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Register a new userAn Ergonomic Interaction Workspace Analysis Method for the Optimal Design of a Surgical Master Manipulator
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Added by
Dandan Zhang
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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No Arabic abstract
Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic design, the surgeons can feel more comfortable to conduct the surgical tasks with higher efficiency, and the quality of the teleoperated robotic surgery can be improved. In this paper, an Ergonomic Interaction Workspace Analysis method is proposed to optimize master manipulators and fulfil ergonomics consideration for designing a master manipulator for teleoperated robotic surgery.
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Many have explored the application of continuum robot manipulators for minimally invasive surgery, and have successfully demonstrated the advantages their flexible design provides -- with some solutions having reached commercialisation and clinical practice. However, the usual high complexity and closed-nature of such designs has traditionally restricted the shared development of continuum robots across the research area, thus impacting further progress and the solution of open challenges. In order to close this gap, this paper introduces ENDO, an open-source 3-segment continuum robot manipulator with control and actuation mechanism, whose focus is on simplicity, affordability, and accessibility. This robotic system is fabricated from low cost off-the-shelf components and rapid prototyping methods, and its information for implementation (and that of future iterations), including CAD files and source code, is available to the public on the Open Source Medical Robots initiatives repository on GitHub (https://github.com/OpenSourceMedicalRobots), with the control library also available directly from Arduino. Herein, we present details of the robot design and control, validate functionality by experimentally evaluating its workspace, and discuss possible paths for future development.
Grabbing a manoeuvring target using drones is a challenging problem. This paper presents the design, development, and prototyping of a novel aerial manipulator for target interception. It is a single Degree of Freedom (DoF) manipulator with passive basket-type end-effector. The proposed design is energy efficient, light weight and suitable for aerial grabbing applications. The detailed design of the proposed manipulation mechanism and a novel in-flight extending propeller guard, is reported in this paper.
Miniaturized instruments are highly needed for robot assisted medical healthcare and treatment, especially for less invasive surgery as it empowers more flexible access to restricted anatomic intervention. But the robotic design is more challenging due to the contradictory needs of miniaturization and the capability of manipulating with a large dexterous workspace. Thus, kinematic parameter optimization is of great significance in this case. To this end, this paper proposes an approach based on dexterous workspace determination for designing a miniaturized tendon-driven surgical instrument under necessary restraints. The workspace determination is achieved by boundary determination and volume estimation with partition and least-squares polynomial fitting methods. The final robotic configuration with optimized kinematic parameters is proved to be eligible with a large enough dexterous workspace and targeted miniature size.
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