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Pedicle drilling is a crucial and high-risk process in spinal surgery. Due to the respiration and cardiac cycle, the position of spine would fluctuate during operations, which result in an increase of the difficulty in state recognition of pedicle drilling. To guarantee the safety and validity, a model-based compensation method is proposed in this paper. To build the empirical model of vertebral motion,...
Surgical instrument sorting is a repetitive work with a high risk of infection, which requires medical staffs to classify them after cleaning. Currently, the surgical instrument sorting is usually accomplished by medical staffs' manual operation. It is a time costing work, which may cause operators' fatigue even classification errors. Meanwhile, surgical instruments are relatively sharp and often...
Packing and layout problems belong to NP-Complete problems theoretically and they occur extensively in many engineering fields in practice. Artificial fish swarm algorithm (AFSA) is a newly proposed promising swarm intelligent optimization algorithm. Therefore we try to apply this novel intelligent algorithm to solving packing and layout problems. But there still exist some defects of this algorithm...
Robot-assisted minimally invasive surgery has gained popularity in recent years, such as Zeus, da-Vinci and MicroHand A, which can provide surgeons with enhanced visual feedback and dexterity of instruments. Master manipulator is an important component of the surgical robot system, whose posture recognition accuracy, operation dexterity and force feedback feature will have profound influence to the...
Robot-assisted minimally invasive surgery becomes more and more popular, but the lack of force sensing for surgical robots restricts the development of this technology. The traditional way to obtain tool-tissue interaction force is to integrate sensors at the end of surgical instruments, which is not well adopted in practical due to high-cost and sterilization problems. It is necessary to explore...
Surgery robot for pedicle screw placement is explored based on parallel manipulator. To improve the accuracy of parallel manipulator, a practical calibration algorithm is mainly discussed. At the beginning, a novel measurement scheme for calibration is proposed. In order to construct the error model, the propagation of error is analyzed and the procedures for constructing error model are particularly...
While virtual reality (VR) videos have attracted significant amount of attention and efforts, the development of VR is still quite challenging. Among the challenges, the need for enormous bandwidth in live streaming hasn't yet been addressed satisfactorily. To tackle this aspect, we propose a 360° VR live streaming system based on MPEG media transport (MMT) to guarantee the delivery of VR video as...
Segmentation of the masseter muscle is one of the most important bases for diagnosis and treatment, but automatical segmentation of masseter is very difficult as the masseter and its adjacent tissues have very similar gray levels. In this paper, a novel method is presented to segment the masseter in MRI images, which modifies the distance regularized level set evolution (DRLSE) with a new adaptive...
In order to combine the advantages of both wheeled robot and legged robot, a multi-motion mode wheel-legged hexapod robot is designed. The robot can change motion mode to stable walking or fast skating. The design principle of the wheel-legged hexapod robot is introduced. The kinematics of swinging legs and supporting legs are analyzed independently. The tripod gait of the robot for walking is planned...
The ability of the underactuated adaptive gripper is to envelop the objects according to its geometric shapes. It is known that robotic grippers are a nonlinear system, and it is difficult to set up an appropriate mathematical model, so it is hard to execute a precise control. In this paper, an underactuated gripper with two adaptive fingers is presented, and a Copley servo controller (Accelnet Micro...
Artificial fish swarm algorithm (AFSA) is a newly proposed swarm intelligent optimization algorithm. It is proved to be a promising approach to complex engineering problems, yet still there exist some defects of this algorithm. To solve the problem that AFSA has a low rate of convenience, low optimization precision, premature convergence and poor ability of balancing exploitation and exploration,...
Software defined network (SDN) attracts wide attentions from both research and industry fields because of its properties such as programmability, high flexibility, and controllability. However, the energy waste problem still exists in SDN as well as in the traditional networks. Fortunately, because of the centralized control, energy saving strategies will be easy to be deployed in SDN. Aiming at improving...
Most of existing VANET routing protocols are optimized locally, overtaking the global view of the whole network. In this paper, we propose a novel routing protocol in city VANET named Landmark-based routing using global real-time traffic (LRRT), which is beaconless and AP-assisted. First of all, we present a density estimation scheme to understand the global density information for designing routing...
In Software defined networks (SDNs), controller placement is an important problem which will affect the performance of the network directly. At present, there have been some studies on the controller placement problem in SDN from different aspects such as delay, capacity, reliability and load balance. In this paper, the controller placement problem is discussed from the aspect of delay and load balance...
The Beauty of Geometry, a touch-operation-based Dynamic Geometry Software (DGS) we develop for mathematics education by Objective-C, is introduced. The paper starts with the main contents of the Beauty of Geometry, including Intelligent drawing, Dynamic geometry, Geometric transformations, Animation, Measurement and Sharing, then we talk about the features of the system from three aspects, and consider...
Endoscopic nasal surgery is with minimal invasiveness for the surgical treatment of chronic sinusitis or other nasal diseases. During the endoscopic surgery, the surgeon uses one hand to hold the endoscope and the other hand to hold the surgical instruments within the nasal cavity. In some cases, the endoscope has to be held by the assistant when the surgeon needs to use both hands to manipulate the...
In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia,...
The accuracy of registration is one of the key issues in surgical navigation, which directly affects the result of operation. In this paper, we proposed a new registration algorithm, Tetrahedral Framework (TF), to improve precision and computing speed and conducted a calibration experiment by using the wax model with markers. The image data are obtained by Micro-CT scanning and loaded in VTK to gain...
This paper presented the concept of adaptation and underactuation applied to robotic grippers for manipulations. In order that the gripper can grasp the objects of different shapes, the adaptive and underactuated mechanism without any driving system in the joints was used. The main objective of this work is the fundamental analysis of this underactuated finger, including the dimensional design, kinetostatic...
Robots play more important roles in daily life and bring us a lot of convenience. Somebody may need to cooperate with robots to complete some specific tasks. But when people work with robots, there remain some significant differences in human-human interactions and human-robot interaction. It is our goal to make robots look even more human-like. We hope that the robot can following the hand of human...
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