Concept development of a tendon arm manipulator and anthropomorphic robotic hand

AMETEK/ORED inhouse research and development efforts leading toward a next-generation robotic manipulator arm and end-effector technology is summarized. Manipulator arm development has been directed toward a multiple-degree-of-freedom, flexible, tendon-driven concept referred to here as a Tendon Arm Manipulator (TAM). End-effector development has been directed toward a three-fingered, dextrous, tendon-driven, anthropomorphic configuration which is referred to as an Anthropomorphic Robotic Hand (ARH). Key technology issues are identified for both concepts

Snake Robots for Surgical Applications: A Review

Although substantial advancements have been achieved in robot-assisted surgery, the blueprint to existing snake robotics predominantly focuses on the preliminary structural design, control, and human–robot interfaces, with features which have not been particularly explored in the literature. This paper aims to conduct a review of planning and operation concepts of hyper-redundant serpentine robots for surgical use, as well as any future challenges and solutions for better manipulation. Current researchers in the field of the manufacture and navigation of snake robots have faced issues, such as a low dexterity of the end-effectors around delicate organs, state estimation and the lack of depth perception on two-dimensional screens. A wide range of robots have been analysed, such as the i2Snake robot, inspiring the use of force and position feedback, visual servoing and augmented reality (AR). We present the types of actuation methods, robot kinematics, dynamics, sensing, and prospects of AR integration in snake robots, whilst addressing their shortcomings to facilitate the surgeon’s task. For a smoother gait control, validation and optimization algorithms such as deep learning databases are examined to mitigate redundancy in module linkage backlash and accidental self-collision. In essence, we aim to provide an outlook on robot configurations during motion by enhancing their material compositions within anatomical biocompatibility standards

A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation

The application of laser technologies in surgical interventions has been accepted in the clinical domain due to their atraumatic properties. In addition to manual application of fibre-guided lasers with tissue contact, non-contact transoral laser microsurgery (TLM) of laryngeal tumours has been prevailed in ENT surgery. However, TLM requires many years of surgical training for tumour resection in order to preserve the function of adjacent organs and thus preserve the patient’s quality of life. The positioning of the microscopic laser applicator outside the patient can also impede a direct line-of-sight to the target area due to anatomical variability and limit the working space. Further clinical challenges include positioning the laser focus on the tissue surface, imaging, planning and performing laser ablation, and motion of the target area during surgery. This dissertation aims to address the limitations of TLM through robotic approaches and intraoperative assistance. Although a trend towards minimally invasive surgery is apparent, no highly integrated platform for endoscopic delivery of focused laser radiation is available to date. Likewise, there are no known devices that incorporate scene information from endoscopic imaging into ablation planning and execution. For focusing of the laser beam close to the target tissue, this work first presents miniaturised focusing optics that can be integrated into endoscopic systems. Experimental trials characterise the optical properties and the ablation performance. A robotic platform is realised for manipulation of the focusing optics. This is based on a variable-length continuum manipulator. The latter enables movements of the endoscopic end effector in five degrees of freedom with a mechatronic actuation unit. The kinematic modelling and control of the robot are integrated into a modular framework that is evaluated experimentally. The manipulation of focused laser radiation also requires precise adjustment of the focal position on the tissue. For this purpose, visual, haptic and visual-haptic assistance functions are presented. These support the operator during teleoperation to set an optimal working distance. Advantages of visual-haptic assistance are demonstrated in a user study. The system performance and usability of the overall robotic system are assessed in an additional user study. Analogous to a clinical scenario, the subjects follow predefined target patterns with a laser spot. The mean positioning accuracy of the spot is 0.5 mm. Finally, methods of image-guided robot control are introduced to automate laser ablation. Experiments confirm a positive effect of proposed automation concepts on non-contact laser surgery.Die Anwendung von Lasertechnologien in chirurgischen Interventionen hat sich aufgrund der atraumatischen Eigenschaften in der Klinik etabliert. Neben manueller Applikation von fasergeführten Lasern mit Gewebekontakt hat sich die kontaktfreie transorale Lasermikrochirurgie (TLM) von Tumoren des Larynx in der HNO-Chirurgie durchgesetzt. Die TLM erfordert zur Tumorresektion jedoch ein langjähriges chirurgisches Training, um die Funktion der angrenzenden Organe zu sichern und damit die Lebensqualität der Patienten zu erhalten. Die Positionierung des mikroskopis chen Laserapplikators außerhalb des Patienten kann zudem die direkte Sicht auf das Zielgebiet durch anatomische Variabilität erschweren und den Arbeitsraum einschränken. Weitere klinische Herausforderungen betreffen die Positionierung des Laserfokus auf der Gewebeoberfläche, die Bildgebung, die Planung und Ausführung der Laserablation sowie intraoperative Bewegungen des Zielgebietes. Die vorliegende Dissertation zielt darauf ab, die Limitierungen der TLM durch robotische Ansätze und intraoperative Assistenz zu adressieren. Obwohl ein Trend zur minimal invasiven Chirurgie besteht, sind bislang keine hochintegrierten Plattformen für die endoskopische Applikation fokussierter Laserstrahlung verfügbar. Ebenfalls sind keine Systeme bekannt, die Szeneninformationen aus der endoskopischen Bildgebung in die Ablationsplanung und -ausführung einbeziehen. Für eine situsnahe Fokussierung des Laserstrahls wird in dieser Arbeit zunächst eine miniaturisierte Fokussieroptik zur Integration in endoskopische Systeme vorgestellt. Experimentelle Versuche charakterisieren die optischen Eigenschaften und das Ablationsverhalten. Zur Manipulation der Fokussieroptik wird eine robotische Plattform realisiert. Diese basiert auf einem längenveränderlichen Kontinuumsmanipulator. Letzterer ermöglicht in Kombination mit einer mechatronischen Aktuierungseinheit Bewegungen des Endoskopkopfes in fünf Freiheitsgraden. Die kinematische Modellierung und Regelung des Systems werden in ein modulares Framework eingebunden und evaluiert. Die Manipulation fokussierter Laserstrahlung erfordert zudem eine präzise Anpassung der Fokuslage auf das Gewebe. Dafür werden visuelle, haptische und visuell haptische Assistenzfunktionen eingeführt. Diese unterstützen den Anwender bei Teleoperation zur Einstellung eines optimalen Arbeitsabstandes. In einer Anwenderstudie werden Vorteile der visuell-haptischen Assistenz nachgewiesen. Die Systemperformanz und Gebrauchstauglichkeit des robotischen Gesamtsystems werden in einer weiteren Anwenderstudie untersucht. Analog zu einem klinischen Einsatz verfolgen die Probanden mit einem Laserspot vorgegebene Sollpfade. Die mittlere Positioniergenauigkeit des Spots beträgt dabei 0,5 mm. Zur Automatisierung der Ablation werden abschließend Methoden der bildgestützten Regelung vorgestellt. Experimente bestätigen einen positiven Effekt der Automationskonzepte für die kontaktfreie Laserchirurgie

An efficient follow-the-leader strategy for continuum robot navigation and coiling

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This paper presents a new approach to snake robot navigation and coiling, with an algorithm that enables online step-by-step position adjustment with a follow-the-leader strategy, significantly improving the performance of the robot when compared to previous methods. The proposed algorithm is demonstrated on a 16-degree-of-freedom snake-like robot for inspection and maintenance tasks in nuclear facilities

From teleoperation to autonomous robot-assisted microsurgery: A survey

Robot-assisted microsurgery (RAMS) has many benefits compared to traditional microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhance the clinical outcomes of RAMS. Within only a few decades, microsurgical robotics has evolved into a rapidly developing research field with increasing attention all over the world. Despite the appreciated benefits, significant challenges remain to be solved. In this review paper, the emerging concepts and achievements of RAMS will be presented. We introduce the development tendency of RAMS from teleoperation to autonomous systems. We highlight the upcoming new research opportunities that require joint efforts from both clinicians and engineers to pursue further outcomes for RAMS in years to come

Wire-driven mechanism and highly efficient propulsion in water.

自然生物的杰出表现往往令人们叹为观止。正因为如此，在机器人研究中对自然界动植物的模仿从未间断。本文受动物肌肉骨骼系统（尤其是蛇的脊柱以及章鱼手臂的肌肉分布）的启发，设计了一种新型的仿生拉线机构。该机构由柔性骨架以及成对拉线组成。柔性骨架提供支撑，拉线模拟肌肉将驱动器的运动和力传递给骨架，并控制骨架运动。从骨架结构分，拉线机构可分为蛇形拉线机构以及连续型拉线机构；从骨架分段来看，拉线机构可分为单段式拉线机构以及多段式拉线机构，其中每段由一或两对拉线控制。拉线机构的主要性能特征包括：大柔性，高度欠驱动，杠杆效应，以及远程传力。机构的柔性使得它可以产生很大的弯曲变形；欠驱动设计极大地减少了驱动器的数目，简化了系统结构；在杠杆效应下，骨架末端速度、加速度与拉线的速度、加速度相比得到数十倍放大；通过拉线将驱动器的运动和力远程传递给执行机构，使得拉线机构结构简单紧凑。基于以上特征，拉线机构不仅适合工作于狭窄空间，同时也适合于摆动推进，尤其是水下推进。论文系统地介绍了拉线机构的设计，运动学，工作空间，静力学以及动力学模型。在常曲率假设下分别建立了蛇形拉线机构以及连续型拉线机构的运动学模型，在此基础上建立了一个通用运动学模型，以及工作空间模型。与传统避障相反，本文提出了一种利用现有障碍或主动布置约束来拓展工作空间的新方法。通过牛顿-欧拉法以及拉格朗日方程建立了蛇形拉线机构的静力学模型以及动力学模型。在非线性欧拉-伯努利梁理论下结合汉密尔顿原理建立了连续型拉线机构的静力学模型以及动力学模型。论文中利用拉线机构设计了一系列新型水下推进器。与传统机器鱼推进器设计方法（单关节，多关节以及基于智能材料的连续型设计）相比，基于拉线机构的水下推进器的优点在于：所需驱动器少，能更好地模拟鱼的游动，易于控制，推进效率高，以及容易衍生新型推进器。设计制作了四条拉线驱动机器鱼，以此为平台验证了拉线推进器的性能以及优点。实验结果表明，基于蛇形拉线机构的推进器可以提供较大推力；基于连续型拉线机构设计的推进器受摩擦影响较小；基于单段式拉线机构的推进器可以模仿鱼类摆动式推进，具有很好的转弯性能；基于多段式拉线机构的推进器可以同时模仿摆动式推进和波动式推进，具有更好的稳定性以及游速。此外，基于拉线机构制造了一种新型矢量推进器。该推进器可以提供任意方向的推力，从而提高机器鱼的机动性能。实验中，在两个额定功率为1瓦的电机驱动下，机器鱼的最大游速为0.67 体长/秒；最小转弯半径为0.24倍体长；转弯速度为51.4 度/秒；最高推进效率为92.85%。最后，采用拉线推进器制作了一个室内空中移动机器人，取名为Flying Octopus。它由一个氦气球提供浮力悬停在空中，通过四个独立控制的拉线扑翼驱动可在三维空间自由运动。Attracted by the outstanding performance of natural creatures, researchers have been mimicking animals and plants to develop their robots. Inspired by animals’ musculoskeletal system, especially the skeletal structure of snakes and octopus arm muscle arrangement, in this thesis, a novel wire-driven mechanism (WDM) is designed. It is composed of a flexible backbone and a number of controlling wire groups. The flexible backbone provides support, while the wire groups transmit motion and force from the actuators, mimicking the muscles. According to its backbone structure, the WDM is categorized as serpentine WDM and continuum WDM. Depending on the backbone segmentation, WDM is divided into single segment WDM and multi-segment WDM. Each segment is controlled by one or two wire groups. Features of WDM include: flexible, highly under-actuated, leverage effect, and long range force and motion transmission. The flexibility enables the WDM making large deformation, while the under-actuation greatly reduces th number of actuators, simplifying the system. With the leverage effect, WDM distal end velocity and acceleration is greatly amplified from that of wire. Also, in the WDM, the actuators and the backbone are serperated. Actuator’s motion is transmitted by the wires. This makes the WDM very compact. With these features, the WDM is not only well suited to confined space, but also flapping propulsion, especially in water.In the thesis, the design, kinematics, workspace, static and dynamic models of the WDM are explored systematically. Under the constant curvature assumption, the kinematic model of serpentine WDM and continuum WDM are established. A generalized model is also developed. Workspace model is built from the forward kinematic model. Rather than avoiding obstacles, a novel idea of employing obstacles or actively deploying constraints to expand workspace is also discussed for WDM-based flexible manipulators. The static model and dynamic model of serpentine WDM is developed using the Newton-Euler method and the Lagrange Equation, while that of continuum WDM is built under the non-linear Euler-Bernoulli Beam theory and the extended Hamilton’s principle.In the thesis, a number of novel WDM based underwater propulsors are developed. Compared with existing fish-like propulsor designs, including single joint design, multi-joint design, and smart material based continuum design, the proposed WDM-based propulsors have advantages in several aspects, such as employing less actuators, better resembling the fish swimming body curve, ease of control, and more importantly, being highly efficient. Also, brand new propulsors can be easily developed using the WDM. To demonstrate the features as well as the advantages of WDM propulsors, four robot fish prototypes are developed. Experiments show that the serpentine WDM-based propulsor could provide large flapping force while the continuum WDM-based propulsor is less affected by joint friction. On the other hand, single segment WDM propulsor can make oscillatory swim while multi- segment WDM propulsor can make both oscillatory and undulatory swims. The undulatory swimming outperforms the oscillatory swimming in stability and speed, but is inferior in turning around. In addition, a novel robot fish with vector propulsion capability is also developed. It can provide thrust in arbitrary directions, hence, improving the maneuverability of the robot fish. In the experiments, with the power limit of two watts, the maximum forward speed of the WDM robot fishes can reach 0.67 BL (Body Length)/s. The minimum turning radius is 0.24 BL, and the turning speed is 51.4°/s. The maximum Froude efficiency of the WDM robot fishes is 92.85%. Finally, the WDM-based propulsor is used to build an indoor Lighter-than-Air- Vehicle (LTAV), named Flying Octopus. It is suspended in the air by a helium balloon and actuated by four independently controlled wire-driven flapping wings. With the wing propulsion, it can move in 3D space effectively.Detailed summary in vernacular field only.Detailed summary in vernacular field only.Detailed summary in vernacular field only.Li, Zheng.Thesis (Ph.D.)--Chinese University of Hong Kong, 2013.Includes bibliographical references (leaves 205-214).Abstracts also in Chinese.Abstracth --- p.i摘要 --- p.iiiAcknowledgement --- p.vList of Figures --- p.xiList of Tables --- p.xviiChapter Chapter 1 --- Introduction --- p.1Chapter 1.1 --- Background --- p.1Chapter 1.2 --- Related Research --- p.2Chapter 1.2.1 --- Flexible Manipulator --- p.2Chapter 1.2.2 --- Robot Fish --- p.10Chapter 1.3 --- Motivation of the Dissertation --- p.13Chapter 1.4 --- Organization of the Dissertation --- p.14Chapter Chapter 2 --- Biomimetic Wire-Driven Mechanism --- p.16Chapter 2.1 --- Inspiration from Nature --- p.16Chapter 2.1.1 --- Snake Skeleton --- p.18Chapter 2.1.2 --- Octopus Arm --- p.19Chapter 2.2 --- Wire-Driven Mechanism Design --- p.20Chapter 2.2.1 --- Flexible Backbone --- p.20Chapter 2.2.2 --- Backbone Segmentation --- p.26Chapter 2.2.3 --- Wire Configuration --- p.28Chapter 2.3 --- Wire-Driven Mechanism Categorization --- p.31Chapter 2.4 --- Summary --- p.32Chapter Chapter 3 --- Kinematics and Workspace of the Wire-Driven Mechanism --- p.33Chapter 3.1 --- Kinematic Model of Single Segment WDM --- p.33Chapter 3.1.1 --- Kinematic Model of the Serpentine WDM --- p.34Chapter 3.1.2 --- Kinematic Model of the Continuum WDM --- p.39Chapter 3.1.3 --- A Generalized Kinematic Model --- p.43Chapter 3.2 --- Kinematic Model of Multi-Segment WDM --- p.47Chapter 3.2.1 --- Forward Kinematics --- p.47Chapter 3.2.2 --- Inverse Kinematics --- p.51Chapter 3.3 --- Workspace --- p.52Chapter 3.3.1 --- Workspace of Single Segment WDM --- p.52Chapter 3.3.2 --- Workspace of Multi-Segment WDM --- p.53Chapter 3.4 --- Employing Obstacles to Expand WDM Workspace --- p.55Chapter 3.4.1 --- Constrained Kinematics Model of WDM --- p.55Chapter 3.4.2 --- WDM Workspace with Constraints --- p.61Chapter 3.5 --- Model Validation via Experiment --- p.64Chapter 3.5.1 --- Single Segment WDM Kinematic Model Validation --- p.64Chapter 3.5.2 --- Multi-Segment WDM Kinematic Model Validation --- p.66Chapter 3.5.3 --- Constrained Kinematic Model Validation --- p.70Chapter 3.6 --- Summary --- p.73Chapter Chapter 4 --- Statics and Dynamics of the Wire-Driven Mechanism --- p.75Chapter 4.1 --- Static Model of the Wire-Driven Mechanism --- p.75Chapter 4.1.1 --- Static Model of SPSP WDM --- p.75Chapter 4.1.2 --- Static Model of SPCP WDM --- p.81Chapter 4.2 --- Dynamic Model of the Wire-Driven Mechanism --- p.88Chapter 4.2.1 --- Dynamic Model of SPSP WDM --- p.88Chapter 4.2.2 --- Dynamic Model of SPCP WDM --- p.92Chapter 4.3 --- Summary --- p.94Chapter Chapter 5 --- Application I - Wire-Driven Robot Fish --- p.95Chapter 5.1 --- Fish Swimming Introduction --- p.95Chapter 5.1.1 --- Fish Swimming Categories --- p.95Chapter 5.1.2 --- Body Curve Function --- p.96Chapter 5.1.3 --- Fish Swimming Hydrodynamics --- p.101Chapter 5.1.4 --- Fish Swimming Data --- p.103Chapter 5.2 --- Oscillatory Wire-Driven Robot Fish --- p.104Chapter 5.2.1 --- Serpentine Oscillatory Wire-Driven Robot Fish Design --- p.105Chapter 5.2.2 --- Continuum Oscillatory Wire-Driven Robot Fish Design --- p.110Chapter 5.2.3 --- Oscillatory Robot Fish Propulsion Model --- p.114Chapter 5.2.4 --- Robot Fish Swimming Control --- p.116Chapter 5.2.5 --- Swimming Experiments --- p.118Chapter 5.3 --- Undulatory Wire-Driven Robot Fish --- p.125Chapter 5.3.1 --- Undulatory Wire-Driven Robot Fish Design --- p.125Chapter 5.3.2 --- Undulatory Wire-Driven Robot Fish Propulsion Model --- p.130Chapter 5.3.3 --- Swimming Experiments --- p.131Chapter 5.4 --- Vector Propelled Wire-Driven Robot Fish --- p.136Chapter 5.4.1 --- Vector Propelled Wire-Driven Robot Fish Design --- p.136Chapter 5.4.2 --- Tail Motion Analysis --- p.140Chapter 5.4.3 --- Swimming Experiments --- p.142Chapter 5.5 --- Wire-Driven Robot Fish Performance and Discussion --- p.144Chapter 5.5.1 --- Performance --- p.144Chapter 5.5.2 --- Discussion --- p.147Chapter 5.6 --- Summary --- p.149Chapter Chapter 6 --- Aplication II - Wire-Driven LTAV - Flying Octopus --- p.151Chapter 6.1 --- Introduction --- p.151Chapter 6.2 --- Flying Octopus Design --- p.152Chapter 6.2.1 --- Flying Octopus Body Design --- p.152Chapter 6.2.2 --- Wire-Driven Flapping Wing Design --- p.153Chapter 6.3 --- Flying Octopus Motion Control --- p.156Chapter 6.3.1 --- Propulsion Model --- p.156Chapter 6.3.2 --- Motion Control Strategy --- p.157Chapter 6.3.3 --- Motion Simulation --- p.159Chapter 6.4 --- Prototype and Indoor Experiments --- p.161Chapter 6.4.1 --- Flying Octopus Prototype --- p.161Chapter 6.4.2 --- Indoor Experiments --- p.163Chapter 6.4.3 --- Discussion --- p.165Chapter 6.5 --- Summary --- p.166Chapter Chapter 7 --- Conclusions and Future Work --- p.167Chapter Appendix A - --- Publication Record --- p.170Chapter Appendix B - --- Derivation --- p.172Chapter Appendix C --- Matlab Programs --- p.176References --- p.20

Robotics 2010

Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications

Cable-driven parallel mechanisms for minimally invasive robotic surgery

Minimally invasive surgery (MIS) has revolutionised surgery by providing faster recovery times, less post-operative complications, improved cosmesis and reduced pain for the patient. Surgical robotics are used to further decrease the invasiveness of procedures, by using yet smaller and fewer incisions or using natural orifices as entry point. However, many robotic systems still suffer from technical challenges such as sufficient instrument dexterity and payloads, leading to limited adoption in clinical practice. Cable-driven parallel mechanisms (CDPMs) have unique properties, which can be used to overcome existing challenges in surgical robotics. These beneficial properties include high end-effector payloads, efficient force transmission and a large configurable instrument workspace. However, the use of CDPMs in MIS is largely unexplored. This research presents the first structured exploration of CDPMs for MIS and demonstrates the potential of this type of mechanism through the development of multiple prototypes: the ESD CYCLOPS, CDAQS, SIMPLE, neuroCYCLOPS and microCYCLOPS. One key challenge for MIS is the access method used to introduce CDPMs into the body. Three different access methods are presented by the prototypes. By focusing on the minimally invasive access method in which CDPMs are introduced into the body, the thesis provides a framework, which can be used by researchers, engineers and clinicians to identify future opportunities of CDPMs in MIS. Additionally, through user studies and pre-clinical studies, these prototypes demonstrate that this type of mechanism has several key advantages for surgical applications in which haptic feedback, safe automation or a high payload are required. These advantages, combined with the different access methods, demonstrate that CDPMs can have a key role in the advancement of MIS technology.Open Acces