Suggestions(1)
Exact(3)
The workspace of such a robotic arm depends on its design as well as orifice location.
However, this large workspace might be reachable through only a few orifices, thus making the workspace volume and operation quite sensitive to the orifice location.
While duodenoscope is pulled back to the bulb on short position and the right side of the duodenal wall is carefully inspected, the fist papillary structure and orifice in view is the main pancreatic orifice (location where the minor papilla opens could not be identified so far, likely due to duodenal deformity).
Similar(57)
To overcome this problem, we optimized the design of a 3 degrees of freedom serial robotic arm to attain multiple adjacent (desired number of) possible orifice locations, through which a planar workspace of pre-specified geometry can be traced.
Four non-dimensional axial distances of satellite-orifice location (Hs/d = 0.15, 0.5, 1.0 and 1.5), three non-dimensional center-orifice diameters (dc/d = 0.6875, 0.812 and 0.9375) were taken into consideration.
It is also noted that the pressure drop of center-satellite scheme is nearly unaffected by the center-orifice diameter and axial distance between center-orifice outlet and satellite-orifice location.
To select the orifice position, we need the orifice plate's displacement ratio at each location.
Table 1 shows the orifice position in designed orifice plate.
And we designed the orifice position using approximated orifice plate deformation.
This method required the orifice plate deformation shape and the orifice position.
Figure 9a shows the orifice position and Fig. 9b shows photograph of orifice part.
Write better and faster with AI suggestions while staying true to your unique style.
Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com