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

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

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