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Background
Accurately estimating the 6D pose of snake‐like wrist‐type surgical instruments is challenging due to their complex kinematics and flexible design.
Methods
We propose ERegPose, a comprehensive strategy for precise 6D pose estimation. The strategy consists of two components: ERegPoseNet, an original deep neural network model designed for explicit regression of the instrument's 6D pose,...
Background
Traditional commercial master devices and specialied serial master devices meet insufficient workspace, low intuitiveness, low stiffness, and poor accuracy during master‐slave mapping for robot‐assisted flexible ureteroscopy (FURS).
Methods
This paper presents a 3‐DoF master device for FURS. A 2‐DoF parallel mechanism was designed and utilised in the master device for higher stiffness...
Background
To provide feedback to surgeons in robotic surgery training, many surgical skill evaluation methods have been developed. However, they hardly focus on the performance of the surgical motion segments. This paper proposes a method of specifying a trainee's skill weakness in the surgical training.
Methods
This paper proposed an automatic skill evaluation framework by comparing the trainees'...
Background
The performance of robotic end‐effector movements can reflect the user's operation skill difference in robot‐assisted minimally invasive surgery. This study quantified the trade‐off of speed–accuracy–stability by kinematic analysis of robotic end‐effector movements to assess the motion control skill of users with different levels of experience.
Methods
Using ‘MicroHand S’ system, 10...
Background
The stereo laparoscope is an important tool for achieving depth perception in robot‐assisted minimally invasive surgery (MIS).
Methods
A dynamic convergence accommodation algorithm is proposed to improve the viewing experience and achieve accurate depth perception. Based on the principle of the human vision system, a positional kinematic model of the binocular view system is established...
Background
For current LESS robotic systems, the trade‐off between dexterity and payload capability is always present. This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms.
Methods
Each manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7‐DoF compliant status and 5‐DoF rigid...
Background
Most of the existing robotic platforms for LESS have workspace and load capacity weaknesses, because of the limitation of one single incision. We have developed a LESS manual operating platform of which the stiffness of the insertion tube is controllable.
Methods
The system included two dexterous tool manipulators, a stereo‐vision module and a variable stiffness insertion tube (VSIT),...
BackgroundForce sensing for robotic surgery is limited by the size of the instrument, friction and sterilization requirements. This paper presents a force‐sensing instrument to avoid these restrictions.
MethodsOperating forces were calculated according to cable tension. Mathematical models of the force‐sensing system were established. A force‐sensing instrument was designed and fabricated. A signal...
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