Design of a Novel Statically Balanced Mechanism for Laparoscope Holders With Decoupled Positioning and Orientating Manipulation

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Shao-Jung Lai
Keyword(s):  
Computer Aided Design ◽  
Parallel Mechanism ◽  
Design Procedure ◽  
Theoretical Formulation ◽  
Surgical Incision ◽  
Total Potential ◽  
Physical Prototype ◽  
Aided Design ◽  
Insertion Length ◽  
Kinematic Properties

This paper presents a novel mechanism concept of laparoscope holders used for minimally invasive surgery (MIS). The mechanism is made of a parallelogram linkage and a parallel mechanism, which, respectively, serve as a robotic positioning arm and an orientating wrist of the holder. Due to its special geometry, the mechanism possesses several interesting kinematic properties. First, the laparoscope, which is held by the end-effector, can illustrate a remote center-of-motion (RCM) kinematics at the surgical incision point. Second, the position of the RCM point is solely defined by the parallelogram, whereas the orientation and insertion length of the laparoscope are governed by the parallel mechanism. Such an arrangement suggests a decoupled positioning and orientating manipulation for the holder, which is clinically helpful in laparoscopic MIS. Third, the overall mechanism including the parallelogram linkage and the parallel mechanism can be statically balanced at any configuration within the workspaces by using common linear springs. In other words, no electrical actuation or mechanical locks are required for making the laparoscope rest at any position and orientation. The design procedure for static balancing is detailed in the paper, and the theoretical formulation of the statically balanced mechanism is verified by a numerical example and computer simulation. The computer-aided design (CAD) model of the holder is constructed for evaluating its workspace and a physical prototype using commercial springs is built up and tested. It shows that the prototype that uses nonideal (commercial) springs can be statically balanced within the overall workspace, since the shortage/overshoot of the potential energy in the positioning mechanism and orientating mechanism, which are theoretically 6.8% and 5.1% of their total potential energies in maximum, are fully compensated by the friction effect.

Design of a Novel Statically Balanced Mechanism for Laparoscope Holders With Decoupled Positioning and Orientating Manipulation

2014 ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Shao-Jung Lai
Keyword(s):  
Parallel Mechanism ◽  
Design Procedure ◽  
Static Balance ◽  
Cad Model ◽  
End Effector ◽  
Surgical Incision ◽  
Physical Prototype ◽  
Position And Orientation ◽  
Insertion Length ◽  
Kinematic Properties

This paper presents a novel mechanism concept of laparoscope holders used for minimally invasive surgery (MIS). The mechanism is made of a parallelogram linkage and a parallel mechanism, which respectively serve as a robotic positioning arm and an orientating wrist of the holder. Due to its special geometry, the mechanism possesses several interesting kinematic properties. First, the laparoscope, which is held by the end-effector, can illustrate a remote center-of-motion (RCM) kinematics at the surgical incision point. Second, the position of the RCM point is solely defined by the parallelogram, whereas the orientation and insertion length of the laparoscope are governed by the parallel mechanism. Such an arrangement suggests a decoupled positioning and orientating manipulation for the holder, which is clinically helpful in laparoscopic MIS. Third, the overall mechanism including the parallelogram linkage and the parallel mechanism can be perfectly statically balanced at any configuration within the workspaces by using common linear springs. In other words, no electrical actuation or mechanical locks are required for making the laparoscope rest at any position and orientation. The design procedure for static balancing is detailed in the paper, and the theoretically perfect static balance of the mechanism is verified by a numerical example and computer simulation. Furthermore, a CAD model of the holder is constructed for evaluating its workspaces and a physical prototype is built up and tested. As a result, the prototyped holder is fully statically balanced within a sufficient workspace for practical MIS environment.

A Computational Geometry for the Blades and Internal Flow Channels of Centrifugal Compressors

1983 ◽  
Vol 105 (2) ◽  
pp. 288-295 ◽  
Author(s):  
M. V. Casey
Keyword(s):  
Computational Geometry ◽  
Computer Aided Design ◽  
Design Procedure ◽  
Internal Flow ◽  
Geometrical Shape ◽  
Parametric Form ◽  
Centrifugal Compressors ◽  
Flow Channels ◽  
Computer Aided ◽  
Aided Design

A new computational geometry for the blades and flow passages of centrifugal compressors is described and examples of its use in the design of industrial compressors are given. The method makes use of Bernstein-Bezier polynomial patches to define the geometrical shape of the flow channels. This has the following main advantages: the surfaces are defined by analytic functions which allow systematic and controlled variation of the shape and give continuous derivatives up to any required order: and the parametric form of the equations allows the blade and channel coordinates to be very simply obtained at any number of points and in any suitable distribution for use in subsequent aerodynamic and stress calculations and for manufacture. The method is particularly suitable for incorporation into a computer-aided design procedure.

scholarly journals An Interactive Tool for Automatic Predimensioning and Numerical Modeling of Arch Dams

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
D. J. Vicente ◽  
J. San Mauro ◽  
F. Salazar ◽  
C. M. Baena
Keyword(s):  
Computer Aided Design ◽  
Complex Geometry ◽  
Design Procedure ◽  
Software Tool ◽  
Gravity Dams ◽  
Detailed Model ◽  
Arch Dams ◽  
Double Curvature ◽  
Aided Design ◽  
Mass Volume

The construction of double-curvature arch dams is an attractive solution from an economic viewpoint due to the reduced volume of concrete necessary for their construction as compared to conventional gravity dams. Due to their complex geometry, many criteria have arisen for their design. However, the most widespread methods are based on recommendations of traditional technical documents without taking into account the possibilities of computer-aided design. In this paper, an innovative software tool to design FEM models of double-curvature arch dams is presented. Several capabilities are allowed: simplified geometry creation (interesting for academic purposes), preliminary geometrical design, high-detailed model construction, and stochastic calculation performance (introducing uncertainty associated with material properties and other parameters). This paper specially focuses on geometrical issues describing the functionalities of the tool and the fundamentals of the design procedure with regard to the following aspects: topography, reference cylinder, excavation depth, crown cantilever thickness and curvature, horizontal arch curvature, excavation and concrete mass volume, and additional elements such as joints or spillways. Examples of application on two Spanish dams are presented and the results obtained analyzed.

An empirically based computer-aided design procedure for closed die forgings

1987 ◽  
Vol 4 (4) ◽  
pp. 306-316 ◽  
Author(s):  
A. Raikar ◽  
I. Haque ◽  
J. Jackson
Keyword(s):  
Computer Aided Design ◽  
Design Procedure ◽  
Computer Aided ◽  
Aided Design

Computer Aided Design of Mixed Flow Turbines for Turbochargers

1979 ◽  
Vol 101 (3) ◽  
pp. 440-448 ◽  
Author(s):  
N. C. Baines ◽  
F. J. Wallace ◽  
A. Whitfield
Keyword(s):  
Mass Flow ◽  
Computer Aided Design ◽  
High Speed ◽  
Three Dimensional ◽  
Flow Characteristics ◽  
Design Procedure ◽  
Mixed Flow ◽  
Computer Aided ◽  
Design Calculations ◽  
Aided Design

The paper describes a comprehensive computer aided design procedure and its use to investigate mixed flow turbines for automotive turbocharger applications. The outside dimensions of rotor and casing as well as blade angles are determined from one-dimensional design and off design calculations, the detailed blade shape from quasi-three-dimensional analysis and mechanical stressing and vibration programs, and geometric data are presented as outside views and sections of the rotor by a graphics subroutine. The procedure consists of a series of separate programs rather than a single program, so that the designer’s intervention at each stage of the process can be applied. Two mixed flow rotors were designed, manufactured and tested in a specially designed high speed dynamometer. The first was intended to achieve a substantial increase in mass flow over the reference radial rotor without loss of efficiency, while the latter was intended as a direct replacement of the reference radial rotor, but should give more favorable pulse performance when operating in conjunction with an engine due to changes in the operating map viz: a) lower tip speeds for best efficiency, and b) flatter mass flow characteristics. Both effects were predicted by analysis and confirmed by tests.

Decorative Means in Forming Crystal Domes and Shells

1993 ◽  
Vol 8 (4) ◽  
pp. 251-259
Author(s):  
N.A. Gogoleva
Keyword(s):  
Conceptual Design ◽  
Computer Aided Design ◽  
Design Procedure ◽  
Shell Structures ◽  
Geometrical Modelling ◽  
Shape Formation ◽  
Decorative Element ◽  
Computer Aided ◽  
Multiple Alternative ◽  
Aided Design

This paper discusses the conceptual design of decorative crystalline domed structures. The application of the structure itself as a decorative element in combination with three ways of shape-forming: spatial, structural and geometrical, is a feature of such composite shape formation of crystalline domed shells. The author developed a computer-aided design procedure for decorative means of forming crystalline dome-and-shell structures. The procedure can be applied to preliminary multiple-alternative geometrical modelling of ornamental-decorative constructural forming of networks as well as designing the decorative finish to domed shell surfaces.

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