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Craniotomy is the first choice of treatment of brain tumors, cerebrovascular disease, brain injury and cerebral hemorrhage disease, but the craniotomy method is time-consuming and laborious, the structure of skull is complex and important nerve and blood vessels distribute. As a result, the risk of craniotomy is high, and the operation is highly dependent on surgeons' experience, which leads to high...
The flexibility of robot joint has become the key factor to achieve the high performance control. Based on the established mathematical model, taking the flexible joint of joint robot for example, the dynamic model of the flexible joint is established by Lagrange's equations of the second kind and a detailed derivation process is presented. In order to realize the smooth motion control of robot joint...
Interaction of human and robot (HRI) is the main problem that impacts the development of robot, especially the surgery robot. Comanipulation is a prime solution, with the novel feature of high backdrivability, high precision because of active constrain control. This paper introduces several comanipulation robots in surgery and summarizes the characteristics of each robot. The challenges and opportunities...
Operation in the area of Maxillofacial section is very difficult and risky due to its complicated and random anatomical structure. Therefore, to resolve these types of surgical issues, a multi-arm medical robot is designed. This paper presents a system able to perform complex maxillofacial surgeries using 6-DOF surgical manipulator and haptic device with force feedback capability. Force sensor is...
As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot are designed to assisting maxillofacial surgery and one of the 6-DOF arm of the robot is controlled by Haptic device, which can improve surgical precision and reduce surgeon's strain for tele-robotic surgery. Firstly, overview of the...
A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery.This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm...
Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment...
As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists...
As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure...
Conventional vascular interventional surgery (VIS) is performed under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to position and adjust catheter operating system Furthermore, traditional...
Conventional vascular interventional surgery (VIS) is performed by surgeons under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation to the interventional radiologists. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust the position...
Conventional vascular interventional surgery (VIS) is performed under fluoroscopic guidance by surgeons. In order to reduce X-ray irradiation to the interventional radiologists, catheter operating systems have been developed to assist surgeons. This paper proposed an active supporting medical manipulator, which can neatly adjust and accurately position the catheter operating system. Forward kinematics...
BackgroundPort wine stains (PWS) are a kind of skin disease for which photodynamic therapy (PDT) has already achieved good results. With manual operation of clinical PDT, the laser density is uneven and laser irradiation of the lesion is arbitrary and non‐uniform. In addition, lengthy manual operation tires doctors; thus a robot system has been developed to assist them.
MethodsFirst, a novel medical...
Port wine stains (PWS) are congenital vascular malformations, which usually appear at birth. Photodynamic therapy (PDT) is an effective approach in the treatment of PWS with laser. In clinical, the laser power density of laser spot used in PDT treatment is uneven and doctors need to keep moving laser fiber manually to uniformize laser irradiation, which is arbitrary and un-quantified, resulting in...
In this work, we developed a new mobile robotic platform named MOBIT (Mobile Robot of BIT) that combines wheels, legs and tracks to move with different locomotion modes in unstructured environment. Utilizing its independent actuated arms up and down, many desired locomotion modes can be realized, which makes the robot good adaptability and high capability of obstacle negotiation for carrying out military...
Port wine stain (PWS) birthmarks are congenital vascular malformations, which usually appear at birth and tend to become darker and thicker with age's growth. Vasculartargeted photodynamic therapy (PDT) is an effective approach in the treatment of PWS. However, due to the arbitrariness of manual operation and pole points existing in laser radiation, the PWS zone was always cured unevenly in clinics...
Hepatocellular carcinoma (HCC) is the second most common malignancy in China. As microwave ablation (MWA) is an effective method for liver cancer, a robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles. This robotic system includes a surgical robot with 5 degrees of freedom, a workstation for path-planning and image processing, a conventional...
The ultrasonic imaging guided radio frequency ablation surgery is an effective technique in liver tumour treatment. However, the traditional surgery imposes a constraint for surgeons to have high precision in their hand-eye coordination. This paper proposed an assisted medical robot system to reduce these requirements. For an effective surgery robot system, the trajectory planning and 3D ultrasonic...
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