Throughout recent history, medical robots have gained a lot of popularity in robotic assisted radiotherapy. Integration of robot manipulators into the field of radiotherapy has improved the chances of patient recovery by increasing system precision, operation reliability and treatment efficiency. In order to prevent healthy tissues from radiation exposures during treatments, linear accelerators of radiotherapy robots have been enhanced by the implementation of active collimator designs. Addition of collimator mechanisms to these systems has also increased possibilities of treatments by allowing adjustable beam geometries on the targets. However, as the collimator leaves are additional obstacles on the path of the beam, beam scattering has become one of the most crucial issues waiting to be improved for these systems. In order to propose a solution for this problem, current paper tries to implement function generation synthesis into a multi-leaf active collimator design, where the individual collimator blocks are stacked vertically. This study demonstrates the proposed approach by utilizing two single degree of freedom planar systems positioned side by side for a point beam source. Throughout the study, kinematic synthesis approach was introduced to design these planar systems to adjust beam contour geometries on a single axis. At the end of the study, proposed procedure was verified by a numerical example and the results were used to design four degrees of freedom collimator that is able to adjust beam contour geometries on the plane. The prototype of the system was also modelled in order to ensure the realization of the collimator design for contour adjustments.
Throughout history, humans have observed living or non-living things in nature and then imitated them in relation to these observations. This is due to the fact that the energy found in nature is generally consumed at an optimal level in order for it to endure. Biomimetic inspiration in many designs and applications is widely displayed, including within the field of engineering. In this paper, we were inspired by the double set of jaws found in the moray eel, which gives this fish a huge advantage while hunting, with a mobile pharyngeal jaw that works together with its oral jaw in order to overcome ineffective suction capabilities. A procedure that mimics the hunting motion of the moray eel was utilized by considering the overall movement as a single degree of freedom with multiple outputs on account of the repeating motion that is required during hunting. This procedure includes structural and dimensioning synthesis, wherein the latter was utilized with analytic kinematic synthesis for each linkage transfer. The flexibilities in parameters were taken into account with a novel multiple iterative kinematic synthesis algorithm that resulted in various mechanisms with the same purpose. Among the excessive number of resultant mechanisms, the optimization was carried out by considering the highest torque transmission ratio at critical timings that were specified as bio-constraints. In the end, the kinematic movement validation was utilized.
BackgroundTransition from the utilisation of traditional instruments to new robotic methodologies in surgical operations occurs rapidly. Although the implementation of these methodologies to classical surgery operations is advantageous due to increased precisions and enhanced motion capabilities of robotic systems, overall worldwide accessibility and adaptation are still limited due to high equipment costs and special infrastructure requirements.MethodologyThe design of four degrees of freedom low cost, compact and portable manipulation system was proposed to allow the utilisation of commercial robotic surgery forceps like a conventional laparoscopy instrument without the necessity of bulky manipulation systems.ResultsThe structural design of the system was carried out along with necessary kinematic and coupled motion analysis. Prototypes were constructed. Hardware verification of the system was executed using implemented control methodology.ConclusionsThe proposed design successfully demonstrated the advantages of multi degree of freedom robotic surgery forceps in a portable handheld system compared to classical laparoscopy instruments.
Utilization of robot manipulators started to be preferred in many medical applications due to the rapid technological developments occurred in the last decade. Thanks to the studies and applications in the related literature, leaving the usage of classical industrial robot manipulator structures, new designs with respect to the application constraints have been focused on. In light of this, current study focuses on the design of soft fingers that will allow the usage of a robotic hand with hybrid structure on soft tissue handling that requires high precision and compliance. Throughout the study various prototype trials were carried out and their suitability for the system was discussed.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.