Search results for "Manipulator"

Combined Endo- and Exoscopic Semi-robotic Manipulator System for Image Guided Operations

2006

This paper describes the development of a robotic assistance system for image guided operations. To minimize operation time, a multimodal user interface enables freehand robotic manipulation of an extracorporeal stereoscopic digital camera (exoscope) and an endoscope. The surgeon thereby wears a head-mounted unit with a binocular display, a head tracker, a microphone and earphones. Different view positioning and adjustment modes can be selected by voice and controlled by head rotation while pressing a miniature confirmation button with a finger. Initial studies focused on the evaluation and optimization of the intuitiveness, comfort and precision of different modes of operation, including a…

Multi-agent control architecture for RFID cyberphysical robotic systems initial validation of tagged objects detection and identification using Playe…

2016

International audience; The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID Cyber-Physical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents, to each robot (mobiles, manipulators or mobile manipulators) is a…

8 A multicentric randomized trial to evaluate the role of uterine manipulator on laparoscopic/robotic hysterectomy for the treatment of low-risk endo…

2020

Background The role of the intrauterine manipulator in minimally invasive hysterectomy for endometrial cancer has been widely debated in terms of impact on the oncological outcomes. To date, definitive conclusions on the possible advantages and oncological safety of its use in endometrial cancer staging are still awaited. Objectives This randomized trial aimed to assess the role of the uterine manipulator in terms of oncological and perioperative outcomes in patients undergoing minimally invasive (laparoscopic/robotic) staging for presumed low-risk endometrial cancer. Study Design Enrolled patients were randomly allocated in two groups according to the use (Group A) or no use (Group B) of t…

Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety

2016

International audience; This paper presents a test methodology for evaluating the safety of mobile manipulators (robot arms mounted on mobile bases). This methodology addresses the safety concerns relevant to modern, agile, manufacturing practices in which mobile manipulators will play a significant role. We consider 1) the unique capabilities and anticipated uses of mobile manipulators and 2) the potential exemptions and special cases in which their behavior may be unpredictable or otherwise contrary to the safety requirements. Finally, we define metrics for assessing compliance with functional safety requirements and anticipated performance.

Kinematic and Elastostatic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator

2009

Published version of an article in the journal: Modeling Identification and Control. Also available from the publisher:http://dx.doi.org/10.4173/mic.2009.2.1 One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ration further by allowing a change of assembly mode without internal link collisions or collisions between the links and end-effector. The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation according to this paper gives the following features: 3-D workspace/footprint ration is more than 3.19, lowest Cartesian stiffness in the workspa…

Erratum to ‘A Robust Forward-Displacement Analysis of Spherical Parallel Robots’ [Mech. Mach. Theory, 2009, 44(12), pp. 2204–2216]

2012

Survey of Research for Performance Measurement of Mobile Manipulators

2016

International audience; This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles when compared to other mobile manipulator research areas. The survey provides a literature review of mobile manipulator research with examples of experimental applications. The survey also provides an extensive list of planning and control references as this has been the major research focus for mobile manipulators which factors into performance measurement of the system. The survey then reviews performance metrics considered for mobile robots, robot arms, and mobile manipulators and the systems that measu…