DEVELOPMENT OF A SOFT PNEUMATIC ACTUATOR FOR MODULAR ROBOTIC MECHANISMS

Soft robotics is a widely and rapidly growing field of research today. Soft pneumatic actuators, as a fundamental element in soft robotics, have gained huge popularity and are being employed for the development of soft robots. During the last decade, a variety of hyper-elastic robotic systems have been realized. As the name suggests, such robots are made up of soft materials, and do not have any underlying rigid mechanical structure. These robots are actuated employing various methods like pneumatic, electroactive, jamming etc. Generally, in order to achieve a desired mechanical response to produce required actuation or manipulation, two or more materials having different stiffness are utilized to develop a soft robot. However, this method introduces complications in the fabrication process as well as in further design flexibility and modifications. The current work presents a design scheme of a soft robotic actuator adapting an easier fabrication approach, which is economical and environment friendly as well. The purpose is the realization of a soft pneumatic actuator having functional ability to produce effective actuation, and which is further employable to develop modular and scalable mechanisms. That infers to scrutinize the profile and orientation of the internal actuation cavity and the outer shape of viii the actuator. Utilization of a single material for this actuator has been considered to make this design scheme convenient. A commercial silicone rubber was selected which served for an economical process both in terms of the cost as well as its accommodating fabrication process through molding. In order to obtain the material behavior, \u2018Ansys Workbench 17.1 R \u2019 has been used. Cubic outline for the actuator aided towards the realization of a body shape which can easily be engaged for the development of modular mechanisms employing multiple units. This outer body shape further facilitates to achieve the stability and portability of the actuator. The soft actuator has been named \u2018Soft Cubic Module\u2019 based on its external cubic shape. For the internal actuation cavity design, various shapes, such as spherical, elliptical and cylindrical, were examined considering their different sizes and orientations within the cubic module. These internal cavities were simulated in order to achieve single degree of freedom actuation. That means, only one face of the cube is principally required to produce effective deformation. \u2018Creo Perametric 3.0 M 130\u2019 has been used to design the model and to evaluate the performance of actuation cavities in terms of effective deformation and the resulting von-mises stress. Out of the simulated profiles, cylindrical cavity with desired outcomes has been further considered to design the soft actuator. \u2018Ansys Workbench 17.1 R \u2019 environment was further used to assess the performance of cylindrical actuation cavity. Evaluation in two different simulation environments helped to validate the initially achieved results. The developed soft cubic actuator was then employed to develop different mechanisms in a single unit configuration as well as multi-unit robotic system developments. This design scheme is considered as the first tool to investigate its capacity to perform certain given tasks in various configurations. Alongside its application as a single unit gripper and a two unit bio-mimetic crawling mechanism, this soft actuator has been employed to realize a four degree ix of freedom robotic mechanism. The formation of this primitive soft robotic four axis mechanism is being further considered to develop an equivalent mechanism similar to the well known Stewart platform, with advantages of compactness, simpler kinematics design, easier control, and lesser cost. Overall, the accomplished results indicate that the design scheme of Soft Cubic Module is helpful in realizing a simple and cost-effective soft pneumatic actuator which is modular and scalable. Another favourable point of this scheme is the use of a single material with convenient fabrication and handling

PRELIMINARY FINDINGS OF A POTENZIATED PIEZOSURGERGICAL DEVICE AT THE RABBIT SKULL

The number of available ultrasonic osteotomes has remarkably increased. In vitro and in vivo studies have revealed differences between conventional osteotomes, such as rotating or sawing devices, and ultrasound-supported osteotomes (Piezosurgery®) regarding the micromorphology and roughness values of osteotomized bone surfaces. Objective: the present study compares the micro-morphologies and roughness values of osteotomized bone surfaces after the application of rotating and sawing devices, Piezosurgery Medical® and Piezosurgery Medical New Generation Powerful Handpiece. Methods: Fresh, standard-sized bony samples were taken from a rabbit skull using the following osteotomes: rotating and sawing devices, Piezosurgery Medical® and a Piezosurgery Medical New Generation Powerful Handpiece. The required duration of time for each osteotomy was recorded. Micromorphologies and roughness values to characterize the bone surfaces following the different osteotomy methods were described. The prepared surfaces were examined via light microscopy, environmental surface electron microscopy (ESEM), transmission electron microscopy (TEM), confocal laser scanning microscopy (CLSM) and atomic force microscopy. The selective cutting of mineralized tissues while preserving adjacent soft tissue (dura mater and nervous tissue) was studied. Bone necrosis of the osteotomy sites and the vitality of the osteocytes near the sectional plane were investigated, as well as the proportion of apoptosis or cell degeneration. Results and Conclusions: The potential positive effects on bone healing and reossification associated with different devices were evaluated and the comparative analysis among the different devices used was performed, in order to determine the best osteotomes to be employed during cranio-facial surgery

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not

A Textbook of Advanced Oral and Maxillofacial Surgery

The scope of OMF surgery has expanded; encompassing treatment of diseases, disorders, defects and injuries of the head, face, jaws and oral cavity. This internationally-recognized specialty is evolving with advancements in technology and instrumentation. Specialists of this discipline treat patients with impacted teeth, facial pain, misaligned jaws, facial trauma, oral cancer, cysts and tumors; they also perform facial cosmetic surgery and place dental implants. The contents of this volume essentially complements the volume 1; with chapters that cover both basic and advanced concepts on complex topics in oral and maxillofacial surgery

Textbook of Plastic and Reconstructive Surgery

Written by experts from London’s renowned Royal Free hospital, Textbook of Plastic and Reconstructive Surgery offers a comprehensive overview of the vast topic of reconstructive plastic surgery and its various subspecialties for introductory plastic surgery and surgical science courses. The book comprises five sections covering the fundamental principles of plastic surgery, cancer, burns and trauma, paediatric plastic surgery and aesthetic surgery, and covers the breadth of knowledge that students need to further their career in this exciting field. Additional coverage of areas in which reconstructive surgery techniques are called upon includes abdominal wall reconstruction, ear reconstruction and genital reconstruction. A section on aesthetic surgery includes facial aesthetic surgery and blepharoplasty, aesthetic breast surgery, body contouring and the evolution of hair transplantation. The broad scope of this volume makes this a unique contribution to the field.Heavily illustrated throughout, Textbook of Plastic and Reconstructive Surgery is essential reading for anyone interested in furthering their knowledge of this exciting field

Dictionary of World Biography

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016

Dictionary of World Biography: Fourth edition

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA (1996) and FASSA (2003), he is the only person to have been elected to all four Australian learned Academies. Awarded an AO in 1993, named as one of Australia’s 100 ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006 and The Shock of Recognition, about music and literature, in 2016. In 2014 he received an AC for services ‘as a leading intellectual in Australian public life’

Dictionary of World Biography

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA (1996) and FASSA (2003), he is the only person to have become a Fellow of four of Australia’s five learned Academies. Awarded an AO in 1993, named as one of Australia’s 100 ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006 and The Shock of Recognition, about music and literature, in 2016. In 2014 he received an AC for services ‘as a leading intellectual in Australian public life