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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

  • Explore concepts of shape-locking
  • Tissue penetration experiments with force sensing
    • Assigned to: Jiangran Zhao
    • Focus: insert angles with force sensing, modeling NiTi suture and tissues
    • Planned progress: March, 2013
  • Loading performance of the continuum arm
    • Assigned to: Jiangran Zhao
    • Focus: total length, one or two segments, direction, COMSOL simulation.
    • Planned progress: March, 2013
  • Non-circular tool assemble and test
    • Assigned to: Jiangran Zhao
    • Focus: geometry modeling and load experiment
    • Planned progress: March, 2013
  • Patent writing
    • Assigned to: Jiangran Zhao
    • Planned progress: as time is permitted


  • 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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