High Endurance and Sustainable Marine Mechatronic Systems Design


Assistive and Rehabilitation Robotics

Prosthetic Robotic Leg

Disability is no longer an obstacle for a person to achieve high goals and good status in the present world. Now a day all the limitations due to disability is being satisfied with the influence of robotics. Mechanical supporting limps are quite common and it has helped a lot of disables to help them to forget their disabilities and move forward in their life.

Our project is a new venture to design a robotic prosthetic leg for the disabled that can help them in a more convenient way to overcome their disabilities. We are mainly focusing on fulfilling the needs of a person who lost his/her leg partially.   

All the human posters like sitting, standing, walking etc. is being analyzed instantly from the other leg with the help of a goniometry to measure the angle of the knee and a ‘smart shoe’ which uses a flexi force sensor to measure the pressure and velocity under the feet instantly.

Collaboration partner: Dr Celia Tan, Director of the Singapore General Hospital-Postgraduate Allied Health Institute (PGAHI).  

 

Minimally invasive surgery

Laparoscopic surgery, also called minimally invasive surgery (MIS), bandaid surgery, keyhole surgery is a modern surgical technique in which operations in the abdomen are performed through small incisions (usually 0.5-1.5cm) as compared to larger incisions needed in traditional surgical procedures.

The surgical needle placement is usually performed using straight-line needle trajectories, due to the absence of feedback and knowledge of needle steering mechanics that would make trajectory compensation feasible. If it is determined that a needle fails to reach its goal location, due to tissue or needle motion, then it must be retracted and re-inserted. Several attempts may be required before success is achieved. The needle insertion models can be developed in this research to study the needle motion-planning problem. The concept of needle manipulability or “steerability” can be introduced in order to consider closed-loop needle trajectory compensation, as well as trajectory planning and optimization. This is used in conjunction with a motion-planning algorithm to automatically plan feasible needle trajectories in soft tissue environments. Contributions to these challenges will be of interest to the medical scientific communities, biomedical engineering and hospital.

Collaboration partner: Currently, looking for one.

 xPC-Target setup using NI PCI-6221 in the Desktop PC (as a Target PC)

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