Use Of Robotic Arm Research Articles

On Robotic Surgery in Knee Arthroplasty: Beginning of a New Era

During the past two decades, the use of robotic arms in knee arthroplasty has changed from a concept to a reality. These systems promise precision and accuracy while shortening the required learning curve. Although still largely in the early stages, there are currently several commercially available platforms with varying degrees of flexibility. The available models can be classified into several categories based on their mode of operation (whether the system requires imaging input) and degree of autonomy. The present study aimed to review the existing body of literature and provide an outlook of the current landscape. The strengths and weaknesses of the implementation of such systems in knee arthroplasty are also discussed.

Design of Automatic Loading and Unloading Manipulator for CNC Gear Milling Machine

Background: At present, due to the widespread use of robotic arms for the automatic loading and unloading of CNC gear milling machines, there has been an increase in patents related to robotic arms. However, these robotic arms have issues of low efficiency and large space occupation. To solve these problems, a CNC gear milling machine with an automatic loading and unloading manipulator device needs to be designed. Methods: This paper first designs the overall scheme of the automatic loading and unloading manipulator, and then uses Solidworks to establish a three-dimensional model. Finite element analysis software is used to analyze and simulate the deformation, stress distribution, and service life of the key components in the overall device. Finally, a prototype of the robotic arm is created based on the simulation optimization results. Results: This paper designs a new type of automatic loading and unloading manipulator device for CNC gear milling machines, which is different from existing patents in that all its components are installed inside the machine tool protective cover. In production experiments, the operation was found to be stable and reliable, and the loading and unloading process was completed at a speed of 11s/time, consistently exceeding the manual maximum speed of 19s/time. The results indicate that the proposed clamp storage system and core rod perforation feeding method are effective. Conclusion: The new design solves the problems of low efficiency and large space occupation in existing robotic arm patents.

Articulated Robot Arm for Garbage Disposal in Hospital Environment

The use of robotic arms is crucial in the medical industry, particularly in hospital settings. It can be used for a wide range of things, including as an aide in the operating room or for the removal of medical waste, among many other things. In this work, the robotic arm is designed to segregate medical waste as hazardous or non-hazardous. A dataset with five classes was created because there was no readily available data set for medical waste. The primary challenge in doing so is to programme the robotic arm’s movements and train the image dataset to classify objects as hazardous or non-hazardous. The 3D-printed robotic arm model has 6-Degree of Freedom(DOF) and is coupled with MG996R and SG90 servo motors. The robotic arm that is attached to an Arduino uno board is operated by the Blynk IoT platform. It uses YOLO V5 (You Only Look Once) algorithm to detect objects, and it favours intersection over union (IOU). To demonstrate, static robotic arm model was placed near the pile of medical waste to identify the waste and segregate it accordingly.

Robotic Arm-Protected Microsurgical Pericallosal and Middle Cerebral Artery Aneurysm Clipping: A Technical Note and Case Series.

Managing intraoperative aneurysm rupture (IAR) during intracranial aneurysm clipping can be challenging given the excessive hemorrhage and limited field of view under the microscope for visualizing the proximal artery and safe temporary clipping. To describe the first known use of robotic arm for safeguarding IAR in microsurgical aneurysm clipping. A robotic arm was used to safeguard 3 microsurgical clipping cases (1 pericallosal and 2 middle cerebral artery) performed by a single surgeon. The device was installed onto the side rail of the operating table along with the clip applier attachment. After dissecting the cerebral artery segment proximal to the aneurysm, a temporary aneurysm clip was loaded and established at the appropriate segment before dissecting distally toward the aneurysm. Setup for the robotic arm and temporary clip was simple, quick, precise, and without any unforeseen accommodations needed in all 3 instances. The temporary clip acted as an emergency gate and could be deployed either manually or remotely through a controller. IAR occurred in case 1, and the robotic-assisted temporary clip deployment achieved immediate hemostasis without complications. This method bypassed the need for significant suctioning, packing, and further exploration for safe temporary clipping. Case 2 and 3 demonstrated the feasibility for middle cerebral artery protection and ease of intraoperative readjustment. This technical note highlights the feasibility and relative ease of using a robotic arm as a safeguard device, and it enables on-demand control of proximal blood flow and may enhance the safety of microsurgical aneurysm procedures.

Robotic-Arm Assisted Technology’s Impact on Knee Arthroplasty and Associated Healthcare Costs

Background: The number of total knee arthroplasties (TKA) carried out globally is expected to substantially rise in the coming decades. Consequently, focus has been increasing on improving surgical techniques and minimizing expenses. Robotic arm–assisted knee arthroplasty has garnered interest to reduce surgical errors and improve precision. Objectives: Our primary aim was to compare the episode-of-care cost up to 90 days for unicompartmental knee arthroplasty (UKA) and TKA performed before and after the introduction of robotic arm–assisted technology. The secondary aim was to compare the volume of UKA vs TKA. Methods: This was a retrospective study design at a single healthcare system. For the cost analysis, we excluded patients with bilateral knee arthroplasty, body mass index >40, postoperative infection, or noninstitutional health plan insurance. Costs were obtained through an integrated billing system and affiliated institutional insurance company. Results: Knee arthroplasty volume increased 28% after the introduction of robotic-assisted technology. The TKA volume increased by 17%, while the UKA volume increased 190%. Post introduction, 97% of UKA cases used robotic arm–assisted technology. The cost analysis included 178 patients (manual UKA, n = 6; robotic UKA, n = 19; manual TKA, n = 58, robotic TKA, n = 85). Robotic arm–assisted TKA and UKA were less costly in terms of patient room and operating room costs but had higher imaging, recovery room, anesthesia, and supply costs. Overall, the perioperative costs were higher for robotic UKA and TKA. Postoperative costs were lower for robotic arm–assisted surgeries, and patients used less home health and home rehabilitation. Discussion: Surgeons performed higher volumes of UKA, and UKA comprised a greater percentage of total surgical volume after the introduction of this technology. The selective cost analysis indicated robotic arm–assisted technology is less expensive in several cost categories but overall more expensive by up to $550 due to higher cost categories including supplies and recovery room. Conclusions: Our findings show a change in surgeons’ practice to include increased incidence and volume of UKA procedures and highlights several cost-saving categories through the use of robotic arm–assisted technology. Overall, robotic arm–assisted knee arthroplasty cost more than manual techniques at our institution. This analysis will help optimize costs in the future.

Robotic-Arm Assisted Technology's Impact on Knee Arthroplasty and Associated Healthcare Costs.

Background: The number of total knee arthroplasties (TKA) carried out globally is expected to substantially rise in the coming decades. Consequently, focus has been increasing on improving surgical techniques and minimizing expenses. Robotic arm–assisted knee arthroplasty has garnered interest to reduce surgical errors and improve precision.Objectives: Our primary aim was to compare the episode-of-care cost up to 90 days for unicompartmental knee arthroplasty (UKA) and TKA performed before and after the introduction of robotic arm–assisted technology. The secondary aim was to compare the volume of UKA vs TKA.Methods: This was a retrospective study design at a single healthcare system. For the cost analysis, we excluded patients with bilateral knee arthroplasty, body mass index >40, postoperative infection, or noninstitutional health plan insurance. Costs were obtained through an integrated billing system and affiliated institutional insurance company.Results: Knee arthroplasty volume increased 28% after the introduction of robotic-assisted technology. The TKA volume increased by 17%, while the UKA volume increased 190%. Post introduction, 97% of UKA cases used robotic arm–assisted technology. The cost analysis included 178 patients (manual UKA, n = 6; robotic UKA, n = 19; manual TKA, n = 58, robotic TKA, n = 85). Robotic arm–assisted TKA and UKA were less costly in terms of patient room and operating room costs but had higher imaging, recovery room, anesthesia, and supply costs. Overall, the perioperative costs were higher for robotic UKA and TKA. Postoperative costs were lower for robotic arm–assisted surgeries, and patients used less home health and home rehabilitation.Discussion: Surgeons performed higher volumes of UKA, and UKA comprised a greater percentage of total surgical volume after the introduction of this technology. The selective cost analysis indicated robotic arm–assisted technology is less expensive in several cost categories but overall more expensive by up to $550 due to higher cost categories including supplies and recovery room.Conclusions: Our findings show a change in surgeons’ practice to include increased incidence and volume of UKA procedures and highlights several cost-saving categories through the use of robotic arm–assisted technology. Overall, robotic arm–assisted knee arthroplasty cost more than manual techniques at our institution. This analysis will help optimize costs in the future.

Modelling and Analysis of A 6-DOF Robotic Arm for Oil and Gas Pipeline Welding Operations

Abstract: Recent advances in robotics and automation technology have spurred the widespread use of robotic arms for industrial operations. Consequently, practising engineers, key players and particularly engineering students must be encouraged to stay abreast with these recent trends by developing hands-on and simulation experience. Therefore, this paper concisely presents the modelling, kinematic analysis as well as simulation results of an educational 6-DoF (Degrees of Freedom) robotic arm designed for welding oil and gas pipelines and other generalised tasks in a MATLAB/Simulink-Simscape environment. The joint movements of the robotic arm were simulated with a sinusoidal reference signal consisting of unit magnitude and frequency of 1 rad/s using the MATLAB Robotics Toolbox. Consequently, the results indicated satisfactory performance as the design allows the robot joints to effectively move the end-effector welding tool-piece in an elliptical path as would be required in the case of welding a cylindrical pipeline for oil and gas operations.

Study of a Multi-modal Neurorobotic Prosthetic Arm Control System based on Recurrent Spiking Neural Network

The use of robotic arms in various fields of human endeavor has increased over the years, and with recent advancements in artificial intelligence enabled by deep learning, they are increasingly being employed in medical applications like assistive robots for paralyzed patients with neurological disorders, welfare robots for the elderly, and prosthesis for amputees. However, robot arms tailored towards such applications are resource-constrained. As a result, deep learning with conventional artificial neural network (ANN) which is often run on GPU with high computational complexity and high power consumption cannot be handled by them. Neuromorphic processors, on the other hand, leverage spiking neural network (SNN) which has been shown to be less computationally complex and consume less power, making them suitable for such applications. Also, most robot arms unlike living agents that combine different sensory data to accurately perform a complex task, use uni-modal data which affects their accuracy. Conversely, multi-modal sensory data has been demonstrated to reach high accuracy and can be employed to achieve high accuracy in such robot arms. This paper presents the study of a multi-modal neurorobotic prosthetic arm control system based on recurrent spiking neural network. The robot arm control system uses multi-modal sensory data from visual (camera) and electromyography sensors, together with spike-based data processing on our previously proposed R-NASH neuromorphic processor to achieve robust accurate control of a robot arm with low power. The evaluation result using both uni-modal and multi-modal input data show that the multi-modal input achieves a more robust performance at 87%, compared to the uni-modal.

Desain Prototipe Robot Satu Lengan Dengan Tiga Tingkat Kebebasan Bergerak Berbasis Arduino Dengan Sensor Jarak Pada Bluetooth Smartphone

Sophisticated robots replace manual equipments that requires a lot of human power, one of which is the use of robotic arms. This robotic arm is part of a robot with a prototype scale. In this article task is designed a robot arm with 3 DOF that has a system controlled in the form of a robotic arm system that is overall controlled through an application interface built with programming language. Arduino Uno microcontroller as the main controller connected via Bluetooth with smartphone.

A Comparative Study of Computer-Aided Engineering Techniques for Robot Arm Applications

As systems become increasingly complex, their simulation techniques have to be more accurate and enhanced. Despite the wide use of robotic arms in industries, they still encompass a wide number of complexities. The control of a flexible robot arm driven by a Brushless DC Motor (BDCM) for tracking problems is a great challenge, not only for its complex algorithms but also for its verification process. Robotic systems are designed heterogeneously by combining continuous and event discrete models. Therefore, computer-aided engineering tools have to be enhanced in order to support the verification of the control algorithms. Ensuring definite and rapid simulations is a challenging task for robotic application systems. Although control strategies can be tested using the Matlab/Simulink environment to assess their performance, their verification at a low-level still remains a very difficult task. This paper studies different simulation techniques based on Model In the Loop (MIL), Hardware In the Loop (HIL), and Hardware Software In the Loop (HSIL) on a flexible robot arm driven by BDCM in order to overcome each method's limits, focusing on performance and cost and simulation time reduction. The HSIL achieves the highest accuracy and speed than MIL and HIL and provides reusability and portability of the control unit compared to the other techniques.

GNC architecture solutions for robust operations of a free-floating space manipulator via image based visual servoing

On-orbit servicing often requires the use of robotic arms, and a key asset in this kind of operations is autonomy. In this framework, the use of optical devices is a solution, already analyzed in many researches both for autonomous rendezvous and docking and for the evaluation of the control of the manipulator. In the present paper, simulations for assessing the controller performance are realized in a high-fidelity purposely developed software architecture, in which not only the selected 6 DOF space manipulator is modeled, but also a virtual camera, acquiring in the loop images of the target CAD model imported, is included in the GNC loop. This approach allows to emphasis several problems that would not emerge in simulations with images characterized by easily-identifiable, purposely-created markers. At the scope, a specific GNC architecture is developed, based on finite-state machine logic. According to this approach, two different Image Based Visual Servoing strategies are alternatively performed, commanding only linear or angular velocity of the camera, switching between the two control techniques when the “stack” or “divergence” condition is triggered. In this way a stable and robust accomplishment of the tasks is achieved for many configurations and for different target models.

The robotized laser doppler vibrometer: On the use of an industrial robot arm to perform 3D full-field velocity measurements

An original experimental setup, dedicated to the measurement of the dynamic response of structures, is presented. Called the Robotized Laser Doppler Vibrometer (RLDV), it consists in the assembly of a fixed point Laser Doppler Vibrometer (LDV) on a 6-axis industrial robot arm. This allows to measure the 3D velocity on the surface of objects with a wide range of shapes and sizes. In comparison with commercially available solutions, it represents an affordable and versatile tool. First, the motivations and the new challenges associated to the use of a robot arm to do such experiments are discussed. Second, the different strategies implemented to overcome these difficulties are developed. A software solution is proposed. By the use of a virtual model of the experimental setup, the measurement procedure can be designed and simulated in order to preview robot motion and avoid collisions. With a small number of parameters, the good proceeding of the measurement can be insured on a fine measurement mesh. The software is completed by an interface that allows for the setting of the signal acquisition parameters. At the end, all the procedure is automated and long measurements can be achieved with a reduced supervision. To illustrate the proposed setup, an experimental application is developed. The 3D modal shapes of a curved beam are measured and compared with numerical predictions, showing an excellent correlation.

The Recent Advances in Robotic Transoral Thyroidectomy

Transoral robotic thyroidectomy (TORT) is one of the latest approaches in remote-access thyroid surgery. This review presents the current indications for TORT, an in-depth description of the surgical procedure, and discusses the advantages, disadvantages, potential complications, and latest advances for this procedure. TORT has the advantages of excellent cosmesis, short distance from oral vestibule to the neck, and midline approach which allows easy access to bilateral thyroid glands and central compartment. In addition, the use of robotic arms ensures wristed instruments, tremor elimination, and reduced clashing of instruments with endoscope. Complication rates are low; however, the use of robotic systems is costly and there may be a steep learning curve. TORT can be performed safely with careful patient selection and with an experienced robotic surgeon and it is an acceptable alternative for the treatment of certain thyroid conditions.

Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm

Abstract
 Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization algorithm is proposed to find an optimal path based on the local search, D* and Euclidean distances. The quintic polynomial equation is utilized to provide a smooth trajectory path. According to the observe results, the modified PSO algorithm is efficiently performs to find an optimal path even in difficult environments.
 
 Keywords: D*, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm.

Sistem Penyeleksi Warna Dan Berat Barang Menggunakan Pergerakan Lengan Robot Empat DOF (Degree Of Freedom)

The use of robot arm in the system of colour and weight box selection has been done to integrate control system of robot arm moving with colour sensor TCS3200 and weight sensor load cell. The research was conducted by analyzing efficiency and accuracy system of robot arm moving to select colour and weight goods like box. The robot arm moving work suitable instruction of colour and weight sensor reading. At the most important from this system is how to accuracy of colour and weight sensor to detect colour ang weight and accuracy of robot arm moving system can positioning degree moving to take colour with different weight box suitable the place. The result of the analysis proved that robot arm moving had inregrated with colour and weight sensor efficient and effective to do this work as colour and weight box selection accurately.

Inverse kinematics of a serial-parallel robot used in hot forging process

In hot extrusion forging process, the use of robot arm for transferring heavy billets can reduce downtime, improve productivity, reduce worker fatigue and optimize the use of~energy and manpower. To increase the stiffness of the robot and force the end-effector move in directions parallel with the ground surface, two parallel links are added to a standard serial manipulator. This modification of the structure could make it a bit of challenge in the system modelling and controlling. This paper addresses the inverse kinematics analysis that is the central issue for developing autonomous control modes of the robot application.

Robotic Label Applicator: Design, Development and Visual Servoing Based Control

Use of robotic arms and computer vision in manufacture, and assembly process are getting more interest as flexible customization is becoming priority over mass production as frontier industry practice. In this paper an innovative label applicator as end of arm tooling (EOAT) capable of dispensing and applying label stickers of various dimensions to a product is designed, fabricated and tested. The system incorporates a label dispenserapplicator and had eye-in-hand camera system, attached to 6-dof robot arm can autonomously apply a label sticker to the target position on a randomly placed product. Employing multiple advantages from different knowledge basis, mechanism design and vision based automatic control, offers this system distinctive efficiency as well as flexibility to change in manufacturing and assembly process with time and cost saving.

An Investigation into the Use of Industrial Robots for Machining Soft and Low Density Materials with HSM Technique

The needs to comply with an increasingly competitive international market lead industries to some innovative solutions, such as the use of robotic arms as machine tools. Although these solutions present some well known drawbacks, there are some advantages and niches of application where success is possible. The present work investigates the use of such pieces of equipment to machine aluminum alloys AA2024 applying high speed machining (HSM) technique, assessing surface finishing as a function of different orientation angles between end mill and machined surface. It also tests the best condition to machine foam for prototyping applications. Results indicate that the directions close to the normal are the best compromises because of dynamic stability of the robot arm structure and roughness as low as 4 µm Ra are possible to be achieved in aluminum alloys. A complex shape such as a semi sphere can be easily machined in foam for rapid and accurate prototype machining. Surface finishing can be very smooth and well suitable for industrial applications in such materials.

Implication and usefulness of spacecraft servicing at the ISS using the pilot case of the large X-ray facility XEUS

The X -Ray E volving U niverse S pectroscopy mission XEUS aims to place a permanent X-ray observatory in space with a telescope aperture equivalent to the largest ground based optical telescopes currently built to date. XEUS foresees a large mirror spacecraft (MSC), whose diameter of some 10 m and mass of some 25 t prevent it from being launched in one piece. Therefore it is designed to be assembled in-orbit on board the ISS, with a circular core mirror (MSC1) and eight mirror sectors attached to it, to form the final MSC2. The MSC2 assembly sequence is described, addressing logistics, robotics, EVA, other ISS resources and operations aspects. The assembly concept relies on the use of robotic arms of the Shuttle (SRMS) as well as both ISS robotic arms (SSRMS and ERA) and makes use of various remotely controlled attach mechanisms. EVA support is reduced to some final deployment and verification.