Name: design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound
Uploaded: 2019-01-07T14:00:00
Description: Watch this Scientific Journal Video about Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound at JoVE.com

This work was supported by the Wellcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy&#39;s &#38; St Thomas&#39; NHS Foundation Trust in partnership with King&#39;s College London and King&#39;s College Hospital NHS Foundation Trust.

1. Preparation of Each Link, End-effector, and Additional Components
<ol>
	<li>Print all the links (L0, L1, L2, L3, and L4) and the end-effector as shown in Figure 1, with acrylonitrile butadiene styrene (ABS) plastic, polylactic acid (PLA) plastic, or nylon, using a 3D-printing service. Use the .STL files provided in the Supplementary Materials when printing. 
	NOTE: Changes in shape and scale of each part can be...

<ol>
	<li>Priester, A. M., Natarajan, S., Culjat, M. O. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robotic+ultrasound+systems+in+medicine.">Robotic ultrasound systems in medicine.</a> IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control. 60 (3), 507-523 (2013).</li><li>Magnavita, N., Bevilacqua, L., Mirk, P., Fileni, A., Castellino, N. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Work-related+musculoskeletal+complaints+in+sonologists.">Work-related musculoskeletal complaints in sonologists.</a> Journal of Occupational and Environmental Medicine. 41 (11), 981-988 (1999).</li><li>Jakes, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Sonographers+and+Occupational+Overuse+Syndrome:+Cause,+Effect,+and+Solutions.">Sonographers and Occupational Overuse Syndrome: Cause, Effect, and Solutions.</a> Journal of Diagnostic Medical Sonography. 17 (6), 312-320 (2001).</li><li>Society of Diagnostic Medical Sonography. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Industry+Standards+for+the+Prevention+of+Work-Related+Musculoskeletal+Disorders+in+Sonography:+Consensus+Conference+on+Work-Related+Musculoskeletal+Disorders+in+Sonography.">Industry Standards for the Prevention of Work-Related Musculoskeletal Disorders in Sonography: Consensus Conference on Work-Related Musculoskeletal Disorders in Sonography.</a> Journal of Diagnostic Medical Sonography. 27 (1), 14-18 (2011).</li><li>LaGrone, L. N., Sadasivam, V., Kushner, A. L., Groen, R. S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+review+of+training+opportunities+for+ultrasonography+in+low+and+middle+income+countries.">A review of training opportunities for ultrasonography in low and middle income countries.</a> Tropical Medicine &amp; International Health. 17 (7), 808-819 (2012).</li><li>Shah, S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Perceived+barriers+in+the+use+of+ultrasound+in+developing+countries.">Perceived barriers in the use of ultrasound in developing countries.</a> Critical Ultrasound Journal. 7 (1), 28 (2015).</li><li>Swerdlow, D. R., Cleary, K., Wilson, E., Azizi-Koutenaei, B., Monfaredi, R. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robotic+Arm&#8211;Assisted+Sonography:+Review+of+Technical+Developments+and+Potential+Clinical+Applications.">Robotic Arm&#8211;Assisted Sonography: Review of Technical Developments and Potential Clinical Applications.</a> American Journal of Roentgenology. 208 (4), 733-738 (2017).</li><li>Nouaille, L., Laribi, M., Nelson, C., Zeghloul, S., Poisson, G. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Review+of+Kinematics+for+Minimally+Invasive+Surgery+and+Tele-Echography+Robots.">Review of Kinematics for Minimally Invasive Surgery and Tele-Echography Robots.</a> Journal of Medical Devices. 11 (4), 040802 (2017).</li><li>Georgescu, M., Sacccomandi, A., Baudron, B., Arbeille, P. L. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Remote+sonography+in+routine+clinical+practice+between+two+isolated+medical+centers+and+the+university+hospital+using+a+robotic+arm:+a+1-year+study.">Remote sonography in routine clinical practice between two isolated medical centers and the university hospital using a robotic arm: a 1-year study.</a> Telemedicine and e-Health. 22 (4), 276-281 (2016).</li><li>Arbeille, P., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Use+of+a+robotic+arm+to+perform+remote+abdominal+telesonography.">Use of a robotic arm to perform remote abdominal telesonography.</a> American Journal of Roentgenology. 188 (4), W317-W322 (2007).</li><li>Arbeille, P., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Fetal+tele&#8208;echography+using+a+robotic+arm+and+a+satellite+link.">Fetal tele&#8208;echography using a robotic arm and a satellite link.</a> Ultrasound in Obstetrics &amp; Gynecology. 26 (3), 221-226 (2005).</li><li>Vieyres, P., Istepanian, R. H., Laxminarayan, S., Pattichis, C. S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+tele-operated+robotic+system+for+mobile+tele-echography:+The+OTELO+project.">A tele-operated robotic system for mobile tele-echography: The OTELO project.</a> M-Health: Emerging Mobile Health Systems. , 461-473 (2006).</li><li>Abolmaesumi, P., Salcudean, S. E., Zhu, W. H., Sirouspour, M. R., DiMaio, S. P. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Image-guided+control+of+a+robot+for+medical+ultrasound.">Image-guided control of a robot for medical ultrasound.</a> IEEE Transactions on Robotics and Automation. 18 (1), 11-23 (2002).</li><li>Abolmaesumi, P., Salcudean, S., Zhu, W. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Visual+servoing+for+robot-assisted+diagnostic+ultrasound.">Visual servoing for robot-assisted diagnostic ultrasound.</a> Engineering in Medicine and Biology Society, Proceedings of the 22nd Annual International Conference of the IEEE. , (2000).</li><li>Menikou, G., Yiallouras, C., Yiannakou, M., Damianou, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=MRI&#8208;guided+focused+ultrasound+robotic+system+for+the+treatment+of+bone+cancer.">MRI&#8208;guided focused ultrasound robotic system for the treatment of bone cancer.</a> The International Journal of Medical Robotics and Computer Assisted Surgery. 13 (1), e1753 (2017).</li><li>Yiallouras, C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Three-axis+MR-conditional+robot+for+high-intensity+focused+ultrasound+for+treating+prostate+diseases+transrectally.">Three-axis MR-conditional robot for high-intensity focused ultrasound for treating prostate diseases transrectally.</a> Journal of Therapeutic Ultrasound. 3 (1), 2 (2015).</li><li>Essomba, T., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+specific+performances+comparative+study+of+two+spherical+robots+for+tele-echography+application.">A specific performances comparative study of two spherical robots for tele-echography application.</a> Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 228 (18), 3419-3429 (2014).</li><li>Bassit, L. A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=.">.</a> Structure m&#233;canique &#224; modules sph&#233;riques optimis&#233;es pour un robot m&#233;dical de t&#233;l&#233;-&#233;chographie mobile. , (2005).</li><li>Noh, Y., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Multi-Axis+force/torque+sensor+based+on+Simply-Supported+beam+and+optoelectronics.">Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics.</a> Sensors. 16 (11), 1936 (1936).</li><li>Noh, Y., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=An+ergonomic+handheld+ultrasound+probe+providing+contact+forces+and+pose+information.">An ergonomic handheld ultrasound probe providing contact forces and pose information.</a> Engineering in Medicine and Biology Society, Proceedings of the 37th Annual International Conference of the IEEE. , (2015).</li><li>. Translational Detent &#8211; MapleSim Help Available from: <a target="_blank" href="https://www.maplesoft.com/support/help/MapleSim/view.aspx?path=DrivelineComponentLibrary/translationalDetent">https://www.maplesoft.com/support/help/MapleSim/view.aspx?path=DrivelineComponentLibrary/translationalDetent</a> (2018)</li></ol>

Unlike many other industrial robots that have been translated into medical applications, the proposed robotic manipulator described in the protocol was specifically designed for US examinations according to clinical requirements for the range of motion, application of force, and safety management. The lightweight robotic manipulator itself has a wide range of movements sufficient for most extra-corporeal US scanning, without the need for large movements of the global positioning mechanism. As the closest mechanical struc...

An extra-corporeal robotic ultrasound (US) system refers to the configuration in which a robotic system is utilized to hold and manipulate a US probe for external examinations, including its use in cardiac, vascular, obstetric, and general abdominal imaging1. The use of such a robotic system is motivated by the challenges of manually holding and manipulating a US probe, for instance, the challenge of finding standard US views required by clinical imaging protocols and the risk of repetitive strain injury2,3,4, and also by the needs of US screening programs, for instance,&#160;the requirement for experienced sonographers to be on-site5,6. With emphases on different functionalities and target anatomies, several robotic US systems, as reviewed in earlier works1,7,8, have been introduced since the 1990s, to improve different aspects of US examination (e.g.,&#160;long-distance teleoperation9,10,11,12, as well as robot-operator interaction and automatic control)13,14. In addition to the robotic US systems used for diagnostic purposes, robotic high-intensity focused ultrasound (HIFU) systems for treatment purposes have been widely investigated as summarized by Priester et al.1, with some recent works15,16 reporting the latest progress.
Although several robotic US systems have been developed with relatively reliable technologies for control and clinical operation, only a few of them have been successfully translated into clinical use, such as a commercially available tele-ultrasound system17. One possible reason is the low level of acceptance for large-size industrial-looking robots working in a clinical environment, from the point of view of both patients and sonographers. Additionally, for safety management, the majority of the existing US robots rely on force sensors to monitor and control the applied pressure to the US probe, while more fundamental mechanical safety mechanisms to limit the force passively are usually not available. This may also cause concerns when translating into clinical use as the safety of robot operation would be purely dependent on electrical systems and software logic.
With the recent advancements of 3D printing techniques, specially shaped plastic links with custom-made joint mechanisms could provide a new opportunity for developing bespoke medical robots. Carefully designed lightweight components with a compact appearance could improve clinical acceptance. Specifically for US examination, a bespoke medical robot aimed at being translated into clinical use should be compact, with enough degrees of freedom (DOFs) and range of motion to cover the region of interest of a scan; for example, the abdominal surface, including both the top and sides of the belly. Additionally, the robot should also incorporate the ability to perform fine adjustments of the US probe in a local area, when trying to optimize a US view. This usually includes tilting movements of the probe within a certain range, as suggested by Essomba et al.18 and Bassit19. To further address the safety concerns, it is expected that the system should have passive mechanical safety features which are independent of electrical systems and software logic.
In this paper, we present the detailed design and assembly method of a 5-DOF dexterous robotic manipulator, which is used as the key component of an extra-corporeal robotic US system. The manipulator consists of several lightweight 3D-printable links, custom-made joint mechanisms, and a built-in safety clutch. The specific arrangement of the DOFs provides full flexibility for probe adjustments, allowing easy and safe operations in a small area without colliding with the patient. The proposed multi-DOF manipulator aims to work as the main component that is in contact with patients and it can be simply attached to any conventional 3-DOF global positioning mechanism to form a complete US robot with fully active DOFs to perform a US scan.

<table>
	<tbody>
		<tr>
			<td>3D-printed link L0</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L1</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L2</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L3</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L4</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed end-effector</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>20-teeth spur gear</td>
			<td>3D printing service</td>
			<td>12</td>
			<td>0.5 module, 5 mm face width, with mounting keyway, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>18-teeth bevel gear</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>0.5 module, 5 mm face width, with mounting keyway, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type A)</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 6 mm face width, with mounting keyway, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type B)</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>0.5 module, 6 mm face width, with detent holes, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type C)</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 6 mm face width, with mounting key, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>20-teeth long spur gear</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 21.5 mm face width, with mounting keyways, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>144-teeth bevel gear</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 7 mm face width, with mounting keyways, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>Bearing (37 mm O.D and 30 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>5</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (12 mm O.D and 6 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>2</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (32 mm O.D and 25 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>1</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (8 mm O.D and 5 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>2</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Plastic/metal shaft (6 mm O.D, 70 mm long)</td>
			<td>TR Fastenings Ltd., UK</td>
			<td>1</td>
			<td>e.g. Could be an M6 bolt and a nut</td>
		</tr>
		<tr>
			<td>Plastic/metal shaft (5 mm O.D, 70 mm long)</td>
			<td>TR Fastenings Ltd., UK</td>
			<td>1</td>
			<td>e.g. Could be an M5 bolt and a nut</td>
		</tr>
		<tr>
			<td>Ball-spring pairs</td>
			<td>WDS Ltd., UK</td>
			<td>4</td>
			<td>Numbers of ball-spring pairs could varied to adjust the triggering force of the clutch</td>
		</tr>
		<tr>
			<td>Clutch covers</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>104 mm O.D, 5mm face width, 6 mm bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed shaft collar</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>35 mm O.D and 30 mm I.D, 8mm face width, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed end-effector collar</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>Small geared stepper motors</td>
			<td>AOLONG TECHNOLOGY Ltd., China</td>
			<td>14</td>
			<td>Part number: GM15BYS; Internal gear ratio 232:1 or 150:1, all acceptable</td>
		</tr>
	</tbody>
</table>

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 ultrasound. However, limited numbers of robots designed for extra-corporeal ultrasound have been successfully translated into clinical use. In this study, we aim to build a bespoke robotic manipulator for extra-corporeal ultrasound examination, which is lightweight and has a small footprint. The robot is formed by five specially shaped links and custom-made joint mechanisms for probe manipulation, to cover the necessary range of motion with redundant degrees of freedom to ensure the patient&#39;s safety. The mechanical safety is emphasized with a clutch mechanism, to limit the force applied to patients. As a result of the design, the total weight of the manipulator is less than 2 kg and the length of the manipulator is about 25 cm. The design has been implemented, and simulation, phantom, and volunteer studies have been performed, to validate the range of motion, the ability to make fine adjustments, mechanical reliability, and the safe operation of the clutch. This paper details the design and implementation of the bespoke robotic ultrasound manipulator, with the design and assembly methods illustrated. Testing results to demonstrate the design features and clinical experience of using the system are presented. It is concluded that the current proposed robotic manipulator meets the requirements as a bespoke system for extra-corporeal ultrasound examination and has great potential to be translated into clinical use.

Following the protocol, the resulting system is a robotic manipulator with five specially shaped links (L0 to L4) and five revolute joints (J1 to J5) for moving, holding, and locally tilting a US probe (Figure 8). The top rotation joint (J1), with gear mechanisms actuated by four motors, can rotate the following structures 360&#176;, to allow the US probe to point toward different sides of the scanning ar...

Watch this Scientific Journal Video about Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound at JoVE.com

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

This paper introduces the design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound examination. The system has five degrees of freedom with lightweight joints made by 3D printing and a mechanical clutch for safety management.

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

We developed a spoke robotic manipulator extra corporeal ultrasound, which will aim to translate into clinical use. The use of robotic systems for ultrasound diagnosis, can potentially improve medical diagnosis. The manipulator consists of lead weight, so the printable things, away from plastics which a mechanical clutch, feature.The clutch is independent of electrical systems and suferal logic. The robotic ultrasound manipulator can be used by Stenographers to reduce the risk of repetitive strain injury. The system can also be used for an ultrasound diagnosis.The manipulator provides full flexibility for ultrasound pre adjustments, allowing easy and safe operation in a small area. Potentially it can also be used to manipulate other medical devices. To begin, use the STL files provided in the supplementary materials for this article, and print all of the links and the effector is shown here.Print using ABS PLA or nylon using your own 3D printer, or a 3D printing service. Also use nylon to print all the required additional components shown here. As needed remove any supporting materials left from the 3D printing, and polish all of the printed plastic parts with polishing tools.Attach 20 teeth spur gears to four small geared stepper motors. Then place the stepper motors into the mountain cavities of link zero and mount them with screws. Next place the two 37 millimeter outer diameter bearings into the bearing housings of link zero.Then secure the 120 teeth type A spur gear onto the hexagon key of link one. Now insert the shaft on link one into the shaft hole on link zero with the four small driving spur gears, and the large driven spur gear engaged. Then assemble the shaft collar to secure and retain the shaft.Attach 20 teeth spur gears to another four small geared stepper motors. Then place the stepper motors into the mounting cavities of link one and mount them with screws. Next attach the two 120 teeth type B spur gears to the 237 millimeter outer diameter bearings.Position them into the gear cavities of link one, while the 120 teeth type B spur gear is engaged with the 20 teeth spur gears mounted on the motors. Unscrew, and re screw the motor if necessary to allow the easy positioning of the two 120 teeth type B spur gear. Put the gears in position, align link one and link two, and insert the bearing and a ball spring pears into the clutch holes in link two.With the two round clutch covers aligning and pushing the spring into the clutch mechanism for pre-loading, insert an M6 bolt into the bores of link one and two. Finally rotate the assembly to the other side, and repeat steps 4.3 for this side. Secure the assembly by attaching a nut to the M6 bolt.Attach 20 tooth spur gears to two more small geared stepper motors, then place the stepper motors into the mounting cavities of link two, and mount them with screws. Next place a 37 millimeter outer diameter bearing into the bearing housing of the 120 teeth type-c spur gear. Also place a 32 millimeter outer diameter bearing into the bearing housing of link three.Secure the large spur gear into the hexagon keyhole of link three, using additional screws if necessary. Then, while the small and the large spur gears engaged, insert the shaft on link two into the Boers on the large spur gear and link three. Place the two small geared stepper motors into the mounting cavities of Link three, and mount them with screws.Then place the 8 millimeter outer diameter bearings into the bearing housings of link four. Mount the 20 teeth long spur gear onto the two small stepper motors. Position the driven 140 14th bevel gear onto the extrusion of link four.Attach 18 teeth bevel gears to two small geared stepper motors. Then place the stepper motors into the mounting cavities of link four, and mount them with screws. Finally insert the M5 shaft into the shaft hole of link three and link four, after the two links are aligned.Ensure the built-in driven beer structures on link four matches with the 20 teeth long spur gear. Finally insert the end effector into the keyway of the large bevel gear then vertically position the end effector with the end effector color screwed onto it. The robotic manipulator assembled here has five specially shaped links, and five revolut joints for moving, holding, and locally tilting a US probe.The probe can be rotated axily to any angle. Tilted to follow a surface angle between zero degrees, and 110 degrees to the horizontal in any direction. And positioned within a circle, with a diameter of 360 millimeters.A large range of probe positions be reached with only small movements of the remaining global positioning mechanism, when using the proposed robotic us manipulator. Here a simulation shows the robot in positions around an abdominal phantom, demonstrating that it is able to reach around both sides of the abdomen and a range of positions on top. When performing these steps, it is important to remember that the driving, and driving gears have to be properly engaged for the mechanism to work.Following this procedure, we can assemble robotic manipulator original design for can potentially be converted into a robity wise for holding, and positioning other abdominal, surgical devices. Using the proposed manipulator, researchers now have a lightweight device to explore the potential clinical uses of robotic ultrasound technology, and to experiment with different authored modes to improve the diagnostic outcome.

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Engineering

Synthesis of Phase-shift Nanoemulsions with Narrow Size Distributions for Acoustic Droplet Vaporization and Bubble-enhanced Ultrasound-mediated Ablation

High-intensity focused ultrasound (HIFU) is used clinically to thermally ablate tumors. To enhance localized heating and improve thermal ablation in tumors, lipid-coated perfluorocarbon droplets have been developed which can be vaporized by HIFU. The vasculature in many tumors is abnormally leaky due to their rapid growth, and nanoparticles are able to penetrate the fenestrations and passively accumulate within tumors. Thus, controlling the size of the droplets can result in better accumulation within tumors. In this report, the preparation of stable droplets in a phase-shift nanoemulsion (PSNE) with a narrow size distribution is described. PSNE were synthesized by sonicating a lipid solution in the presence of liquid perfluorocarbon. A narrow size distribution was obtained by extruding the PSNE multiple times using filters with pore sizes of 100 or 200 nm. The size distribution was measured over a 7-day period using dynamic light scattering. Polyacrylamide hydrogels containing PSNE were prepared for in vitro experiments. PSNE droplets in the hydrogels were vaporized with ultrasound and the resulting bubbles enhanced localized heating. Vaporized PSNE enables more rapid heating and also reduces the ultrasound intensity needed for thermal ablation. Thus, PSNE is expected to enhance thermal ablation in tumors, potentially improving therapeutic outcomes of HIFU-mediated thermal ablation treatments.

Phase-shift nanoemulsions (PSNE) can be vaporized using high intensity focused ultrasound to enhance localized heating and improve thermal ablation in tumors. In this report, the preparation of stable PSNE with a narrow size distribution is described. Furthermore, the impact of vaporized PSNE on ultrasound-mediated ablation is demonstrated in tissue-mimicking phantoms.

High-intensity  focused ultrasound (HIFU) is used clinically to thermally ablate tumors. To  enhance localized heating and improve thermal ablation in ...

Implementation of a Reference Interferometer for Nanodetection

A thermally and mechanically stabilized fiber interferometer suited for examining ultra-high quality factor microcavities is fashioned. After assessing its free spectral range (FSR), the module is put in parallel with a fiber taper-microcavity system and then calibrated through isolating and eliminating random shifts in the laser frequency (i.e. laser jitter noise). To realize the taper-microcavity junction and to maximize the optical power that is transferred to the resonator, a single-mode optical fiber waveguide is pulled. Solutions containing polystyrene nanobeads are then prepared and flown to the microcavity in order to demonstrate the system&#8217;s ability to sense binding to the surface of the microcavity. Data is post-processed via adaptive curve fitting, which allows for high-resolution measurements of the quality factor as well as the plotting of time-dependent parameters, such as resonant wavelength and split frequency shifts. By carefully inspecting steps in the time-domain response and shifting in the frequency-domain response, this instrument can quantify discrete binding events.

A reference interferometer technique, which is designed to remove undesirable laser jitter noise for nanodetection, is utilized for probing an ultra-high quality factor microcavity. Instructions for assembly, setup, and data acquisition are provided, alongside the measurement process for specifying the cavity quality factor.

A thermally and mechanically stabilized fiber interferometer suited for examining ultra-high quality factor microcavities is fashioned. After assessing ...

Design and Use of a Full Flow Sampling System (FFS) for the Quantification of Methane Emissions

The use of natural gas continues to grow with increased discovery and production of unconventional shale resources. At the same time, the natural gas industry faces continued scrutiny for methane emissions from across the supply chain, due to methane&#39;s relatively high global warming potential (25-84x that of carbon dioxide, according to the Energy Information Administration). Currently, a variety of techniques of varied uncertainties exists to measure or estimate methane emissions from components or facilities. Currently, only one commercial system is available for quantification of component level emissions and recent reports have highlighted its weaknesses.
In order to improve accuracy and increase measurement flexibility, we have designed, developed, and implemented a novel full flow sampling system (FFS) for quantification of methane emissions and greenhouse gases based on transportation emissions measurement principles. The FFS is a modular system that consists of an explosive-proof blower(s), mass airflow sensor(s) (MAF), thermocouple, sample probe, constant volume sampling pump, laser based greenhouse gas sensor, data acquisition device, and analysis software. Dependent upon the blower and hose configuration employed, the current FFS is able to achieve a flow rate ranging from 40 to 1,500 standard cubic feet per minute (SCFM). Utilization of laser-based sensors mitigates interference from higher hydrocarbons (C2+). Co-measurement of water vapor allows for humidity correction. The system is portable, with multiple configurations for a variety of applications ranging from being carried by a person to being mounted in a hand drawn cart, on-road vehicle bed, or from the bed of utility terrain vehicles (UTVs). The FFS is able to quantify methane emission rates with a relative uncertainty of &#177; 4.4%. The FFS has proven, real world operation for the quantification of methane emissions occurring in conventional and remote facilities.

Design and Use of a Full Flow Sampling System FFS for the Quantification of Methane Emissions

We have designed, developed, and implemented a novel full flow sampling system (FFS) for quantification of methane emissions and greenhouse gases from across the natural gas supply chain.

The use of natural gas continues to grow with increased discovery and production of unconventional shale resources. At the same time, the natural gas ...

A Robotic Platform to Study the Foreflipper of the California Sea Lion

The California sea lion (Zalophus californianus), is an agile and powerful swimmer. Unlike many successful swimmers (dolphins, tuna), they generate most of their thrust with their large foreflippers. This protocol describes a robotic platform designed to study the hydrodynamic performance of the swimming California sea lion (Zalophus californianus). The robot is a model of the animal&#39;s foreflipper that is actuated by motors to replicate the motion of its propulsive stroke (the &#39;clap&#39;). The kinematics of the sea lion&#39;s propulsive stroke are extracted from video data of unmarked, non-research sea lions at the Smithsonian Zoological Park (SNZ). Those data form the basis of the actuation motion of the robotic flipper presented here. The geometry of the robotic flipper is based a on high-resolution laser scan of a foreflipper of an adult female sea lion, scaled to about 60% of the full-scale flipper. The articulated model has three joints, mimicking the elbow, wrist and knuckle joint of the sea lion foreflipper. The robotic platform matches dynamics properties&#8212;Reynolds number and tip speed&#8212;of the animal when accelerating from rest. The robotic flipper can be used to determine the performance (forces and torques) and resulting flowfields.

A robotic platform is described that will be used to study the hydrodynamic performance&#8212;forces and flowfields&#8212;of the swimming California sea lion. The robot is a model of the animal&#39;s foreflipper that is actuated by motors to replicate the motion of its propulsive stroke (the &#39;clap&#39;).

The California sea lion (Zalophus californianus), is an agile and powerful swimmer. Unlike many successful swimmers (dolphins, tuna), they generate most ...

Structural Design and Manufacturing of a Cruiser Class Solar Vehicle

Cruisers are multi-occupant solar vehicles that are conceived to compete in long-range (over 3,000 km) solar races based on the best compromise between the energy consumption and the payload. They must comply to the race&#39;s rules regarding the overall dimensions, the solar panel size, functionality, and safety and structural requirements, while the shape, the materials, the powertrain, and the mechanics are considered at the discretion of the designer. In this work, the most relevant aspects of the structural design process of a full-carbon fiber-reinforced plastic solar vehicle are detailed. In particular, the protocols used for the design of the lamination sequence of the chassis, the leaf springs structural analysis, and the crash test numerical simulation of the vehicle, including the safety cage, are described. The complexity of the design methodology of fiber-reinforced composite structures is compensated by the possibility of tailoring their mechanical characteristics and optimizing the overall weight of the car.

In this work, several aspects related to the structural design process of a full-carbon fiber-reinforced plastic solar vehicle are detailed, focusing on the monocoque chassis, the leaf springs, and the vehicle as a whole during a crash test.

Cruisers are multi-occupant solar vehicles that are conceived to compete in long-range (over 3,000 km) solar races based on the best compromise between ...

Implementation of a Nonlinear Microscope Based on Stimulated Raman Scattering

Stimulated Raman scattering (SRS) microscopy uses near-infrared excitation light; therefore, it shares many multi-photon microscopic imaging properties. SRS imaging modality can be obtained using commercial laser-scanning microscopes by equipping with a non-descanned forward detector with proper bandpass filters and lock-in amplifier (LIA) detection scheme. A schematic layout of a typical SRS microscope includes the following: two pulsed laser beams, (i.e., the pump and probe directed in a scanning microscope), which must be overlapped in both space and time at the image plane, then focused by a microscope objective into the sample through two scanning mirrors (SMs), which raster the focal spot across an x-y plane. After interaction with the sample, transmitted output pulses are collected by an upper objective and measured by a forward detection system inserted in an inverted microscope. Pump pulses are removed by a stack of optical filters, whereas the probe pulses that are the result of the SRS process occurring in the focal volume of the specimen are measured by a photodiode (PD). The readout of the PD is demodulated by the LIA to extract the modulation depth. A two-dimensional (2D) image is obtained by synchronizing the forward detection unit with the microscope scanning unit. In this paper, the implementation of an SRS microscope is described and successfully demonstrated, as well as the reporting of label-free images of polystyrene beads with diameters of 3 &#181;m. It is worth noting that SRS microscopes are not commercially available, so in order to take advantage of these characteristics, the homemade construction is the only option. Since SRS microscopy is becoming popular in many fields, it is believed that this careful description of the SRS microscope implementation can be very useful for the scientific community.

In this manuscript, the implementation of a stimulated Raman scattering (SRS) microscope, obtained by the integration of an SRS experimental set-up with a laser scanning microscope, is described. The SRS microscope is based on two femtosecond (fs) laser sources, a Ti-Sapphire (Ti:Sa) and synchronized optical parametric oscillator (OPO).

Stimulated Raman scattering (SRS) microscopy uses near-infrared excitation light; therefore, it shares many multi-photon microscopic imaging properties. ...

Robotic Sensing and Stimuli Provision for Guided Plant Growth

Robot systems are actively researched for manipulation of natural plants, typically restricted to agricultural automation activities such as harvest, irrigation, and mechanical weed control. Extending this research, we introduce here a novel methodology to manipulate the directional growth of plants via their natural mechanisms for signaling and hormone distribution. An effective methodology of robotic stimuli provision can open up possibilities for new experimentation with later developmental phases in plants, or for new biotechnology applications such as shaping plants for green walls. Interaction with plants presents several robotic challenges, including short-range sensing of small and variable plant organs, and the controlled actuation of plant responses that are impacted by the environment in addition to the provided stimuli. In order to steer plant growth, we develop a group of immobile robots with sensors to detect the proximity of growing tips, and with diodes to provide light stimuli that actuate phototropism. The robots are tested with the climbing common bean, Phaseolus vulgaris, in experiments having durations up to five weeks in a controlled environment. With robots sequentially emitting blue light-peak emission at wavelength 465 nm-plant growth is successfully steered through successive binary decisions along mechanical supports to reach target positions. Growth patterns are tested in a setup up to 180 cm in height, with plant stems grown up to roughly 250 cm in cumulative length over a period of approximately seven weeks. The robots coordinate themselves and operate fully autonomously. They detect approaching plant tips by infrared proximity sensors and communicate via radio to switch between blue light stimuli and dormant status, as required. Overall, the obtained results support the effectiveness of combining robot and plant experiment methodologies, for the study of potentially complex interactions between natural and engineered autonomous systems.

Distributed robot nodes provide sequences of blue light stimuli to steer the growth trajectories of climbing plants. By activating natural phototropism, the robots guide the plants through binary left-right decisions, growing them into predefined patterns that by contrast are not possible when the robots are dormant.

Robot systems are actively researched for manipulation of natural plants, typically restricted to agricultural automation activities such as harvest, ...

Crack Monitoring in Resonance Fatigue Testing of Welded Specimens Using Digital Image Correlation

A procedure using digital image correlation (DIC) to detect cracks on welded specimens during fatigue tests on resonance testing machines is presented. It is intended as a practical and reproducible procedure to identify macroscopic cracks at an early stage and monitor crack propagation during fatigue tests. It consists of strain field measurements at the weld using DIC. Images are taken at fixed load cycle intervals. Cracks become visible in the computed strain field as elevated strains. This way, the whole width of a small-scale specimen can be monitored to detect where and when a crack initiates. Subsequently, it is possible to monitor the development of the crack length. Because the resulting images are saved, the results are verifiable and comparable. The procedure is limited to cracks initiating at the surface and is intended for fatigue tests under laboratory conditions. By visualizing the crack, the presented procedure allows direct observation of macrocracks from their formation until rupture of the specimen.

Digital image correlation is used in fatigue tests on a resonance testing machine to detect macroscopic cracks and monitor crack propagation in welded specimens. Cracks on the specimen surface become visible as increased strains.

A procedure using digital image correlation (DIC) to detect cracks on welded specimens during fatigue tests on resonance testing machines is presented. It ...

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84&#176;. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (&#62; 70&#176;), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

This protocol provides a detailed list of steps to be performed for the manufacturing, control and evaluation of the climbing performance of a gecko-inspired soft robot.

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...

A Modeling and Simulation Method for Preliminary Design of an Electro-Variable Displacement Pump

Electro-hydrostatic actuators (EHAs) have been considerably researched in academia, and their applications in various industrial fields are expanding. The variable-speed EHA has now taken priority over the variable-displacement EHA, but its driving motor and associated electronics encounter issues when applied in high-power applications: low-dynamics, high thermal dissipation, high price, etc. Therefore, a variable-displacement EHA equipped with an electro-variable displacement pump (EVDP) has been considered. The EVDP itself is a mechatronic system that integrates a piston pump, a ball screw, a gearbox, and a permanent magnet synchronous motor (PMSM). Consequently, the EVDP needs to be investigated to ensure its system-level performance when applied in an EHA. In addition to the previous research on the technical parameters of the EVDP, a dedicated design method is necessary for further reducing the cost of using the EVDP and exploring its performance potential. Here, a simulation based EVDP preliminary design method is selected for designing a 37 kW EVDP. Firstly, a previously proposed multidisciplinary model of the EVDP is extended by improving the parameter generation, including the EVDP life, reliability, control models, etc. Secondly, the proposed model is partially verified using a downsized prototype. Thirdly, the EVDP is simulated at a system level, supported by the proposed model. The EVDP performance is evaluated according to the specified design requirements. The temperature, bandwidth and accuracy, reliability and lifetime, etc., are all predicted for the EVDP. The simulation results demonstrate the EVDP's applicability in variable-displacement EHA. The proposed modeling and simulation method can be used to evaluate diverse EVDP performance and respond to general design requirements. The method can also support the resolution of the preliminary design challenges in terms of limited information and robustness. Therefore, the proposed method is appropriate for the realization of the simulation-based EVDP preliminary design method.

A simulation model specifically supporting the preliminary design of an electro-variable displacement pump (EVDP) is developed and partially verified by experiments. The control performance, life, reliability, etc., can all be evaluated using the proposed model, which covers the main performance requirements under the EVDP preliminary design task.

Electro-hydrostatic actuators (EHAs) have been considerably researched in academia, and their applications in various industrial fields are expanding. The ...