Target Point Manipulation Inside a Deformable Object
Target point manipulation inside a deformable object by a robotic system is necessary in many medical and industrial applications such as breast biopsy, drug injection, suturing, precise machining of deformable objects etc. However, this is a challenging problem because of the difficulty of imposing the motion of the internal target point by a finite number of actuation points located at the boundary of the deformable object. In addition, there exist several other important manipulative operations that deal with deformable objects such as whole body manipulation , shape changing , biomanipulation and tumor manipulation that have practical applications. The main focus of this chapter is the target point manipulation inside a deformable object. For instance, a positioning operation called linking in the manufacturing of seamless garments …
Modular Robotic Approach in Surgical Applications– Wireless Robotic Modules and a Reconfigurable Master Device for Endoluminal Surgery
The trend in surgical robots is moving from traditional master-slave robots to miniaturized devices for screening and simple surgical operations (Cuschieri, A. 2005). For example, capsule endoscopy (Moglia, A. 2007) has been conducted worldwide over the last five years with successful outcomes. To enhance the dexterity of commercial endoscopic capsules, capsule locomotion has been investigated using legged capsules (Quirini, M. 2008) and capsules driven by external magnetic fields (Sendoh, M. 2003; Ciuti, G. 2010; Carpi, F. 2009). Endoscopic capsules with miniaturized arms have also been studied to determine their potential for use in biopsy (Park, S.-K. 2008). Furthermore, new surgical procedures known as natural orifice transluminal endoscopic surgery (NOTES) and Single Port Access surgery are accelerating the development of innovative endoscopic devices (Giday, S.…
Safety Assessment Strategy for Collaborative Robot Installations
Automation and robots are expected to have a major impact on the…
Towards Advanced Robotic Manipulations for Nuclear Decommissioning
Nuclear decommissioning, and the safe disposal of nuclear waste, is a global…
Robots for Humanitarian Demining
The landmines are weapons developed to be deployed near or under the…
Tips for Working with an Industrial Robot Integrator
Nearly every time a manual process is automated, or when older robotic…
Understanding Offline Programming of Industrial Robots
Offline programming (OLP) has been an important technological advancement for industrial robots,…
Introduction to Industrial Robot Path Planning
Path planning for industrial robots is an essential aspect of the overall…
Industrial Robot Industry Sees Exceptional Growth: 2018 Review
As 2018 comes to a close, a look at the robotics industry…
Trends in Industrial Robot End of Arm Tooling
Industrial robot end of arm tooling (EOAT) is undergoing major changes as…
