The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
X-ray angiography is a common method for image-guided navigation comprising surgical devices and vessel contours detection which can offer visual feedback to physicians. However, for the sake of both physicians' and patients' health, the contrast agent is injected intermittently and in a low dosage, so the X-ray images are not always of adequate quality for visual examination. So the navigation, which...
Vascular interventional robot is becoming increasingly popular in assisting doctors for the treatment of cardiovascular diseases (CVDs). However, natural manipulations and motion patterns of surgeons in percutaneous coronary intervention (PCI), including finger motion and hand motion, are potentially altered more or less through this solution. Since clinical success is highly dependent on the skills...
In this paper, a novel robust nonlinear model is proposed to predict human lower extremity motion based on the multi-channel surface electromyography (sEMG) signals. The prediction model is established by a data-driven dynamic recurrent neural network. The sEMG signals acquired from human lower extremity muscles are used as the inputs of the prediction model. The outputs of the model are joint angles...
In this paper, a novel robust adaptive control scheme is proposed for a lower limb rehabilitation robot designed by our laboratory. The proposed control strategy is based on the radial basis function (RBF) neural networks and the parameters of the system dynamics are unknown. The weights of the RBF neural networks are updated by an adaptive law according to the Lyapunov stability analysis. The robustness...
Percutaneous coronary intervention is the gold standard to coronary diseases in the past decades due to much less trauma and quick recovery. However, due to the traits of minimal invasiveness, clinicians have to defeat the difficulties in eye-hand coordination during the procedure, which also makes it a non-trivial task in the catheterization lab. The computer-aided surgical simulation is designed...
The computer-aided surgical simulation aims to provide an economic tool of effectiveness and convenience for the training process. In building this simulation system, the construction of the virtual anatomic environment is one of the major tasks. It provides the virtual tools with the scenario in which they are manipulated by the trainee. In intravascular surgery simulation, the surface model of the...
Generally, surgeons of minimally invasive surgery should possess good ability to coordinate their both hands. The manipulation of guide wire is considered a core skill. Obtaining that core skill to perform minimally invasive surgery requires training. In minimally invasive surgery, a surgical robot can assist doctors to position precisely and provide stable operation platform. Therefore, to develop...
The visualization of the coronary vasculature is of utmost importance in interventional cardiology. Intravascular surgical robots assist the practitioners to perform the complex procedure while protecting them from the tremendous occupational hazards. Robotic surgical simulation aims to provide support for the learners in both efficiency and convenience. The blood vessels especially the coronary arteries...
Cardiovascular disease is a class of diseases that involve the heart and blood vessels, which is the leading cause of deaths globally. Vascular interventional surgery is an effective treatment. As belongs to minimally invasive surgery (MIS), it is more popular due to the advantages of smaller injury, faster recovery and higher accuracy rate. However, it needs up to 10 years to train a skilled surgeon...
This paper aims at using a newly developed robotic system to automatically deliver guidewires or catheters to the target site on percutaneous coronary interventions (PCIs) or electrophysiology interventions. An autonomous delivery strategy using electromagnetic tracking technology is introduced and phantom experiments are performed to validate this strategy. In order to advance the guidewire into...
This paper mainly focuses on the trajectory tracking control of a lower extremity rehabilitation robot during passive training process of patients. Firstly, a mathematical model of the rehabilitation robot is introduced by using Lagrangian analysis. Then, a model based computed-torque control scheme is designed to control the constrained four-link robot (with patient's foot fixed on robot's end-effector)...
Poincare-like-alter-cell-to-cell mapping method is proposed to search for the tracking target point, when the slope of the ground or the structure parameters of the underactuated biped robots have changed. The finite-time robust trajectory tracking control strategy is designed to make the states of the system reach the tracking target point in finite time. This control strategy is based on the theory...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.