Robotic tools

There are several constraint enforcement methods (see Figure 1.4 for their classification). In the simpler implementation, the effect of the constraint (i.e., the force f<) is computed as a function of the proximity of the end effector from the closest point on the constraint and of the velocity of the robot tool center point approaching, such as... 

To further comphcate matters, every surgical robotic tool must comply with the safety requirements that may include anticipating sensor/actuator redundancy, implementing a safe operational speed cap, complying with testing protocols such as ISO 9000, etc. 

One significant aspect of a surgical tool that must be contemplated at the early design stage is sterilizability. Autoclave, gas, and soak are the most common methods for sterilizing surgical instruments of these, gas and soak seem better options for surgical robotic tools. 

Since early 1990s, hundreds of surgical robotic tools have been developed by research groups around the world. Of those, a handfial are considered game-changers and have made it to the market. Despite their number, from... 

RIO , developed by MAKO Corp. (Figure 5.15) and approved by the FDA, is a hands-on robotic tool mainly for medial and lateral uni-condylar knee components and pateUofemoral arthroplasty [45]. RIO is designed to have a low friction and be easily back-drivable. By means of virtual fixtures, the robot assists the surgeon to stay on the preplanned paths during the milling process. 

Since 2012, we have developed several miniaturized robotic tool prototypes specifically designed within the requirements of various minimally invasive pediatric procedures. Every one of these prototypes overcomes one or more fabrication and performance challenges. Here, we provide an... 

Our current dual-arm robotic tool, the world s smallest dual-arm telesurgical robot, is our latest prototype that uses the state-of-the-art technology targeting pediatric neurosurgery. As shown in Figure 5.17, the prototype consists of a 9-mm trocar sheath that currently accommodates a 5.5-mm endoscope camera, two 4-DOF instrument arms, and a suction channel. The instrument arms are composed of concentric superplastic tubes no bigger than 2.4 mm in diameter. The left arm is equipped with a pair of forceps and... 

Figure 5.16 Center for Image-Guided Innovation and Therapeutic Intervention 2.2-mm snake-like robotic tool.

Improvements in operating plant reliability, availability, and maintainability specifically fuelling outage plans and improved remote/robotic tooling. Improved tooling improves the quality of inspections and repairs and reduces worker doses. 

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