The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
MRI compatible robots are emerging as useful tools for image guided interventions. A shared control between a user and the MRI compatible robot makes it more intuitive instrument especially during setup phases of interventions. We present a MRI compatible, hands-on cooperative system using innomotion robotic arm. An economic MRI compatible user input sensor was developed and its functionality was...
In this work, we have extended the concept of constrained motion control of robots to surgical tasks that require multiple robots. We present virtual fixtures to guide the motion of multiple robots such that spatial and temporal relationship is maintained between them. At the same time, our algorithm keeps the surgeon in the control loop. Moreover, we show that these virtual fixtures allow bimanual...
This paper describes the development and initial testing of a new and optimized version of a steady-hand manipulator for retinal microsurgery. In the steady-hand paradigm, the surgeon and the robot share control of a tool attached to the robot through a force sensor. The robot controller senses forces exerted by the operator on the tool and uses this information in various control modes to provide...
Robots are increasingly being used in computer integrated surgery (CIS) systems, yet to our knowledge, there is no open source software that is specifically targeted at this application domain. In this paper, we derive unique requirements for medical robot controllers that are based on our experiences in the field. We present an overview of the second-generation open source software package (the cisst...
We present our work on developing and testing the high-level control for a future telerobotic system for minimally invasive surgery of the throat and upper airways. As a test-bed for these experiments, we used a hybrid 8 degrees-of-freedom (DoF) experimental robot composed of a six DoF robot and a two DoF snake-like unit. The kinematics and weighted redundancy resolution to support suturing in confined...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.