-compatible robot is essentially required for many potential interventions. A robotic system of this kind could additionally provide the clinician increased accuracy and more degrees of freedom within the minimally invasive context. Fluid power is an excellent type of actuation to use inside the MRI scanner, as such actuators can be designed free of magnetic and electrical components. However, there are no fluid power actuators readily available that are suitable for use in the operating room. This paper reports a compact, intrinsically safe, sterilizable fluid power actuator. Using additive manufacturing processes, the actuator was printed in a single build. Thus, it is composed of several integrated parts in a compact design. Employing an inchworm-like behavior, the linear actuator can advance or retract a needle or mechanism rod in discrete steps; thus the device is intrinsically safe. The actuator is fluid agnostic, but a pneumatic prototype is presented here with initial testing results. For the pneumatic case, sub-step positioning control has been tested using a nonlinear, model-based controller, and the mean steady-state error was 0.025 mm. Thus this type of actuator appears to be promising solution for use in MRI-guided interventions.