1

YES

Da

NO

Nu

NO

1a

•           Pilot Application

•           Alpha/BETA testing

În ce mod a fost testat/încercat rezultatul?

•           Prototip

•           Aplicaţie Pilot

•           Incercare Alpha/BETA

1c

The result of present research consists of a technical solution (concept, design) and a functional model for a poly-articulated robotic system, in modular structure, with motion generated in 3D space, taking into account the adaptability and safety. Robotic arm includes a lot of adjacent elements that are similar to rigid vertebrae that are interconnected by cables (wires) arranged in series. The vertebrae are held in contact by means of cables (wires) arranged in 120⁰ between them. By driving two wires of outer mechanism it is possible to rotate the final vertebra with an angle of ± 20⁰ in any direction. For physical manufacturing of the model it will be used the existing material resources within the Faculty of Mechanical Engineering.

Experimental model for testing and evaluation, industrial prototypes, pilot batch, product range, are necessary to cover the following steps:
- Concept, design and realization of the functional model;
- Testing and probing of functional model, industrial prototype, pilot batch, series product
- Verification of product conformity to social needs;
- Verification of performance and reliability characteristics;
- Checking the behavior in extreme conditions (high, low);
- Checking the features of design and ergonomic;
- Verification of labour safety measures

To check the kinematic and dynamic stability of various sub-assemblies of modular robotic system, mechanical and technological tests will be conducted in the required field and accidental fields of forces. Maximum test force is 50 N. The aim is to move the outer and inner mechanism, the size of the assembly margin, Joystick’s operation and worm wheel drive for manually tensioning of cable core.

Also, tests and development assessments are conducted to analyze product compliance with technical and economic parameters of performance and safety certification of the product.

2a

The team is et up and has the required resources to ensure new product manufacturing (researchers, human resources, hardware, etc.) The team has a longtime experience both in research and in prototype development  (physical models). The  ” Laboratory of Design, production control and management”, “Laboratory of product manufacturing technology” are available with also other laboratories and workshops within the department. At the same time the existing base is available knowledge and information in the field.

The research team can implement completely the project at the proposed quality parameters, with appropriate funding, in due time. In support of this statement we bring these arguments:
- Research team includes experts who recognized nationally and internationally, with significant results in the field of medical devices, validated by publications, who are  competent in all research areas that are specified;
- Proven experience and competence of research team in completing other research contracts;
- The existence within the Faculty of Mechanical Engineering, University of Craiova, of equipment and software that is a solid base for stages of design, testing and trial.

The product is the result of research and experimentation activities conducted by a team of specialists who wish to further optimize and launch the product in current manufacturing. In this respect, the team is available for technical advice, so that potential partners can start manufacturing the new product.

2b

2c

2d

At the present stage of technical development, health systems for minimally invasive surgery, are known nationally and internationally.

Specialized companies worldwide, such as M-Tran II (Distributed Systems Design Research Group – Tsukuba, Japan), Hirose Titech (Tokyo Institute of Technology), CONRO (University of Southern California – Los Angeles, USA) has developed such systems.
A functional model of a poly-articulated robotic system, modular structure, with motion generated in 3D space, under direct control of human operator is developed at the University of Craiova, Faculty of Mechanical Engineering. This system includes the following components: poly-articulated mechanical system (1); the power supply to operate the actuators (2);  microcontroller (3); connectors interface with main control board (4); power booster for actuators (5);  SPIDER8 digital system for data acquisition (6); Toshiba Notebook (7). Poly-articulated robotic arm has a diameter of 14.5 mm, a length of 202 mm. Each of the drive mechanism is continuously driven by a stepper motor of 1.25 Nm and rotation speed of 120 RPM, enabling a speed of advance / withdrawal of the robotic arm of 50 mm/s. Linear sleighs are driven by two mechanisms type screw nut (12 mm diameter, 3 mm step) that enable a linear motion of ± 172 mm in both directions.

Equipments in the system structure that have a certain uncertainty are: the 3-dimensional video system, control console for digital drives. For them additional research is required to be conducted by specialized companies in this field.
Operating of robotic system in sequential cycles, controlled by sensors and specialized electronic circuits, do not raise problems in manufacturing assimilation. In fact, these components are similar to those appropriate to standardized surgical robots. The operator, while comfortably seated in command console, by means of   keyboard or joystick, is operating the control elements of robotic arm.

As a result, this poly-articulated mechanical system can be the backbone of experiments on the spatial behavior of miniature robots.

In conclusion, further to evaluation of operating parameters, of  technical performance and manufacturing technologies, it resulted that poly-articulated robotic arm designed has a very good behavior and it can be proposed for its physical manufacturing as experimental prototype. Also, its launching in manufacturing is of interest ie  its promoting on national and international market.

3a

• Materials
• Materiale

Assimilation of a video system in order to capture three-dimensional images within the operating area is possible only after conducting additional experimental research.

• technologies, tools, machineries
• Tehnologii, utilaje, maşini

• Staff effort
• Resurse umane

1

-service radius: [mm] 86
-lifting load: [g] 50
-linear sled race: [mm] ± 172
-speed of advancement / withdrawal: [mm / sec] 550
-positioning accuracy: [mm] ± 0.05
-repeatability accuracy: [mm] ± (0.05  0.10)
-Program Type: flexible
-Overall dimensions: [mm] 430 × 140 × 100
-mass: [kg] 10

Additional research require a video system for capturing three-dimensional images within  operating area, provided by specialized companies in this field.

Testing of products raises no problems, there are certified laboratories for this purpose, where, in addition to checking the functional parameters, it is checked the compatibility of poly-articulated robotic arm with minimally invasive surgery.

Assumed risks (technical, financial) linked to the manufacturing, implementation and operation of modular robotic system are minimal and they refer especially to the following types:
- Risks that may arise during design stage;
- Risks that may arise during execution stage of the product (technological risk, cost overrun risk, the risk of subcontractors);
- Risks that can arise during exploiting stage of the product (possibility of changing the Euro rate, changing economic circumstances in the area, major legislative changes).

In conclusion, the project can be considered as one with technically minimum risk. Thus, the product designed can be proposed for obtaining its physical manufacturing as experimental prototype. The fact is also of interest to launching it into series and mass production, with its promotion on national and international market.