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Minimally Invasive Surgery (MIS) is a specialized surgical technique that permits vascular interventions through very small incisions and minimizes the patient's trauma and permits a faster recovery compared to traditional surgery. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. However, the significant disadvantage of this...
Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The developed...
Minimally Invasive Surgery (MIS) is a specialized surgical technique that permits vascular interventions through very small incisions. This minimizes the patients' trauma and permits a faster recovery compared to traditional surgery. However, the significant disadvantage of this surgery technique is its complexity; therefore, it requires extensive training before surgery. In this paper, for the VR...
In this paper, we build one VR system which is used for the training of the interns to operate the Robotic Catheter System and improve the operational experience and auxiliary medical process for the minimally invasive surgery, uses the open source code DCMTK to read the information about DICOM file and carry out the CT image segmentation for the Virtual Reality based Robotic Catheter System. In order...
The haptics-based master-slave system for Minimally Invasive Surgery is a promising way to protect surgeons from long time radiation and to train novice doctors to learn basic wire or catheter handling skills. However, the time delay of transmission of visual video and the time difference between image information and force signals restrict the application of this technology in some extent. In this...
Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The developed...
Manual operation of steerable catheter is inaccurate in minimally invasive surgery and requires dexterity for efficient manipulation of the catheter meanwhile exposes surgeons to intense radiation. In this paper, our objective is to develop a remote control system that replaces the manipulation of surgeons with high accuracy and precision. The system identification for nonlinear discrete time is presented...
Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The developed...
Minimally Invasive Surgery (Minimally Invasive Surgery, MIS) is a specialized surgical technique that permits vascular interventions through very small incisions and minimizes the patients' trauma and permits a faster recovery compared to traditional surgery. In this paper, we will introduce a kind of Virtual Reality based Robotic Catheter System which can be used for the training of the interns to...
As the development of the ICPF (ionic conducting polymer films) actuator in MEMS, it has been one of the most interested materials due to its large bending deflection, high mechanical deformation, low excitation voltage, low density and manufacturing cost. In this paper, we will present the Cube Minimum Unit Model according to the hypothesis of considerable mechanical deformation principle of the...
As the development of biological sciences, many microrobots are designed for biomimetic locomotion in liquid environments with biomimetic actuators, such as ICPF (ionic conducting polymer films). In this paper, we demonstrate a ICPF actuated biomimetic fish-like underwater microrobot that can be remote controlled and the microrobot is consists of AVR minimum-control unit, communication system, fin,...
It is our target to develop fish-like underwater microrobot for medical and industrial application. This kind of underwater microrobots should have the characteristics of flexibility, good response and safety. We demonstrate a system of bio-mimetic fish-like underwater micro-robots that can be controlled from a larger mother submarine. Each micro-robot consists of an AVR minimum-control unit, Radio...
Novel materials such as ICPF has been used as actuators in underwater microrobot for many years, and this paper developed an individual fish-like underwater microrobot which consists of ATMEL AVR minimum control system, Infrared Ray Data Association system and ICPF (Ionic Conducting Polymer Film) actuators. We use atmega16 as the control centre of the mechanical and control system of the microrobot,...
This paper studies the problem of motion control of an underwater microrobot system in three-dimensional space by developing an AVR control system and PSO path-planning optimization system. This kind of underwater microrobot system can be used in underwater medical knowledge networks and management and artificial intelligence of multi-microrobot medicine system. For each microrobot with smart materials...
This paper is about an Infrared Sensor-based Wireless Intelligent Fish-like Underwater Microrobot. We will study on the AVR (Armoured Vehicle Reconnaissance) minimum control system, IRDA (The Infrared Ray Data Association) infrared communication system and ICPF (Ionic Conducting Polymer Film) actuators for underwater microrobot motion control. The AVR control system use atmega16 as the centre of the...
The paper researches on the problem of path-planning and optimization of several underwater microrobots in three-dimensional space by developing a novel spiral particle pathway searching approach and PSO Approach. We propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Firstly,...
This paper studies the problem of Path-planning of underwater microrobot in three-dimensional space by developing a novel spiral particle pathway searching approach. We propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. A succeed path-planning of single robot can ensure the underwater...
In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation...
In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation...
-In this paper, we summarizes the development of walking microrobots driven by the novel actuators. Then we set up the experimental platform to test the material characteristic of ICPF, and measure the impact of different driving voltage and frequency of square wave pulse on the movement of ICPF actuator. This paper suggests the main methods for setting up and solving the endpoint kinematic trajectory...
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