Background: Robotic needle insertion in biological tissues has been known as one the most applicable procedures in sampling, robotic injection and different medical therapies and operations.Objective: In this paper, we would like to investigate the effects of angular velocity in soft tissue insertion procedure by considering force-displacement diagram. Non-homogenous camel liver can be exploite...

This paper presents a study to experimentally evaluate a new design paradigm for robotic components, with emphasis on space robotics applications. In this design paradigm, robotic components are made from embedded binary actuators and compliant mechanisms in order to reduce weight and complexity. This paper presents a series of five experiments that demonstrate the concept. These studies includ...

Kinematics pertains to the motion of bodies in a robotic mechanism without regard to the forces/torques that cause the motion. Since robotic mechanisms are by their very essence designed for motion, kinematics is the most fundamental aspect of robot design, analysis, control, and simulation. The robotics community has focused on efficiently applying different representations of position and ori...

In this paper an automatic examination robot was developed to improve the process of cancer detection, tumor localization and geometrical shape diagnosis. A uniformly distributed compressive load was applied to the top tissue surface and the resultant mechanical stress was measured that was employed for the tumor diagnosis task. The experimental examinations were performed on the soft tissue of...

This paper analyzes the performance of a robotic system with two machines in which machines are configured in a circular layout and produce non-identical parts repetitively. The non-destructive testing (NDT) is performed by a stationary robotic arm located in the center of the circle, or a cluster tool. The robotic arm integrates multiple tasks, mainly the NDT of the part and its transition bet...

A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solut...

As changing the eating habit to low fiber and high fat diet, the pathology in the colon is growing up annually. Therefore, the colonoscopy is generalized in developed countries. But it requires much time for doctors to acquire a dexterous skill to perform an operation and the procedure is painful to the patient. Therefore, some studies on the development of autonomous colonoscope are carried ou...

This paper describes the existence of one of the most useful mechanisms for robotic systems, coined the “variable constraint mechanism.” The variable constraint mechanism is a system that actively changes constraint conditions by itself, in response to the working purpose or the required motion sequence to acquire varied functionality. The paper discusses some of the generalized design principl...

Radiofrequency Ablation (RFA) assisted liver resection results in lesser blood loss during liver resections. It involves a time consuming and error prone process of alternating coagulation and cutting until the line of transaction is completed to finally divide the liver. We proposed a new robotic mechanism to automate the ablation and division process. The robotic device comprises a 2link mani...