Hashimdeen, Shaikh Hafeez, Miodownik, Mark, and Edirisinghe, Mohan J.
PLoS ONE. Nov 18, 2014, Vol. 9 Issue 11
Robot, Tissue engineering, Robots, and Rapid prototyping
Author(s): Shaikh Hafeez Hashimdeen, Mark Miodownik, Mohan J. Edirisinghe [sup.*] Introduction A surge in demand for high throughput in the design and manufacture of complicated parts in a highly precise [...] In this work we bring together replicating rapid prototyping technology with electrohydrodynamic phenomena to develop a device with the ability to build structures in three-dimensions while simultaneously affording the user a degree of designing versatility and ease that is not seen in conventional computer numerically controlled machines. An attempt at reproducing an actual human ear using polycaprolactone was pursued to validate the hardware. Five different polycaprolactone solution concentrations between 7-15 wt% were used and printing was performed at applied voltages that ranged from 1 to 6 kV and at flow rates from 5[micro]l/min to 60[micro]l/min. The corresponding geometrical and aesthetic features of the printed constructs were studied to determine the effectiveness of the device. The 15 wt% concentration at 60[micro]l/min under an applied electric field of 6 kV was identified as the best operating parameters to work with.
Ma, Kevin Y., Chirarattananon, Pakpong, Fuller, Sawyer B., and Wood, Robert J.
Science. May 3, 2013, Vol. 340 Issue 6132, p603, 5 p.
Robot, Robots -- Properties, Animal flight -- Research, Insects -- Physiological aspects, Robots -- Motion, and Robots -- Research
Flies are among the most agile flying creatures on Earth. To mimic this aerial prowess in a similarly sized robot requires tiny, high-efficiency mechanical components that pose miniaturization challenges governed by force-scaling laws, suggesting unconventional solutions for propulsion, actuation, and manufacturing. To this end, we developed high-power-density piezoelectric flight muscles and a manufacturing methodology capable of rapidly prototyping articulated, flexure-based sub-millimeter mechanisms. We built an 80-milligram, insect-scale, flapping-wing robot modeled loosely on the morphology of flies. Using a modular approach to flight control that relies on limited information about the robot's dynamics, we demonstrated tethered but unconstrained stable hovering and basic controlled flight maneuvers. The result validates a sufficient suite of innovations for achieving artificial insect-like flight. 10.1126/science.1231806
Kang, Byungjeon, Kojcev, Risto, and Sinibaldi, Edoardo
PLoS ONE. Feb 25, 2016, Vol. 11 Issue 2
Robot, Robots -- Usage, and Robots -- Research
Author(s): Byungjeon Kang [sup.1] [sup.2], Risto Kojcev [sup.1] [sup.2], Edoardo Sinibaldi [sup.1]* Introduction The development of flexible tools that can be safely deployed to hard-to-reach targets while avoiding (or minimizing [...] Flexible probes that are safely deployed to hard-to-reach targets while avoiding critical structures are strategic in several high-impact application fields, including the biomedical sector and the sector of inspections at large. A critical problem for these tools is the best approach for deploying an entire tool body, not only its tip, on a sought trajectory. A probe that achieves this deployment is considered to follow the leader (or to achieve follow-the-leader deployment) because its body sections follow the track traced by its tip. Follow-the-leader deployment through cavities is complicated due to a lack of external supports. Currently, no definitive implementation for a probe that is intrinsically able to follow the leader, i.e., without relying on external supports, has been achieved. In this paper, we present a completely new device, namely the first interlaced continuum robot, devised to intrinsically follow the leader. We developed the interlaced configuration by pursuing a conceptual approach irrespective of application-specific constraints and assuming two flexible tools with controllable stiffness. We questioned the possibility of solving the previously mentioned deployment problem by harnessing probe symmetry during the design process. This study examines the entire development of the novel interlaced probe: model-based conceptual design, detailed design and prototyping, and preliminary experimental assessment. Our probe can build a track with a radius of curvature that is as small as twice the probe diameter, which enables it to outperform state-of-the-art tools that are aimed at follow-the-leader deployment. Despite the limitations that are inherently associated with its original character, this study provides a prototypical approach to the design of interlaced continuum systems and demonstrates the first interlaced continuum probe, which is intrinsically able to follow the leader.
Journal of Mechanics in Medicine and Biology. Dec 2011, Vol. 11 Issue 05, 1113
Company legal issue, Robotics industry, Robot, Surgery -- Investigations, Robotics industry -- Investigations, Robotics -- Investigations, Robots -- Investigations, and Robotic surgery -- Investigations
To access, purchase, authenticate, or subscribe to the full-text of this article, please visit this link: http://dx.doi.org/10.1142/S0219519411004289 Byline: HONGLIANG REN, MAX Q.-H. MENG Off-the-shelf industrial robotic technologies have achieved significant advancements in the past several decades in terms of mechanics and automation performances. We are expecting to take advantage of the industrial robots for assisting surgeons in surgeries and quick prototyping a robotic surgery system. In precise computer-assisted surgeries (CASs), such as pelvic-acetabular surgery, eye surgery, or neurosurgery, it is extremely important to position the tools accurately and precisely for surgical operations. Some of the industrial robotics arms are able to achieve good repeatability and dexterity while positioning the surgical tools. To enable the application of industrial robots in the surgical rooms, there are several other essential modules to be integrated to the robotic surgery systems, such as real-time navigation system, surgical planning system, and surgeon-guidance system. In this paper, we review the existing studies on the medical robots including the ones using industrial robots, and then investigate the essentials for using industrial robots in computer-integrated surgery.