The increased application of the da Vinci robotic platform (Intuitive Surgical Inc.) for microsurgery has led to the development of new adjunctive surgical instrumentation. In microsurgery, the robotic platform can provide high definition 12×-15× digital magnification, broader range of motion, fine instrument handling with decreased tremor, reduced surgeon fatigue, and improved surgical product...

The existing colonoscope requires a dexterous skill of surgeon to perform the insertion in entire colon. The procedure is painful to the patient. Therefore, biomedical and robotic researchers are developing a locomotive colonoscope that can travel safely in colon In this paper, we describe a new design and concept of semi-autonomous micro robot for colonoscopy. The micro robot comprises the act...

Manipulation of biological cells becomes increasingly important in biomedical engineering to address challenge issues in cell-cell interaction, drug discovery, and tissue engineering. Significant demand for both accuracy and productivity in cell manipulation highlights the need for automated cell transportation with integrated robotics and micro/nano manipulation technologies. Optical tweezers,...

ground robot team is because both micro aerial vehicles (MAVs) and micro ground vehicles (MGVs) are limited in their ability to search and transport objects or complete complex missions. The payload of MAVs is relatively small and they have difficulty in transporting objects; the speed of MGVs is relatively slow for performing rescue missions. We overcome this limitation by using the cooperatio...

We present a steerable, electrostatic, untethered, MEMS micro-robot, with dimensions of 60 μm by 250 μm by 10 μm. This micro-robot is 1 to 2 orders of magnitude smaller in size than previous micro-robotic systems. The device consists of a curved, cantilevered steering arm, mounted on an untethered scratch drive actuator. These two components are fabricated monolithically from the same sheet of ...

Swimming micro robots that mimic micro organisms have a huge potential in biomedical applications such as opening clogged hard-to-reach arteries, targeted drug delivery and diagnostic operations. Typically, a micro swimmer that consists of a magnetic bead as its body, which is attached to a rigid helical tail, is actuated by a rotating external magnetic field and moved forward in the direction ...

gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between join...

This paper presents an amphibious spherical robot that consists of a sealed upper hemispheroid, two quarter spherical shells, and a plastic circular plate. It has a plastic shelf for carrying themicro-robots, and four actuating units for movement. Each unit is composed of a water-jet propeller and two servomotors, each of which can rotate 90° in the horizontal and vertical directions. The robot...