Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great examples of mobile robots. They can be distinguished from other robots by their ability to move autonomously, with ...

https://journals.sagepub.com/doi/pdf/10.1177/1729881419839596

A review of mobile robots: Concepts, methods, theoretical framework, and applications

J. DAnwl B8NrL.nd, Ph.D., isIlssU14nt professor Andhed, Physic Section, Dep.:ntm ent ofR.4dUaion Oncology, Wa e Forest Unit/miry School of Medicine in Winston-Salem, N.G. He ischairman ofthe AAPM Electronic Media Coordinating Committee, chairman ofthe new AAPM Subcommitteeon MoieCHlaTImaging in Clinical Radiation Oncology, and aformer member ofthe AAPM RildiAtion Therllpy Committee. The AAPM is headqNllTtered in College PIlTk, Md. WHO WE ARE The America n Assoc iation of Physicists in Medicine (AAPM) h J S ap proximately 4.62S mcmbers who practice or arc associn ed with medical physics.

American Association of Physicists in Medicine

The large interest in utilising fibre Bragg grating (FBG) strain sensors for minimally invasive surgery (MIS) applications to replace conventional electrical tactile sensors has grown in the past few years. FBG strain sensors offer the advantages of optical fibre sensors, such as high sensitivity, immunity to electromagnetic noise, electrical passivity and chemical inertness, but are not limited by phase discontinuity or intensity fluctuations. FBG sensors feature a wavelength-encoding sensing signal that enables distributed sensing that utilises fewer connections. In addition, their flexibility and lightness allow easy insertion into needles and catheters, thus enabling localised measurements inside tissues and blood. Two types of FBG tactile sensors have been emphasised in the literature: single-point and array FBG tactile sensors. This paper describes the current design, development and research of the optical fibre tactile techniques that are based on FBGs to enhance the performance of MIS procedures in general. Providing MIS or microsurgery surgeons with accurate and precise measurements and control of the contact forces during tissues manipulation will benefit both surgeons and patients.

/pdf/advances-in-bio-tactile-sensors-for-minimally-invasive-3qty8p9jxk.pdf

Advances in bio-tactile sensors for minimally invasive surgery using the fibre Bragg grating force sensor technique: a survey.

A new class of reconfigurable parallel kinematic machines

Mobility analysis of the typical gait of a radial symmetrical six-legged robot

As the life span increases and the availability of physicians becomes more and more scarce, robotic rehabilitation for post-stroke patients becomes more and more demanding, especially due to the repeatability character of the rehabilitation exercises. Both lower and upper limb rehabilitation using robotic systems have proved to be very successful in different stages of the rehabilitation process, but only a few address the immediate (critical) post-stroke phase, especially when the patient is hemiplegic and is unable to stand. The paper presents the kinematic modelling, singularity analysis and gait simulation for a new 4-DOF parallel robot named RECOVER used for lower limb rehabilitation for bedridden patients. The robotic system has been designed for the mobilization of the lower limb, namely the following motions: the hip and knee flexion and the plantar adduction/abduction and flexion/dorsiflexion. The kinematics has been studied and the singularity configurations have been determined to achieve a failsafe rehabilitation robot. Numerical simulations prove that the system can be used for gait training exercises in safe conditions.

Modelling and Simulation of a Robotic System for Lower Limb Rehabilitation

In this paper, a new simulation program for the workspace analysis of parallel robots is presented. The system consists of modules, which enable a complex study of the parallel structures. A special method for generating the workspace of the parallel structures is used. The simulation program offers the possibility to generate automatically the virtual model of the parallel robot using the facilities of a 3D modeling software. The structure geometric parameters, which could be modified within the modeling software, influence the simulation environment. These facilities enable to establish the relationships between the workspace shape, elements links and geometrical parameters of the structure. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

https://www.onlinelibrary.wiley.com/doi/pdf/10.1002/pamm.200410065

The Relationships between the Shape of the Workspace and GeometricalDimensions of Parallel Manipulators

In the paper a very simple parallel robot intended for some celestial orientation applications (satellite dishes, sun trackers, cameras, telescopes etc.) is proposed. After describing the mechanism and its kinematics, the workspace and the presence of the singularities are studied. The dimensional optimization to maximize the workspace is described, taking into account the constraints due to telescopic leg lengths and transmission angles.

Kinematic-Dimensional Analysis of Parallel Robot Used for Orientation

The paper presents the functional analysis of a parallel robotic system used for transperineal prostate biopsy. A simulation system to study the robot functional analysis was developed using the integrated MATLAB software. Given the fact that the robotic system is used in a medical environment, it has to meet certain safety requirements indicated by the medical doctors. In order to fulfill these needs an appeal to complex simulation software has to be made to help choosing the best kinematic solution for the robotic system. The designed simulation software offers a correlation between the structure of the robot and the surrounding medical environment, pointing out its workspace and possible configurations that might harm the human patient during the biopsy.

Graphical Simulation System for Functional Analysis of a Parallel Robot for Transperineal Prostate Biopsy

The paper presents the kinematic analysis of two medical instruments to be used in a robotic system designed for the minimally invasive treatment of non-resectable liver tumors. The instruments will be attached to a parallel robotic system having two modules, one for guiding each instrument. The first one targets the multiple needle insertion for brachytherapy procedures, while the other one is used for guiding a intra-operatory ultrasound probe used for the visual control of the trajectory of the brachytherapy needles. The paper analyses the constraint equations of the two robotic instruments and their integration into the robotic system, using an algebraic method based on the Study parameters of the special Euclidean transformation Lie group SE(3).

Doina Pisla

Papers

Modelling and Simulation of a Robotic System for Lower Limb Rehabilitation

The Relationships between the Shape of the Workspace and GeometricalDimensions of Parallel Manipulators

Kinematic-Dimensional Analysis of Parallel Robot Used for Orientation

Graphical Simulation System for Functional Analysis of a Parallel Robot for Transperineal Prostate Biopsy

Kinematic Analysis of Two Innovative Medical Instruments for the Robotic Assisted Treatment of Non-resectable Liver Tumors