design-implementation-bespoke-robotic-manipulator-for-extra-corporeal

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ...

King's College London

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human-robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics.

This paper presents a robotic anchoring module, a sensorized mechanism for attachment to the environment that can be integrated into robots to enable or enhance various functions such as robot mobility, remaining on location or its ability to manipulate objects. The body of the anchoring module consists of two portions with a mechanical stiffness transition from hard to soft. The hard portion is capable of containing vacuum pressure used for actuation while the soft portion is highly conformable to create a seal to contact surfaces. The module is integrated with a single sensory unit which exploits a fibre-optic sensing principle to seamlessly measure proximity and tactile information for use in robot motion planning as well as measuring the state of firmness of its anchor. In an experiment, a variable set of physical loads representing the weights of potential robot bodies were attached to the module and its ability to maintain the anchor was quantified under constant and variable vacuum pressure signals. The experiment shows the effectiveness of the module in quantifying the state of firmness of the anchor and discriminating between different amounts of physical loads attached to it. The proposed anchoring module can enable many industrial and medical applications where attachment to environment is of crucial importance for robot control.

Yohan Noh

School of Biomedical Engineering & Imaging Sciences

King's College London

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Yohan Noh

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King's College London

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

School of Biomedical Engineering & Imaging Sciences