A Robotic System for Medical Hoses Manipulation and Quality Check

This paper proposes a robotic based system, equipped with suitably developed mechatronic tools, able to fine manipulate medical hoses directly from the production line and during the execution of quality check tasks. The system combines suitably developed technologies (i.e., tactile sensors and cutting machine) with methodological approaches (i.e., tactile indicator, blind search methods, image processing) in order to automatize the manipulation of very thin and soft linear deformable objects, where the main challenge is the very small forces involved during manipulation. The work presents the system testing during the execution of two real quality check scenarios: verification of the hose internal diameter and checking of the hose section shape and dimensions. For the internal diameter check, a suitably defined contact indicator based on tactile signals is proposed, and it is combined with a blind search method, based on the use of a spiral path, in order to generalize the task execution, by overcoming limitations due to the possible misalignment among grasped area and hose end. For the inspection of the hose section, a specific cutting tool has been developed and image processing methods have been implemented, by means of microscope feedback, for the centering and focus of the hose sample to be analyzed.