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Medical imaging introduced the greatest paradigm change in the history of modern medicine, and particularly ultrasound (US) is becoming the most widespread imaging modality. The integration of digital imaging into the surgical domain opens new frontiers in diagnostics and intervention, and the combination of robotics leads to improved accuracy and targeting capabilities. This paper reviews the state-of-the-art...
Reliable force control is one of the key components of modern robotic teleoperation. The performance of these systems, in terms of safety and stability, largely depends on the controller design, as it is desired to deal with various disturbing conditions, such as uncertainties of the model parameters or latency-induced problems. This work presents a polytopic quasi-linear parameter-varying (qLPV)...
Robotics is becoming a mainstream phenomenon, entering all areas of our lives. In addition to cutting-edge research and development, robotics is becoming equally important in the classroom and home education. Numerous educational kits have appeared on the market recently, ranging from simple toolboxes and toys to complex, configurable R&D sets. Their value in formal teaching lies in modularity...
Robotic telesurgery application could greatly benefit from force control, providing safe and stable application even under time delays and other disturbing conditions. This paper describes a soft tissue model which can be integrated into the control loop of a teleoperational master -- slave robot. Three alternations of the Wiechert model have been implemented and matched against experimental data...
The continuously growing pace of robot development implies that by 2020, there is going to be on average one robot per household in the world. The aim of robot deployment in larger numbers is to help to extend human capabilities, and to eliminate to disadvantages of the human embodiment. As a consequence, besides industrial robots, service and surgical applications appear in growing numbers. While...
Robotics is gradually becoming transformational, effecting various aspects of human life. One of the key enabling technologies that allowed service robots to leave the factory and automation application domain is localization. Spatial awareness provided by sensors, navigation and positioning systems made it possible to use robots in the dynamically changing human environment. This talk overviews the...
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