The Experts below are selected from a list of 2745 Experts worldwide ranked by ideXlab platform
Xiao Xiao - One of the best experts on this subject based on the ideXlab platform.
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A Robotic System With Multichannel Flexible Parallel Manipulators for Single Port Access Surgery
IEEE Transactions on Industrial Informatics, 2019Co-Authors: Changsheng Li, Xiaoyi Gu, Xiao XiaoAbstract:Robot-assisted single port access surgery (SPAS) brings significant benefits to the patients. However, it is challenging due to the limited incision size and requirements in precision, load capacity, and dexterity. To address these challenges, this paper presents a multichannel SPAS robotic system consisting of two channels of 5-degree-of-freedom (DOF) flexible manipulators and an endoscope channel. Each channel of the manipulators is designed based on a 3-DOF parallel mechanism with three sets of super-elastic Ni-Ti rods and Universal Joints. This design optimizes the structure for flexibility and safety considerations with a simplified structure compared with conventional parallel mechanisms. Flexible shafts are used for torque transmission from the actuation unit, allowing the motors to be farther away from the patient-side robotic system. The kinematics of the manipulator is derived, and then the reachable workspace and dexterity are analyzed. Furthermore, a prototype of the proposed robotic system is presented and evaluated through adequate experiments. The flexibility of the manipulator is verified via stiffness characterization test. The results of the accuracy tests confirmed that the robotic system can implement manipulation arm with acceptable accuracy. The feasibility and effectiveness of applying the robotic system to the practical operation are also demonstrated through experimentations.
Changsheng Li - One of the best experts on this subject based on the ideXlab platform.
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A Robotic System With Multichannel Flexible Parallel Manipulators for Single Port Access Surgery
IEEE Transactions on Industrial Informatics, 2019Co-Authors: Changsheng Li, Xiaoyi Gu, Xiao XiaoAbstract:Robot-assisted single port access surgery (SPAS) brings significant benefits to the patients. However, it is challenging due to the limited incision size and requirements in precision, load capacity, and dexterity. To address these challenges, this paper presents a multichannel SPAS robotic system consisting of two channels of 5-degree-of-freedom (DOF) flexible manipulators and an endoscope channel. Each channel of the manipulators is designed based on a 3-DOF parallel mechanism with three sets of super-elastic Ni-Ti rods and Universal Joints. This design optimizes the structure for flexibility and safety considerations with a simplified structure compared with conventional parallel mechanisms. Flexible shafts are used for torque transmission from the actuation unit, allowing the motors to be farther away from the patient-side robotic system. The kinematics of the manipulator is derived, and then the reachable workspace and dexterity are analyzed. Furthermore, a prototype of the proposed robotic system is presented and evaluated through adequate experiments. The flexibility of the manipulator is verified via stiffness characterization test. The results of the accuracy tests confirmed that the robotic system can implement manipulation arm with acceptable accuracy. The feasibility and effectiveness of applying the robotic system to the practical operation are also demonstrated through experimentations.
Guangzhong Yang - One of the best experts on this subject based on the ideXlab platform.
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an articulated Universal joint based flexible access robot for minimally invasive surgery
International Conference on Robotics and Automation, 2011Co-Authors: Jianzhong Shang, David P Noonan, Christopher J Payne, J Clark, Mikael H Sodergren, Ara Darzi, Guangzhong YangAbstract:This paper introduces an articulated robotic device based on Universal Joints with embedded micro motors for minimally invasive surgery. The device features an articulated distal tip with seven independently controllable degrees-of-freedom (DoF), arranged as two Universal Joints (intersecting pitch and yaw) and three single DoF Joints (yaw only); two O3mm internal channels, one for an on-board camera for visualization and the other for passing interventional instruments. The design allows the robot to explore the entire peritoneal cavity from a chosen single incision point. A trans-vaginal procedure using the device to locate the uterine horn, as a model of a human fallopian tube, and apply an endoscopic clip was carried out during a live porcine trial to demonstrate the potential for performing a Natural Orifice Translumenal Endoscopic Surgery (NOTES) tubal ligation procedure.
Khalid Moin - One of the best experts on this subject based on the ideXlab platform.
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OMAE2009-79347 RELIABILITY ANALYSIS OF COMPLIANT OFFSHORE TOWER UNDER EARTHQUAKE LOADS
2020Co-Authors: Danish Syed, Nazrul Hasan, Khalid MoinAbstract:ABSTRACT Articulated offshore tower with Universal Joints in the intermediate level leads to a multi-hinged configuration that can be used for a variety of deep water application. They are flexibly linked to the sea-bed by a Universal joint and comply with the oscillatory environmental loads causing large fluctuating seismic demands at the articulating Joints. This paper investigates the dynamic response and the reliability assessment of articulated joint (s) of such structures under seismic sea environment. The analysis includes the influence of sea bed shaking on the water-particle kinematics by using Californian earthquakes. The sea state is characterized by DNV version of Pierson Moskowitz spectrum. The dynamic equation of motion is derived using Lagrangian approach, taking into the account the nonlinearities associated with structure and loads. A limit-state function for seismic demand for a Universal joint has been derived. Using the derived limit-state function and the responses obtained after time-domain seismic analysis, reliability assessment of the articulated joint has been carried out, using efficient MPPbased probabilistic methods. Design point, important for probabilistic design of articulated joint, located on the failure surface has been worked out. Stochastic sensitivity analysis has been performed to assess the relative importance of design parameter on the stochastic response of articulated joint
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reliability analysis of compliant offshore tower under earthquake loads
ASME 2009 28th International Conference on Ocean Offshore and Arctic Engineering, 2009Co-Authors: Syed Danish Hasan, Nazrul Islam, Khalid MoinAbstract:Articulated offshore tower with Universal Joints in the intermediate level leads to a multi-hinged configuration that can be used for a variety of deep water application. They are flexibly linked to the sea-bed by a Universal joint and comply with the oscillatory environmental loads causing large fluctuating seismic demands at the articulating Joints. This paper investigates the dynamic response and the reliability assessment of articulated joint (s) of such structures under seismic sea environment. The analysis includes the influence of sea bed shaking on the water-particle kinematics by using Californian earthquakes. The sea state is characterized by DNV version of Pierson Moskowitz spectrum. The dynamic equation of motion is derived using Lagrangian approach, taking into the account the nonlinearities associated with structure and loads. A limit-state function for seismic demand for a Universal joint has been derived. Using the derived limit-state function and the responses obtained after time-domain seismic analysis, reliability assessment of the articulated joint has been carried out, using efficient MPP-based probabilistic methods. Design point, important for probabilistic design of articulated joint, located on the failure surface has been worked out. Stochastic sensitivity analysis has been performed to assess the relative importance of design parameter on the stochastic response of articulated joint.Copyright © 2009 by ASME
Jianzhong Shang - One of the best experts on this subject based on the ideXlab platform.
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an articulated Universal joint based flexible access robot for minimally invasive surgery
International Conference on Robotics and Automation, 2011Co-Authors: Jianzhong Shang, David P Noonan, Christopher J Payne, J Clark, Mikael H Sodergren, Ara Darzi, Guangzhong YangAbstract:This paper introduces an articulated robotic device based on Universal Joints with embedded micro motors for minimally invasive surgery. The device features an articulated distal tip with seven independently controllable degrees-of-freedom (DoF), arranged as two Universal Joints (intersecting pitch and yaw) and three single DoF Joints (yaw only); two O3mm internal channels, one for an on-board camera for visualization and the other for passing interventional instruments. The design allows the robot to explore the entire peritoneal cavity from a chosen single incision point. A trans-vaginal procedure using the device to locate the uterine horn, as a model of a human fallopian tube, and apply an endoscopic clip was carried out during a live porcine trial to demonstrate the potential for performing a Natural Orifice Translumenal Endoscopic Surgery (NOTES) tubal ligation procedure.
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design of a climbing robot for inspecting aircraft wings and fuselage
Industrial Robot-an International Journal, 2007Co-Authors: Jianzhong Shang, T P Sattar, S Chen, B BridgeAbstract:Purpose – The paper aims to develop a robot that climbs on non‐ferrous surfaces, e.g. aircraft wings and fuselages, carrying a heavy payload up to 18 kg including scanning arm and various equipments, for non‐destructive testing (NDT).Design/methodology/approach – This robot in the study uses vacuum suction cups for adhesion, and two pairs of pneumatic cylinders to drive itself, moving in two directions in stepping gait. A rotation mechanism in the centre is used to correct the off‐course deviations by ± 5 degrees. Multiple Universal Joints are used to make every single suction cup, every robot foot and the whole structure flexible to negotiate with varying surface curvatures presented in different parts of aircraft. This flexible structure is also rigid once the robot is stuck on the surface to enable the NDT inspection being carried out reliably.Findings – The paper finds that the walking speed is limited by the cylinder stroke, time for generating vacuum and changing legs. Although most NDT inspection i...
