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Background
Many robotic needle‐biopsy systems have been developed to enhance the accuracy of needle‐biopsy intervention. These systems can reduce the intervention time and the radiation exposure of clinicians. However, respiratory‐motion compensation is needed to ensure the accuracy and efficiency of needle biopsy intervention.
Methods
Human respiratory‐motion data were acquired using three inertial...
Background
Natural orifice transluminal endoscopic surgery is an emerging technique. We aimed to develop an advanced surgical robot mechanism for natural orifice surgery.
Methods
We propose the active‐controlled overtube‐type platform with multiple channels for an endoscopic camera and surgical tools. To make such a platform, we suggest an advanced snake mechanism comprising movable pulleys to...
Background
Clinicians who frequently perform ultrasound scanning procedures often suffer from musculoskeletal disorders, arthritis, and myalgias. To minimize their occurrence and to assist clinicians, ultrasound scanning robots have been developed worldwide. Although, to date, there is still no commercially available ultrasound scanning robot, many control methods have been suggested and researched...
BackgroundTo reduce the radiation exposure of patients and physicians during needle‐based procedures, robotic needle insertion systems have been widely developed. However, during robotic needle insertion, the respiratory motion of the patient can cause serious injury.
MethodsA vision‐based variable impedance control algorithm was introduced to compensate for the respiratory motion. The algorithm...
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