Remote center of motion

Cadeddu, J. A., et al., A Robotic System for Percutaneous Renal Access Incorporating a Remote Center of Motion Design, Journal of Endourology, 1998,12 S237. 

The PAKY system, a robot for percutaneous needle puncture, incorporates a 1-DOF PAKY (percutaneous access of the kidney) radiolucent needle driver, a2-DOF RCM (remote center of motion) module capable of needle orientation, a 3-DOF XYZ Cartesian stage for translational positioning of the needle tip, and a passive 7-DOF positioning arm (S-arm) (Fichtinger et al. 2002 Su et al. 2002). The lower joints are positioned and locked manually, while the upper stages are motorized (Fig. 28.5). 

Another operation to be performed is to stop the main ram at any desired position by servo-controlling the high-pressure pumps. In this the zero-stroke adjustment of the pump is most difficult (seep.215), because the slightest inaccuracy in the remote control would cause the pump to deliver a small quantity to the plus or minus side, thereby moving forward or backward the main ram, which may then, for example, damage the billet loader in the center of the press. In such case the abnormal ram motion caused bv any source of error whatever, is used as the correction... 

Site 12 to 20 seismic stations within 20 km of the volcanic center, including at least six broadband stations, as many as possible within 5 km at least one strong-motion station and at least two infrasonic stations (with at least two infrastmic sensors per station) at erupting, restless, and (or) frequently active remote volcanic centers... 

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