Progress

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m (The SAIT SPA Surgical Robot)
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== <span style="color:blue;">The SAIT SPA Surgical Robot</span> ==
== <span style="color:blue;">The SAIT SPA Surgical Robot</span> ==
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* Overall arrangement of the whole system.
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* '''Overall arrangement of the whole system.
** ''Assigned to:Jiangran Zhao
** ''Assigned to:Jiangran Zhao
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** ''Planned progress: new version for the next meeting
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** Planned progress: new version for the next meeting
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* Actuation mechanism for gripper and needle
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* '''Actuation mechanism for gripper and needle
** ''Assigned to: Jiangran Zhao
** ''Assigned to: Jiangran Zhao
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** ''planned progress: new version for next meeting
+
** planned progress: new version for next meeting
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* Bellow fabrication
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* '''Bellow fabrication
** ''Assigned to: Minxiao Fu & Jiangran Zhao
** ''Assigned to: Minxiao Fu & Jiangran Zhao
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** ''Planned progress: Keep colse contact with the factories.
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** Focus: manufacture (Bin Jiang & Pai Ni) experiment after manufacture. Tool assemble and experiment.
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* Hybrid continuum structure
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** Planned progress: Conclusion before Feb 1st.
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** Manufacture and experimentation
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* '''Hybrid continuum structure
** ''Assigned to: Minxiao Fu
** ''Assigned to: Minxiao Fu
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** ''Planned progress:  Design a simple testbed for this experiment.
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** Planned progress:  Design a simple testbed for this experiment.
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* xPC control of the one-segment continuum arm
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* '''Vision unit: manufacture
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** ''Assigned to: Minxiao Fu
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** ''Planned progress: new version for next meeting
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* Vision Unit: design finalization
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** ''Assigned to: Xidian Zheng
** ''Assigned to: Xidian Zheng
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** ''Planned progress:new version for next meeting
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** Planned progress: fabrication results before Mar 5th
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* RCM design
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* '''RCM design
** ''Assigned to: Jiangran Zhao & Zhengchen Dai
** ''Assigned to: Jiangran Zhao & Zhengchen Dai
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* '''Six channel control board
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** ''Assigned to: Minxiao Fu
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** Plug cards into new control workstation
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** Sold components to the customized card from Hangzhou
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** Tests
== <span style="color:blue;">The Endoscopic Surgical Robot</span> ==
== <span style="color:blue;">The Endoscopic Surgical Robot</span> ==

Revision as of 09:21, 22 January 2013


Project Progresses and Tasks

The SAIT SPA Surgical Robot

  • Overall arrangement of the whole system.
    • Assigned to:Jiangran Zhao
    • Planned progress: new version for the next meeting
  • Actuation mechanism for gripper and needle
    • Assigned to: Jiangran Zhao
    • planned progress: new version for next meeting
  • Bellow fabrication
    • Assigned to: Minxiao Fu & Jiangran Zhao
    • Focus: manufacture (Bin Jiang & Pai Ni) experiment after manufacture. Tool assemble and experiment.
    • Planned progress: Conclusion before Feb 1st.
  • Hybrid continuum structure
    • Assigned to: Minxiao Fu
    • Planned progress: Design a simple testbed for this experiment.
  • Vision unit: manufacture
    • Assigned to: Xidian Zheng
    • Planned progress: fabrication results before Mar 5th
  • RCM design
    • Assigned to: Jiangran Zhao & Zhengchen Dai
  • Six channel control board
    • Assigned to: Minxiao Fu
    • Plug cards into new control workstation
    • Sold components to the customized card from Hangzhou
    • Tests

The Endoscopic Surgical Robot

  • Validate the concept of shape-locking


Exoskelton

  • Develop the actuation device to improve the driving capability
  • Help Dong with the experiments of the one-segment exoskeleton


The Prosthetic Hand

  • Summarize expenditures on fabrication
  • Quantify backlashes of the train of gears before and after replacing gears
  • Quantify output errors from the planetary gear system
  • Digital control of the inputs of the planetary gear system
    • Additional structure for installing motors
    • xPC control
  • Improve finger joints
  • Finalize algorithms
    • Manipulate the rehabilitation training balls
    • Try other grasping modes


Intracavity Inspection Arm

  • Kinematics modeling of the intracavity inspection arm with the configuration of 4*2+1:
    • Jacobian derivation
    • Inverse kinematics using updating potential fields
    • Matlab simulation
  • Compare to the 3*3 configuration


Micro Motor

  • Fabrication
    • Assigned to: Guoqing Liu


Kinematics Study

  • Paper study
    • Asigned to Fengjin Chai
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