In the modern world, there is a rapid deployment of mechatronic modules and devices into various spheres of human activity. One of the directions that has been developed in recent years is the use of mechatronic devices to create surfaces of complex shape by using solutions with a large number of linear mobility. Of particular interest is the use of these solutions in the field of medicine. The implementation of such systems for the tasks of forming the spatial position of the patient will significantly improve the quality of surgical operations. However, the task of forming the spatial position of the patient is inextricably linked with the task of determining its support areas. The purpose of this article is to verify the possibility of implementing the method of localization of the patient’s support areas using the functionality of a complex of a multi-section mechatronic module and a mechatronic clamping module capable of forming complex surfaces by changing the position of 98 composite plates by controlled movement of rods with integrated force sensors. The article describes the principle of operation of this mechatronic module, synthesizes the communication protocols of the sections and, based on the resulting protocol, develops algorithms and control programs. Experiments with a sensor system measuring the applied forces are also described in order to verify the possibility of localization of the patient’s support area during the formation of his spatial position.
In order to improve the performance of robotic laser medical operations, various methods are used to control the distance from the laser head or objective optics to the surface to be treated, and algorithms for correcting robot movements are built on their basis, which makes it possible to achieve high-precision processing. This study evaluated data of the reflected laser emission feedback sensor on uneven surfaces for use in robotic laser processing automation. As an uneven surface, a produced on a 3D printer detail with different profiles was used, which had been measured on conturograph before the experiments. Then, data were obtained from the feedback sensor of laser when passing along these profiles using a CMM and a robot. In the course of comparing the obtained results, it was found that the values of standard deviations from the real (highly-precise measured) surface do not exceed 600 μm. This value can be reduced by exclusion the identified problems that affect the data, the solution or leveling of which will be given in the further works of the authors. In general, it can be concluded that this method can be applied in robotic laser processing.
Nowadays the use of lasers in medicine is becoming more and more popular. To improve the quality of operations, attempts by various researchers are being made to use lasers in cooperation with robotic systems. Fiber lasers have a high potential for combining due to the fact that the fiber is quit flexible and allows to deliver laser emission to the operated tissues without significant losses. To fulfil the potential of using lasers in cooperation with robots, it is necessary to evaluate the data of the reflected optical signal. In this research the dependence of an optical reflected signal from the distance to different surfaces was evaluated. Experiments were conducted on motorized setting bench Tesa TPS 500 with wavelength 470 nm of a diode fiber laser and the range of power from 0.1 W to 1.6 W. Different materials were chosen for their reflective and mechanical properties: metal surface, plexiglas, and flexible composition based on (C12H18O9)n. The experiments showed that the dependence of the sensor data on the distance to the surface has a nonlinear form, which can be divided into three characteristic areas. The first one, from 0 to 0.2 mm, carries tip contact with the surface information and has no clearly expressed dependence. The second one, situated at the distance from the surface from 0.2 to 1 mm, has well approximated dependence. The third one, when the distance is more than 1mm from the surface, obeys the law of inverse squares. The results obtained can be used to improve robotic laser contact or noncontact cutting of soft tissues.
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