Hexapod Robot Gives 10lbs Of Force For Medical Applications

The miniature hexapod system provides more than 10 lbs of force and motion in all six degrees of freedom.
It can be used for manufacturing and placing of parts requiring very high precision, for microscopy applications or laser and optical alignment

After two decades of experience with the design and production of hexapod robots, PI’s electro-mechanical / piezoelectric six-axis positioners are among the most advanced multiaxis precision motion control systems in the world.

Features and Advantages of the M-810 Miniature Hexapod

• Operation in Any Orientation
• High-Stiffness 6-Axis Hexapod with 5 kg Load Capacity
• Very Compact: 10 cm Diameter, 11.8 cm Height
• 0.2 Micron Minimum Incremental Motion (40 nm Resolution)
• Long Travel Ranges to 40 mm (linear) and 60° (rotation)
• Powerful Controller with Freely Definable Virtual Pivot Point
• High Velocity of 10 mm/s
• Linear and Rotary Multi-Axis Scans

Parallel Kinematics Advantages
Parallel-kinematic motion systems have a number of advantages over standard serial kinematic (stacked) positioning systems:

Virtual Pivot Point: Rotation Around any Point, not unlike the Human Hand
Only one Moving Platform, No Accumulation of Guiding and Lever-Arm Errors
No Moving Cables for Improved Reliability and Precision
Smaller Package Size
Increased Stiffness, Reduced Inertia, Better Dynamics

Smaller Motors and Encoders, Controller & Software Included. The limited space necessitated the usage of new  technologies for encoders, motors and other integrated electronic components.  The M-810 is compatible with PI’s tried and proven hexapod controllers that are supported by windows software and a library of drivers and programming examples for applications such as optical alignment etc.  PI also provides simulation tools for hexapod integration.

PI Hexapods come with load ranges from 2 kg to >1000 kg.

Applications

Precision manufacturing, high precision placement of parts; alignment of optical components & lasers, microscopy applications, neuroscience.

www.physikinstrumente.com

First Robotic Radical Cystectomy Deemed a Success

The first first robotic radical cystectomy, a surgical procedure to treat invasive cancer of the bladder, was recently performed at Saint Joseph’s Hospital of Atlanta. Dr. Rajesh Laungani, Director of Robotic Urology at Saint Joseph’s, performed the minimally-invasive surgery.

Invasive bladder cancer has a very high mortality rate and generally results in death if not treated. During a radical cystectomy, the entire bladder (and prostate, if the patient is male) is removed. According to Laungani, performing this robotically allows for a minimally invasive approach. The advantages include less blood loss, less pain, and quicker recovery. Just as importantly, it provides comparable rates of cancer cure as compared to more traditional surgery.

In 2004, Saint Joseph’s Hospital in Atlanta was designated as the exclusive training center in the Southeastern United States (Georgia, Alabama, Florida, South Carolina and Mississippi) for robotic surgical systems. Since that time, Saint Joseph’s has become the world-wide site for surgeons to train on robotics.

www.stjosephsatlanta.org

Power Supplies Target Medical Applications

A new digitally controlled 300W TDK-Lambda power supply, designed specifically for medical applications, is now available from RS Components.

With a 4kVAC reinforced input to output isolation and other specifications such as an output-to-ground isolation of 1500VAC, the EFE300M meets the rigorous international safety standards of IEC 60601-1 for medical equipment, making it suitable for use in B and BF type medical applications. Regulated DC outputs of 12V or 24VDC are standard and other voltages can be provided.

With a 3-inch x 6-inch footprint with less than a 1U profile (1.6-inch max), the EFE300M can be incorporated easily into designs where space is limited so end equipment can be smaller and cooler. Other features such as a redundant operation capability and a high current standby output make the EFE300M equally suitable for high integrity applications including broadcast, instrumentation, routers, servers and security networks, as well as, ATE, factory automation and mechatronics, says the company.

www.electropages.com

Make the Right Design Moves with Mechatronics

By Mark D. Hinckley, Director-Mechatronics, SKF USA Inc.

Many electro-mechanical systems can qualify as mechatronic systems. Don’t agree? Take a look at these application examples that demonstrate both the power and potential of mechatronics in action.

Mechatronics integrates mechanical and electronic technologies with application-specific software to perform a particular task. Engineers who use mechatronic components and systems do so to focus on:
• improving precision, repetition, and flexibility in movement;
• saving energy;
• expanding function;
• reducing system size, weight, and footprint;
• and minimizing both the physical and audible environmental impact.
Mechatronic designs can be as elementary as “building block” components or as sophisticated as fully integrated systems. The basic building blocks are represented by individual components, such as linear bearings and guides, bearings integrated with sensors, or ball and roller screws.  You can specify these components individually in an application to help control movement, reduce friction, create a mechanism for driving linear motion, and even provide feedback on how fast equipment is rotating and in what position.

The next level combines components into a sub-system that serves as a self-contained unit to deliver more in terms of speed, strength, accuracy, reliability, or other measurement compared with basic building block components. Depending on application needs, sub-systems can include feedback devices to ascertain position or special configurations that can support structural loading. Some sub-systems will accommodate unique operating conditions while others fit more universal specifications.

Beyond sub-systems, fully integrated mechatronic systems offer “complete package” approaches that independently respond to inputs and offer real-time feedback and actions.  For example, an electric parking brake engineered as a mechatronic system can receive specific input about the
current operating condition from a CANbus network. In effect, the brake “knows” when it should activate or release, based upon programming in the integrated actuator specific to that vehicle.

Our applications casebook describes a range of examples demonstrating both the power and potential of mechatronics in action.

Linear ball bearings in stretcher-mounting system
Space is scarce inside ambulances, so placing and securing a stretcher can become an issue.  One mechatronic approach is to use linear ball bearings to guide the horizontal movement of a stretcher in and out of the ambulance.

The benefits here include high load-carrying capacity (to accommodate all sizes of patients), robustness and reliability, and the delivery of smooth, low-friction movement (greatly assisting EMTs).  In addition, the patient bed remains tightly secured during the ride in the ambulance.

Actuators onboard “factory on wheels”
In agricultural harvesting, the combine essentially serves as a “factory on wheels.”  Raw material is brought into this “factory” (harvested with the header) and proceeds through the machine where the crop (such as wheat) is separated from the chaff (waste) by the threshing mechanism.  The grain from the wheat passes over a sieve mechanism where it is sifted out of the waste and collected.  The chaff can then be reprocessed for complete threshing and then ejected from the rear of the combine.

Each of these processes requires movement. Since there is only one source of power (the engine), how and where to deliver that power is critical to machine function.  The prerequisite for any component is that it must be mechanically robust and able to survive in the dirty and dusty environment usually encountered.

Traditional components used to perform the necessary functions include belts, chains, or hydraulics.  Each presents its own challenges in delivering power to each point.  Applying tailored actuators for some operations, such as the threshing mechanism, cleansing fan, secondary separation system, sieve table, and auger, can improve the overall efficiency and reliability of the machine.

Electro-hydraulic steering system for off-road vehicles
Some applications can benefit from a combination of technologies, mechatronics and otherwise.  Electric steering offers flexibility and hydraulics delivers the necessary power density.  Combined, the two parts replace the traditional steering column with a more ergonomic design; reduce the number of parts; simplify assembly procedures and processes; and use less space.  Without the steering column operators experience less noise, better safety, and avoid hydraulic leaks in the cab.

One example of a closed-loop system integrates: a mechanical/electronic (mechatronic) steering module; a controller regulating all steering functions; high resolution kingpin bearing sensors for steering position input and actual steered wheel feedback; and an electrically actuated proportional valve.  Each component “talks” to the next using CANbus protocols.

When the operator turns the wheel, a signal travels to the controller with data indicating the angle of the turn and the desired position of the wheels.  The controller takes the signal and commands the proportioning valve to actuate the hydraulic cylinder, which forces the steered wheels to move to the desired position.  The position sensor integrated into the kingpin measures the position of the steered wheels and returns feedback data to the controller, which are compared to the desired position input to correct any discrepancies.

This system can be programmed to adjust the number of turns for the steering wheel from lock-to-lock.  Programming software governs steering sensitivity changes through vehicle speed.  This feature is especially useful in operating off-road vehicles, where it is often necessary to steer quickly at lower speeds and slowly at higher speeds.

Depending on the vehicle requirements, steer-by-wire modules with a constant, non-programmable torque may be preferred.  These plug-and-play systems send an electronic signal on the speed, acceleration, and direction of the steering wheel movement; and can increase cabin design flexibility and enhance operator ergonomics.

Mast height control unit for forklifts
A mechatronic system can automatically position the mast on industrial vehicles, such as forklifts.  Integrated sensor bearings detect mast height and convey rotational speed and direction feedback from the ac motor.

Accurate mast height control is important when forklifts quickly move from place to place, placing or retrieving pallets or containers to and from bin locations. Through a simple readout of the mast’s height compared to a pre-programmed shelf height, sensor bearings on the mast will automatically position it to the desired height with the push of the button or the flip of a switch.

The control unit mounts on the mast to monitor its location as it travels up or down and sends a continuous signal to the controller.  These signals are interpreted into precise measurements.  Using either a pre-programmed mast height system or a simple digital readout system, the vehicle “knows” the height of the load and can trigger other safety systems.

For example, the forklift’s safety controls can be programmed to limit speed or turning radius, depending on the height of the load, reducing the possibility of the vehicle tipping over.

Alternatively, the safety system can prevent the mast from rising beyond a specified height when the load exceeds a predetermined weight.

Two different designs have been created for mast control units.  A spring-loaded cam arrangement uses spring force to press the sensor bearing against the mast.  This unit is driven directly by the moving frame of the mast.  Pulley arrangement units are driven by either a wire or belt incorporated into the design of the mast-positioning system.

Both the cam and pulley control units respond directly to a designer’s need for smaller components, simpler assembly, and reliable performance.

Surgical and patient tables
Surgical equipment must meet stringent hygiene standards and perform reliably and consistently.  In medical applications, electro-mechanical actuation systems have distinct advantages over conventional hydraulics.  Without hydraulic fluids, there are no leaks to contaminate operating or patient rooms. The usually quiet electro-mechanical systems foster a lower stress environment for patients.

Electro-mechanical systems move telescopic pillars, or lifting columns, on surgical tables quickly and silently.  For structural support, rigid aluminum profiles and precision glide pads in the columns lift offset loads without deflection.  Combinations of screws and gears feature high push force capabilities and low noise levels.  Telescopic pillars can satisfy other applications, including patient-positioning tables for medical imaging, treatment, and ophthalmic examination, among others that require vertical action and structural support.

As part of the system, guiding actuators extend or retract the telescopic pillars.  Columns can run quietly and with minimal vibration at maximum speeds up to 45 mm/sec, depending on the model.  Stroke lengths can be up to 700 mm.

Control boxes synchronize and control multiple actuators for a flexible system.  The proper combination of control boxes and actuators ensure component compatibility and help reduce time spent in design, production, and assembly.

Interest among OEMs for fully integrated medical equipment systems has led to the design and development of subsystem medical tables.  In one application example, these tables (one is mobile and the other is “fixed”) are incorporated into machines for urology.  Through mechatronics components for multi-axis positioning, doctors can precisely, easily, and comfortably move patients for specific treatment.

Patient beds
Mechatronics has found a home in hospital rooms and in similar patient-care settings. Modular, power-driven actuation systems let caregivers precisely, safely, and securely adjust and position patient beds.  Other applications include couches, stretchers, and physiotherapy and examination tables in various healthcare settings.  Specialized actuators, recliners, and control units integrate
easily into standard bed platforms.

Beds equipped with such actuation systems can offer variable height adjustment; an adjustable backrest with CPR function; special positioning with auto-contour for comfortable sitting; and adjustable elevation of legs and knee-fold.  Full electrical control comes from handsets, bilateral pedals, and selective function limiters.  A manual quick-release mechanism safeguards in case of emergency.

Final Note: Regardless of application, an understanding of particular requirements and the operating environment will help guide your choices.  Partnering early in the design stage with a knowledgeable engineering resource can help identify the best components or systems for the job.

SKF USA
www.skfusa.com

Contact Mark D. Hinckley at 267-436-6510 or email Mark.D.Hinckley@SKF.com

Robotic Technology Transforms the Operating Room

Locally, robotic technology is transforming the OR, with the help of the da Vinci Surgical System. This new surgical technology brings patients less pain, blood loss, scarring and recovery time. At Stamford Hospital, the public can see and touch the da Vinci at an upcoming seminar led by two robotic surgeons.

“Advanced Robotic Techniques – da Vinci Surgical System” will take place at Stamford Hospital’s Whittingham Pavilion, Rooms 1 and 2 on Sept. 14 from 1 – 3 p.m. At the presentation, two hospital surgeons will demonstrate how the da Vinci works and appropriate surgical procedures for the system. Additionally, the pair will explain the long list of benefits to the minimally invasive technology.

The free seminar will be led by Stamford Hospital’s Chairman of Obstetrics and Gynecology Dr. Lance Bruck and the Director of Stamford Hospital’s Department of Surgery’s robotics program in urology Dr. Ketan K. Badani.

Last year, Stamford Hospital unveiled the da Vinci Surgical System for complex urological and women’s health surgeries. With the da Vinci, the surgeon is at the controls of a sophisticated surgical robot to perform the most complex and delicate procedures. da Vinci offers unmatched precision with the ability to make small incisions through the aid of enhanced 3D optics.

An expert in minimally invasive procedures, Dr. Bruck enlists the aid of the da Vinci system at Stamford Hospital for numerous gynecological surgeries including hysterectomies. He previously developed the Minimally Invasive Surgery Fellowship at Jacobi Medical Center, where he was Vice Chairman of the Department of Obstetrics, Gynecology and Women’s Health. Dr. Bruck succeeded in raising the funds to support the Fellowship, primarily through industry support.

Dr. Ketan K. Badani is also the Director of Robotic Surgery at New York-Presbyterian Hospital/Columbia University, where he leads one of the largest and most comprehensive robotic and oncology programs in the country. He is one of only a few select surgeons in the world who have performed more than 1,000 robotic surgeries. In July, Dr. Badani began performing radical prostatectomies at Stamford Hospital with the da Vinci Surgical System.

Dr. Badani trained at the Vattikuti Urology Institute in Detroit, Mich. and is among the most experienced practitioners of robotic prostatectomies in the world. He is a noted author and lecturer and has published extensively on the subject, including landmark articles in the field of robotic surgery. Dr. Badani’s research in surgical technology continues to improve the quality of life for men after robotic surgery while maintaining the highest cancer cure rates.

Single Incision Robotic Kidney Removal

For the first time in Michigan, a diseased kidney has been surgically removed at Henry Ford Hospital using highly sophisticated 3D robotics through a single incision.
Read more

Mechatronics in the OR

Using the da Vinci Surgical System shown here, the surgeon operates while seated at a console viewing a 3D image of the surgical field. His or her fingers grasp the console’s master controls below the display, and the system translates the surgeon’s hand, wrist, and finger movements into precise, real-time movements of surgical instruments by the robot.

A system-level approach moves robotic surgery from science fiction to reality.

Read more

Medicine and Mechatronics

An interesting niche in the mechatronic world is the laboratory automation market. Applications in this arena can be syringe dispensing of tiny volumes of fluids, automatic dispensing and sampling of chemicals, DNA processing and many other applications. For the most part, the applications are Cartesian arrays of samples in small wells and single or multiple dispensing devices on a moving head. The number of samples being managed can be anything from 1 to 96. Read more