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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...
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...
During endoscopic sinus surgery, to perform complex surgical procedures in the delicate nasal cavity, endoscope holding devices are needed. This paper presents a novel robotic system with safe locking and easy to release system that assists surgeons in holding the endoscope. The presented robotic system has eleven degrees of freedom (DOF). The robot consists of an elevator mechanism, a positioning...
Although Ilizarov technique and external fixators have been popular applied in bone fractures and orthopaedic surgery currently, there are few literatures about laws of bone-remodelling after osteotomy when applied external fixation system based on Wolff's law. However, Wolff's law is one of the most basic theories in bone biomechanics and fracture healing Therefore, exploring the healing mechanism...
This paper presented a hierarchical vehicle-stability-control design based on the longitudinal force distribution optimization for the handling and stability control of the distributed-driven electric vehicle. The 8-DOF vehicle model and the three-layer control system were developed. By selecting the sideslip angle and the yaw rate as the state variables and introducing the virtual control to decouple...
Based on our previous work, this paper proposes an improved robotic door-opening framework. The improved framework has three components, grasping pattern, door-opening pattern, and semantic monitoring and exception handling. (1) Grasping pattern contains various grasping points and ways for different types of door knob. The point cloud of the target area is captured using Kinect sensor, and the door...
Screw path drilling is an important process among many orthopedic surgeries. To guarantee the safety and correctness of this process, a model-based drilling state recognition method is proposed in this paper. The thrust force in the drilling process is modeled based on an accurate 3D bone model restructured by means of Micro-CT images. In theoretical modeling of the thrust force, the resistance and...
Spinal orthopedic surgery is one of the typical high-risk surgeries. During the surgery, bone screws need to be inserted into the narrower vertebral pedicles and any failures in the screw-path-drilling process will directly hurt the important nerves and vessels of the patient. In this paper, a robotic spinal surgical system (RSSS) for assisting pedicle screw insertion surgery is proposed. The novel...
An outdoor wheeled mobile robot with foldable wheels and a self-adapting suspension structure are described. The traffic ability and obstacle surmounting performance are analysed Based on a terramechanics model. The relationship between the radius of the foldable wheel and the unfolding angle is obtained. The influence of slip on drawbar pull and the driving efficiency at different unfolding angles...
Bone milling is one of the most common operations in various kinds of orthopedical surgeries, such as laminectomy surgery. For safety issue and efficacy, it is very important to recognize the states in milling operation. In this paper, an approach to recognize the states of bone milling is proposed, which identify the cortical tissue layer and cancellous tissue layer. Hilbert-Huang Transform (HHT)...
Since the visual system is susceptible to the lighting condition and surroundings changes, the accuracy for object localization of robot grasping system based on visual servo is rather poor so as to the low grasping success rate and bad robustness of the whole system. In view of such phenomenon, in this paper, we propose a method of fusing binocular camera accompany with monocular vision, IR sensors,...
In pedicle screw insertion surgeries, the drilling process of the screw path is very critical to decide the success of the surgery, as the hole is drilled on a very narrow area on the vertebral pedicle. In current manual surgeries, surgeons perform operation with monitoring the medical images in navigation system and sensing operation force. To simulate these abilities, in this paper, a bone-drilling...
This paper is based on a new Robotic Spinal Surgical System (RSSS) we have developed in last 2 years. This robotic surgical system focuses on pedicle screw implanting surgery, but can be used on some other orthopedic surgeries. Some safety design principles are presented during development of the RSSS. In this paper, two main aspects of them based on force messages are described. One is admittance...
Spinal surgery has its specifications. Different from minimal invasive like laparoscope surgery, there is no complex operations such as sewing, cutting or clamping. It is more important for spinal surgery to locate precisely and to keep reliable during operation. Robotic spinal surgical system (RSSS) is designed upon these principles. Tracking and navigation system in RSSS ensures high positioning...
A Pedicle Screws Surgical Robot (PSSR) can reduce the risk of spinal surgery and improve surgical precision, which plays an important role in promoting the medical care level of spinal surgery. A new type of PSSR is proposed in this paper, and the mechanical structure and its working principle are also introduced. The kinematics model of the robot is derived from D-H notation in order to obtain the...
As the quality of life is rising constantly, the fitness industry has developed quickly, and the innovation and development of fitness equipment has been in high demand. In this paper, a new type of fitness bike is introduced. It is the so-called FDBFB (four-drive bionic fitness bike) which can be driven by either hands or legs, or any combination of any hand and leg as the user likes. By changing...
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