An Underactuated Flexible Instrument for Single Incision Laparoscopic Surgery

More and more patients and surgeons have switched from open surgery to minimally invasive surgery over these years. This exciting advancement has brought massive benefits to patients. Researchers and institutions have proposed robot assisted surgery which combines the advantage of developed robot system and human experience. This thesis reviews state of the art in this area and analyze some advanced surgical instrument for single incision laparoscopic instrument, then propose a design of robotic instrument for single incision laparoscopic surgery which can be integrated with collaborative robot manipulator to construct a surgical robot system.Single-incision laparoscopic surgery (SILS) has its own features and advantages compare to other minimally invasive surgery techniques which also lead to special design requirements for SILS instruments, among which increased flexibility compare to multi-incision surgery instruments is an important part. So we want to design a robotic surgical instrument that has increased flexibility compare to traditional instruments for other MIS techniques. As a laparoscopic robotic instrument compactness and light weight are also our considerations.Single incision laparoscopic surgery (SILS) inserts multiple instruments and laparoscopes through a single trocar which reduces trauma. But this improvement for patients caused difficulty in operation because of instruments triangulation, laparoscope field-of-view, etc. That brings up our challenges in designing a robotic instruments. Designing a highly flexible robotic instrument that provides sufficient workspace and good triangulation in order to relieve the difficulties introduced by narrow instrument trocars.We want to implement a highly recognized surgical instrument with a designed robotic instrument actuation pack. These two parts compose a robotic surgical instrument for single incision laparoscopic surgery. And we want to analyze the performance and viability of our design approach for SILS application

Chaos, granularity, and instability in economic systems of countries with emerging market economies: relationships between GDP growth rate and increasing internal inequality

Starting from empirical observations of macroeconomic data from emerging market economies recorded in the second decade of the 2000s, an economic analysis was conducted on these economies’ prerogatives and prospects, with special attention given to possible risks of systemic instability and the general soundness of their social and socio-economic structures. These assessments seem particularly relevant, not only for the countries in question, but because of their growing influence in determining international economic balance in the network of relations with developed countries at large. Indeed, alongside good performance trends in production growth, distribution of new wealth that has exacerbated inequalities can be discerned. Moreover, emerging countries’ economic policies often show a general accommodation to the sole objective of production growth, whilst neglecting to maintain equilibrium within the combined arrangement of all (other) macroeconomic variables. Hence, at first we investigated the constitutive dynamics of these phenomena, using an income diffusion model based on a Pareto probability distribution, then on rheology for the analysis of the peculiar new wealth flows distributed over these countries’ populations as well as any spontaneous redistribution effects induced by transactions among resident agents. At that point, applying the Dynamic New Keynesian model, we represented the system and studied solutions. Finally, we offer a proposal for constant government monitoring of each system, adopting control procedures capable of intervening – by way of economic and monetary policy instruments – where trends showed certain critical levels of instability in the economic system, which are observable from the trajectory diagrams

Ein neues Konzept zur Modellierung und Regelung von dynamischen Transportvorgängen in der industriellen Robotik in Echtzeit

In dieser Arbeit wird ein Konzept vorgestellt mit dem ein dynamischer Transport modelliert und geregelt werden kann. Das Vorgehen beinhaltet die Aufstellung des physikalischen Modells, Ableitung der mathematischen Beschreibung in Form von Differentialgleichungen, Modell- und physikalische Simulationen und das Experiment. Durch eine breite Auswahl von Anwendungsfällen wird die Universalität des Vorgehens veranschaulicht