Development of the multifunctional end-effector for interventional surgery robot

K.R. Kim,H.S. Song,H.S. Yim,S.H. Jung 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

The end effector working at the end of robot wrist was newly designed to meet the needs of interventional surgery. The end effector has a compact size to be used in the small workspace restricted by the CT bore. Also, radioparent material was applied to the gripper for a better image acquisition. The end effector has the functions of needle insertion, rotation and hold/release for the effective operation.

갈고리를 사용한 줄기 절단으로 과채에 남겨진 줄기 길이를 최소화하는 수확용 엔드이펙터

변승재,임예은,황면중 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.10

. This paper proposes a harvesting end-effector to minimize the length of the rested stem remaining on the fruit by stem-cutting with a hook. The proposed end-effector draws the stem of the target fruit to the cutter with a hook mechanism and decreases the length of the rested stem that can cause damage to other fruits in the process of packaging and transportation. The hook mechanism is composed of two links and a cam moves the hook tip in an arc with one motor to hang the stem. When designing the end-effector prototype, it was sized by considering the range of hook motion and the condition of the harvest. The prototype of the end-effector was fabricated by 3-D printing and its performance was measured by a harvesting experiment using a tomato model and a real stem. In the experiment, the success rate of the harvest and the minimization of the rested stem were measured. Finally, it was verified that the proposed end-effector could increase crop yield and efficiency of the harvest by harvesting the fruit successfully and minimizing the rested stem after harvest.

브레이크 오버 라이드 시스템을 기반으로 한 엔드 이펙터의 안전 평가 프로세스에 관한 연구

이준호,송기원 한국지식정보기술학회 2020 한국지식정보기술학회 논문지 Vol.15 No.2

As the development of various technologies and many studies underway, Medical Robots are used to treat various areas of treatment as they help in performing surgery. In particular, Surgical Robots, which account for the majority of Medical Robots, have diversified surgical operations and are actively conducting safety studies. However, safety accidents on End Effectors are frequent due to the inadequate control of the surgeon in charge of using Surgical Robots. The importance of FLS(Fundamentals of Laparoscopic Sugar) was then emphasized for Surgical Robots, a test that increased the proficiency of their physicians based on End Effectors. End Effector means a device that is typically attached to the end of the Surgical Robot to perform the required operation. Currently, the End Effector of the Surgical Robot is not immediately capable of handling accidents because the physician in charge must press the emergency stop button manually. In comparison, among systems related to cars, traffic and roads, the process of Brake Override System in which the functions of the parts operate first, regardless of human control. Thus, this paper study the process of automating the shutdown method of End Effector by utilizing the Safety Assessment Items of existing Surgical Robots and Processes of FLS, Brake Override System.

Design, Modeling, and Evaluation of a Compact and Lightweight Needle End-effector with Simple Force-feedback Implementation for Robotic CT-guided Needle Interventions

김기영,Hyunsoo Woo,Jang Ho Cho,Jungwook Suh 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1

We present a compact and lightweight two degrees-of-freedom (DOF) needle end-effector to be applied to a teleoperated needle interventional robotic system. The suggested needle end-effector is computerized tomography (CT)- compatible and easy to sterilize. Because the proposed needle end-effector can be attached to a robotic manipulator, the needle can translate into and rotate in the human body. In addition, a 1-axis load cell is attached to the needle end-effector to measure the longitudinal force applied to the needle. With this force measurement, force-feedback ability has been implemented in the entire master-slave robotic system. Basic performance tests of repeatability and maximum insertion force were performed. Several force-feedback experiments to determine free space response and contact response, as well as a discrimination test, were conducted. Through this verification process, the suggested needle end-effector was found to have potential for application in real environments that require robotic CT-guided needle interventions.

Optimizing Movement of A Multi-Joint Robot Arm with Existence of Obstacles Using Multi-Purpose Genetic Algorithm

Toyoda, Yoshiaki,Yano, Fumihiko Korean Institute of Industrial Engineers 2004 Industrial Engineeering & Management Systems Vol.3 No.1

To optimize movement of a multi-joint robot arm is known to be a difficult problem, because it is a kind of redundant system. Although the end-effector is set its position by each angle of the joints, the angle of each joint cannot be uniquely determined by the position of the end-effector. There exist the infinite number of different sets of joint angles which represent the same position of the end-effector. This paper describes how to manage the angle of each joint to move its end-effector preferably on an X-Y plane with obstacles in the end-effector’s reachable area, and how to optimize the movement of a multi-joint robot arm, evading obstacles. The definition of “preferable” movement depends upon a purpose of robot operation. First, we divide viewpoints of preference into two, 1) the standpoint of the end-effector, and 2) the standpoint of joints. Then, we define multiple objective functions, and formulate it into a multi-objective programming problem. Finally, we solve it using multi-purpose genetic algorithm, and obtain reasonable results. The method described here is possible to add appropriate objective function if necessary for the purpose.

A Novel End-effector for Tomato Harvesting Robot: Mechanism and Evaluation

Jongpyo Jun,Jaehwi Seol,Hyoung Il Son 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

The application of robots to the agricultural sector has significantly improved productivity in the field. Studies investigating various forms of end-effectors are being carried out constantly, especially in relation to the harvests of fruits that require a lot of labor. However, the majority of studies focus on stably cutting the pedicel after accurately recognizing the target, while there is relatively little interest in the method and process of transferring agricultural produce after the harvest. The development of a dedicated end-effector is essential to reduce the duration of the entire procedure, which is a significant goal in harvest-related research. This entails comprehensive consideration of the transfer process. To address this issue, in this paper, we propose an integrated end-effector, which enables almost simultaneous execution of harvesting and transfer of tomatoes. Further, a modular mechanism is introduced to improve the performance of harvesting robots, and future directions of research are outlined.

바늘중재시술의 순차적 자동화를 위한 엔드이펙터의 기능성 시험

문영진(Youngjin Moon),최재순(Jaesoon Choi) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2

This paper presents design and implementation of a robot end-effector to perform sequentially automatic needle intervention and functional test for the robot prototype. In order to combine robot technology with needle interventions represented by biopsy and high radiofrequency ablation, design requirements required to automate all the procedure in intervention are proposed and each component that satisfies the requirements is designed. Therefore, the end-effector consists of three components: needle cartridge, needle driving unit, and pivot mechanism. The needle cartridge loads an introducer and several biopsy needles for multiple sampling and can rotate needles. The needle driving unit is connected to the cartridge and controls insertion and retreat of the needles. The pivot mechanism rotates two other components and controls the pose of the needle for insertion. Using this concept, the components were modeled and a prototype was made. To verify the functionality of the end-effector prototype, a test bed which consists of a master device and motor controller was implemented and each function of the end-effector was tested.

액티브 캐뉼라 로봇의 엔드 이펙터용 손가락모형 메커니즘

김상명(Sangmyung Kim),이수준(Soojun Lee),최동은(Dongeun Choi),이우섭(Woosub Lee),강성철(Sungchul Kang),김계리(Keri Kim) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2

As minimally invasive surgery has been a trend in the medical world, many medical instruments tend to be thinner and smaller and active cannula robot also has been studied for a decade to implement thin and flexible surgical robot. However, in some cases, we need much higher curvature than the one made by using only pre-curved tubes in active cannula robot. We designed and made a prototype of the end-effector which has high-curvature in order to use active cannula robot in narrow space of human body. The developed end-effector, which has finger-like shape, consists of three joints that are constrained in the form of four-bar linkage and the first link is constrained in the inner tube of the active cannula robot. The end-effector is possible to bend from 0 degrees to 180 degrees and it has 3 degrees of freedom including the translational and rotational motions. In this paper, we verified that the finger-like mechanism has ability to guide camera which is installed at the end section of the end-effector in minimally invasive surgery.

Development and Preclinical Trials of a Surgical Robot System for Endoscopic Endonasal Transsphenoidal Surgery

Dongeun Choi,Sun Ho Kim,Woosub Lee,Sungchul Kang,김계리 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.3

In endoscopic endonasal transsphenoidal surgery, for the treatment of deep brain tumors, such as craniopharyngiomas, an endoscope and surgical instruments are inserted through a nasal cavity into the lesion to remove the tumor. This has recently become the preferred technique because there is less likelihood of neural damage and a low complication rate. Manually controlled rigid surgical instruments are available for this procedure, but they provide limited dexterity and field of view. Therefore, some areas remain inaccessible when these surgical instruments are used. To solve these problems, we propose a surgical robot system for endoscopic endonasal transsphenoidal surgery. We defined a target surgical space based on an analysis by a surgeon and designed surgical instruments to reach this target space. The system consists of two robot arms, end-effectors, surgical instruments, a master device, a control device, and a robot base. The robot arm has an end-effector exhibiting two degrees of freedom (DOFs) and an inner channel, into which flexible surgical instruments are inserted. The flexible surgical instrument can reach the target space by steering the robot arm and end-effector. The outer diameter of the end-effector is 4 mm, and the diameter of the instrument channel, into which commercial surgical instruments can be integrated, is 2 mm. We motorized the motion of the robot arms, end-effectors, and instruments and included motion capability with thenecessary precision, and developed a master device and control device to operate them. The surgical robot base is used to place the surgical robot before the operation and allow for manual operation. In a cadaver experiment, it was confirmed that the robot system can reach a larger area than is accessible with current surgical instruments, and it can support or remove tissues in the target surgical space. We received productive feedback from the surgeon conducting the experiment, and further research is underway to improve the robot system.

RDS(Robotic Drilling System) 구축을 위한 전용 End-Effector Prototype 개발에 관한 연구

김태화(Tae-Hwa Kim),권순재(Soon-Jae Kwon) 한국기계가공학회 2013 한국기계가공학회지 Vol.12 No.6

Robotic Drilling Systems(RDSs) set the standard for the factory automation systems in aerospace manufacturing. With the benefits of cost effective drilling and predictive maintenance, RDSs can provide greater flexibility in the manufacturing process. The system can be easily adopted to manage very complex and time-consuming processes, such as automated fastening hole drilling processes of large aircraft sections, where it would be difficult accomplished by workers following teaching or conventional guided methods. However, in order to build an RDS based on a CAD model, the precise calibration of the Tool Center Point(TCP) must be performed in order to define the relationships between the fastening-hole target and the End Effector(EEF). Based on the kinematics principle, the robot manipulator requires a new method to correct the 3D errors between the CAD model of the reference coordinate system and the actual measurements. The system can be called as a successful system if following conditions can be met; a. seamless integration of the industrial robot controller and the IO Level communication, b. performing pre-defined drilling procedures automatically. This study focuses on implementing a new technology called iGPS into the fastening-hole-drilling process, which is a critical process in aircraft manufacturing. The proposed system exhibits better than 100-micron 3D accuracy under the predefined working space. Based on the proposed EEF fastening-hole machining process, the corresponding processes and programs are developed, and its feasibility is studied.