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A reconfigurable master device has been proposed for a reconfigurable modular surgical robot. A simulation-based experimental setup was developed to evaluate the feasibility of the master device. The time spent to perform a given task, the workload evaluated by the NASA TLX questionnaire, and the preference of the topology indicated by the subjects were used as evaluation items. The preliminary results...
Based on a pneumatic artificial rubber muscle (PARM) to restrict trunk-twisting range of motion (ROM), an intelligent trunk corset was developed to support the rollover movement of cancer bone metastasis patients. The specifications of the intelligent corset were determined so that it could perform in the same way as a traditional hard corset. Furthermore, based on the permitted trunk twist angle...
We describe here a palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer. The mechanical palpation probe locates cancerous tissue from force information and reduces tissue displacement during needle insertion. We compared palpation-based needle insertion to normal needle insertion by numerical simulation of a breast tissue model and by experiments in vitro. The...
We describe a control method, for a surgical robot, which prevents the overload at fragile tissues. In particular, we focused on the control parameter setting method to ensure the robustness of the performance relative to the variation of the organ stiffness parameter. Firstly, we present Position/ Limited Stress control to achieving both precise positioning and prevention of overload. FEM based organ...
To develop a gait rehabilitation robot for hemiplegic patients, quantitative evaluations of patient ability is needed. Patient's walk phase, which includes time balance of stance and swing legs, is one of the most useful indexes. However, conventional methods measuring walk phase require laborious preparations. In this paper, a novel algorithm estimating walk phase on a treadmill by observing DC motor...
Many motion support robots of the elderly and disable were studies all over the world. We have developed the rollover support system, which is one of the ADL. Our ultimate goal is to develop an effective rollover support system for patients with cancer bone metastasis. The core of this system is a pneumatic rubber muscle that is operated by EMG signals from the trunk muscle. A Time Delay Neural Network...
It is often difficult for visually impaired persons to walk outside to his or her destination. In this paper, we develop a cane with a built-in haptic interface for use by visually impaired persons. The cane is paired with IC tags buried underground (e.g., under street pavement). The haptic interface is controlled with a position and velocity control system that accurately indicates four directions...
Radio frequency ablation (RFA) has increasingly been used over the past few years and RFA treatment is minimally invasive for patients. However, it is difficult for operators to control the precise formation of coagulation zones due to inadequate imaging modalities. With this in mind, an ablation system using numerical simulation to analyze the temperature distribution of the organ is needed to overcome...
We have developed a gait rehabilitation robot for hemiplegic patients using the treadmill. A walk phase, which includes time balance of stance and swing legs, is one of the most basic indexes to evaluate patients' gait. In addition, the walking phase is one of the indexes to control our robotic rehabilitation system. However, conventional methods to measure the walk phase require another system such...
Safe use of master-slave robots for endoscopic surgery requires autonomous motions to avert contact with vital organs, blood vessels, and nerves. Here we describe an avoidance control algorithm with delay compensation that takes the dynamic characteristics of the robot into account. To determine the operating parameters, we measured frequency characteristics of each joint of the slave-manipulator...
The importance on walking for health is growing in elder dominated society. We have been developing a new mobility ldquoTread-Walk 1 (TW-1)rdquo controlled by walking movement. The device uses active treadmill velocity control, which allows the user to walk on the treadmill at any desired velocity. In this paper, the walking movements on the TW-1 were kinematically analyzed and compared with the walking...
Needle insertion treatments require accurate placement of the needle tip into the target cancer. However, it is difficult to insert the needle into the cancer because of cancer displacement due to the organ deformation. Then, a path planning using needle insertion simulation to analyze the deformation of the organ is important for the accurate needle insertion. A frictional model for needle insertion...
The clinical target of this study is intrauterine patch coverage of fetal myelomeningocele. We propose a new surgical robotic system for intrauterine fetal surgery with patch-stabilizer and laser manipulator. The target disease of the fetal surgery is spina bifida or myelomeningocele, which is incomplete closure in the spinal column and one of the common fetal diseases. In the fetal surgery, the collagen...
Tele-surgery enables medical care even in remote regions and has been accomplished in clinical cases by means of special communication lines. To make tele-surgery a more common method of medical care, the surgical environment must be made available using public lines of communication, such as the Internet. Moreover, a support system during operation is required as the use of surgical tools occurs...
Many kinds of robot, such as humanoid, entertainment, and medical robots have been developed all over the world. Especially, an assistive and rehabilitation robots for the elder and disable people have been expected as one of the most important application of the neural engineering. In this plenary talk, Prof. Fujie introduces state of the art and current state on the assistive and rehabilitation...
Tremor is the most common of all involuntary movement. A lot of tremor patients in upper limb have serious difficulties performing daily living activities. We have developed the exoskeleton robot for tremor patient. In this paper, we focused on to develop a signal processing method to extract the voluntary movement from the electromyogram (EMG) signal in which the voluntary movement and tremor were...
An active body weight support (BWS) system, which unloads body weight with pelvic support, has been developed to assist the walking movement. This system unloads body weight with a motor-actuated device from below with pelvic support, unlike prevailing BWS systems that lift up the subject from above via a harness connected to a wire. The force control method to unload body weight has not been sufficiently...
This paper discusses the phase lag of tele-operation system when operator begins to perceive the system's motion lag. The reduction of time lag is very important for high operation performance in tele-operation system. However the threshold of time lag for development of high operability is unknown. Therefore, I obtain the time lag when the operator perceived the motion lag in tele-operation. The...
There are various medical treatments for breast cancer. One of the most minimally invasive and promising medical treatments for early-stage noninvasive breast cancer is radiofrequency ablation (RFA). RFA can reduce both mental and physical damage to women with breast cancer. However, it is very difficult to accurately insert diagnosis and treatment needles in cases of early-stage breast cancer, because...
One of the most minimally invasive and promising medical treatments for early-stage breast cancer is radio frequency ablation (RFA). However, with RFA it is difficult to insert the needle into the cancer because of the needle deforms the organ and, therefore, displaces the cancer. To solve this problem, we have developed a novel approach called "palpation based needle insertion." to achieve...
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