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.

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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

The current amount of information available on different media and the strong interdisciplinarity of many technological processes makes it difficult for the younger generation to learn in depth and to understand the requirements of a specific process. A high level of expertise on every technological process exists at the level of senior experts (engineers aged over 50 and up to 75) which are willing to share this in a proper framework. The paper presents a learning management system (LMS) developed and customized as an interactive on-line platform that can bridge the gap between generations transferring the knowledge from senior experts to developing companies. This comprehensive platform provides experts the tools and resources to communicate and the companies the means to obtain relevant and personalized information achieving both a comprehensive industrial development and support and purpose for the senior experts.

Development of a learning management system for knowledge transfer in engineering

Robotic-assisted single-incision laparoscopic surgery (SILS) is becoming an increasingly widespread field worldwide due to the benefits it brings to both the patient and the surgeon. The goal of this study is to develop a secure robotic solution for SILS, focusing specifically on urology, by identifying and addressing various safety concerns from an early design stage. Starting with the medical tasks and protocols, the technical specifications of the robotic system as well as potential; hazards have been identified. By employing competitive engineering design methods such as Analytic Hierarchy Process (AHP), Risk assessment, and Failure Mode and Effects Analysis (FMEA), a safe design solution is proposed. A set of experiments is conducted to validate the proposed concept, and the results strongly support the development of the experimental model. The Finite Element Analysis (FEA) method is applied to validate the mechanical architecture within a set of simulations, demonstrating the compliance of the robotic system with the proposed technical specifications and its capability to safely perform SILS procedures.

Safety Issues in the Development of an Innovative Medical Parallel Robot Used in Renal Single-Incision Laparoscopic Surgery

The paper presents a new parallel reconfigurable robot with six degrees of freedom actuated from the fixed platform by six linear motors disposed in three guiding kinematic chains. With the help of fasteners, the robot can be reconfigured in one with five, four, three or two degrees of freedom. The equations for the determination of the inverse and direct kinematic models are presented. The robot is suitable for assembly and milling operations and can be also used as a module in a minimally invasive surgical system.

The Kinematics of a New Reconfigurable Parallel Robot with Six Degrees of Freedom

Reconfigurable robots can be defined as a specific category of robots in which their components (individual joints and links) can be assembled in different configurations and geometries. The paper presents the inverse dynamic model for a 5-DOF reconfigurable parallel robot using virtual work principle. Some simulation results for this reconfigurable parallel robot are illustrated as well. The results of the analytic dynamic model have been validated by means of a Multi- Body simulation.

Inverse Dynamics of a 5-DOF Reconfigurable Parallel Robot

The paper presents a graphical simulation system of the human spine developed using integrated MATLAB software. The application is based on real parameters of the human spine that can be modified and personalized during the analysis and all data are reported with respect to an ideal model of the human spine that is also personalized to the patient in cause. Given the fact that the human spine is one of the most complex systems in the human body a high attention must be paid at every aspect of its geometry and motion during the daily activities of the patient, this application enabling the monitoring of the majority of these aspects by analyzing data obtained from a special designed sensor system attached to the patient body.

Doina Pisla

Papers

Development of a learning management system for knowledge transfer in engineering

Safety Issues in the Development of an Innovative Medical Parallel Robot Used in Renal Single-Incision Laparoscopic Surgery

The Kinematics of a New Reconfigurable Parallel Robot with Six Degrees of Freedom

Inverse Dynamics of a 5-DOF Reconfigurable Parallel Robot

Parametric Modeling for Analyzing Diseases of the Human Spine