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A Compact Wall-Climbing and Surface Adaptation Robot for Non-Destructive Testing
Hernando Leon-Rodriguez,Salman Hussain,Tariq Sattar 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper describes the design of an umbilical-free mobile non-destructive testing (NDT) climbing robot for industrial applications that is capable of inspecting oil tanks, pipelines, petro-chemical tanks, bridges, railways, etc. The mechanical design is based on a wheeled mobile robot with magnetic adhesion forces optimised with flux concentrators. The robot carries a NDT wheel probe in order to detect weld defects, wall thickness and corrosion. The robot adapts to surface curvatures (both convex and concave and both along its length and width) and can make transitions between surfaces that have an angle of up to ninety degrees between them. The robot and an on-board NDT Flaw Detector are controlled remotely via wireless communication. Higher level commands remotely adjust NDT parameters, robot speeds, and control inspection tasks from the ground.
Testing and Evaluation of Foldable Biopsy Tools for Active Capsule Endoscope
Hernando Leon-Rodriguez,Suk-Ho Park,Jong-Oh Park 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
This paper describes the development of passive foldable biopsy tools and the improvements of active capsule endoscope as future medical devices for intestinal inspection. The present’s active locomotive capsule endoscope is a micro-robot that can travel along the way of the digestion system with wireless control and position abilities. The capsule endoscope has been integrated with novel micro-biopsy tools armed to extract tissue samples from the small and larger intestine. The entire capsule system has abilities of target random biopsies at any position of the intestinal system by magnetic control and shortly 3D sensor localization and position methods. The Active capsule endoscope system could reach the target place, be controlled at real-time by the doctor, and be able to cut-off and keep on-board of its body’s as much as possible of intestinal tissue for further analysis. The biopsy mechanism is a novel passive triggered mechanism with a highly accurate magnetic actuator for positional control and localization.
Ferrofluid Soft-robot Bio-inspired by Amoeba Locomotion
Hernando Leon-Rodriguez,Viet Ha Le,Seong Young Ko,Jong-Oh Park,Sukho Park 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper presents a novel application based on the bio-inspired motion of the Amoeba. This research is focused on development a soft micro robot based on the Amoeba locomotion which can be named Whole Skin Locomotion. The robot is created using the fluid filled toroid method that acts as a body shaping feature with ferrofluid material placed within that is delivered to create the driving force. The passive fluid switch acts as an active sensitive liquid when a magnetic field is applied. Therefore, based on this behaviour in order to produce the driving motion external Electromagnetic coils are arranged as a wireless control and actuator. A number of motions and hindrances are currently presented to insure the principal motions of the robot. Some other approaches of ferrofluid soft-robot biomimetic inspired are also presented as well.
Shape memory alloy–based biopsy device for active locomotive intestinal capsule endoscope
Le, Viet Ha,Hernando, Leon-Rodriguez,Lee, Cheong,Choi, Hyunchul,Jin, Zhen,Nguyen, Kim Tien,Go, Gwangjun,Ko, Seong-Young,Park, Jong-Oh,Park, Sukho SAGE Publications 2015 Proceedings of the Institution of Mechanical Engin Vol.229 No.3
<P>Recently, capsule endoscopes have been used for diagnosis in digestive organs. However, because a capsule endoscope does not have a locomotive function, its use has been limited to small tubular digestive organs, such as small intestine and esophagus. To address this problem, researchers have begun studying an active locomotive intestine capsule endoscope as a medical instrument for the whole gastrointestinal tract. We have developed a capsule endoscope with a small permanent magnet that is actuated by an electromagnetic actuation system, allowing active and flexible movement in the patient's gut environment. In addition, researchers have noted the need for a biopsy function in capsule endoscope for the definitive diagnosis of digestive diseases. Therefore, this paper proposes a novel robotic biopsy device for active locomotive intestine capsule endoscope. The proposed biopsy device has a sharp blade connected with a shape memory alloy actuator. The biopsy device measuring 12mm in diameter and 3mm in length was integrated into our capsule endoscope prototype, where the device's sharp blade was activated and exposed by the shape memory alloy actuator. Then the electromagnetic actuation system generated a specific motion of the capsule endoscope to extract the tissue sample from the intestines. The final biopsy sample tissue had a volume of about 6mm(3), which is a sufficient amount for a histological analysis. Consequently, we proposed the working principle of the biopsy device and conducted an in-vitro biopsy test to verify the feasibility of the biopsy device integrated into the capsule endoscope prototype using the electro-magnetic actuation system.</P>
Leverson Beltran Castro,Maria Camila Parra Aldana,Hernando Leon-Rodriguez 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
This article presents the design and implementation of a bioelectronic knee integrated into a transfemoral mechanical prosthesis manufactured in 3D printing. This device is made to improve the human gait cycle in the lifting, rocking, and support phases. For its implementation, control subsystems were integrated for the spatial variables and the conditioning of native muscle signals generated by the contractions of the vastus and biceps of the stump of a patient with trans-femoral amputation. The readings of the position and angular velocity signals were made through an interface adapted to the non-amputated limb as a response pattern. The scope of this article is defined by the reading, monitoring, control, and improvement of knee movements in a bioelectronic prosthesis in the phases of the human gait cycle. Finally, the importance of reducing the cost of the device is highlighted through the optimization of resources, construction materials, and electronic elements, with a low cost value.
Camila Valentina Osorio Pena,Laura Catalina Lopez Riano,Julian David Medina Alfonso,Hernando Leon-Rodriguez 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
The applications of continuous-redundant robots in the medical field, thanks to their hyper-flexibility and their ability to slide through complex curvilinear lines, make them ideal for surgical procedures. This paper describes the design, construction and control of a continuous redundant robot, driven by tension cables, based on the robotic model. Tests were carried out in a simulated physical environment of the Abdominopelvic cavity. Regarding the control of the system, inverse kinematics were used, which allowed to relate the different variables of the same, using the MatLAB and Arduino programs; its manipulation was carried out by means of a joystick and a PID control. Evaluation, performance of the system, position of the end effector, the length of the tension cables in each movement, as well as their respective curvature and angles were recorded through calculations.