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This paper presents the design and initial experimental results of a flexure-based parallel manipulator that is actuated by three piezoelectric stacks. The manipulator is for an active handheld tremor canceling device for microsurgery. By using flexures to approximate pin and ball joints, errors due to friction, backlash, and imperfect assemblies have been eliminated. The results show that the manipulator...
The per presents a new telementoring system incorporating audio-video communication and remote robotic control. The system was developed around an off the shelf ISDN video conferencing system enhanced with video annotation and remote robot control features. The user can remotely control a robot to perform needle alignment and insertion in a percutaneous access procedure. Particular attention was devoted...
With the increase of aging people, the task to maintain the health care level becomes heavier. To compensate for shortages of nurses and reduce the stress of nursing work, we have attempted to create an Internet based mobile robot system for hospitals or home healthcare. In this paper, we described a feasibility study and a basic platform design of a teleoperated healthcare service system via the...
A robot-assisted orthopedic telesurgery system, named HIT-RAOTS, has been developed according to Chinese conventional operation method. Its main function includes obtaining images with information of position and orientation of fracture, providing fracture information for doctors, assisting the doctors to complete the reposition of fracture and locking operation of intramedullary nail. In this system,...
This document describes the design and preliminary testing of a cable-driven robot for the purpose of traveling on the surface of the beating heart to administer therapy. This methodology obviates mechanical stabilization and lung deflation, which are typically required during minimally invasive cardiac surgery. Previous versions of the robot have been remotely actuated through push-pull wires, while...
This paper describes a system for dynamic intraoperative prostate brachytherapy using 3D ultrasound guidance with robotic assistance. The system consists of 3D TRUS imaging, a robot and software for prostate segmentation, intraoperative planning, oblique needle segmentation and tracking, seed segmentation, and 3D dose planning. The robot and 3D TRUS coordinate systems are unified through robot and...
In order to develop the cell based robot, we presented a micro-mechanical force measurement system for the biological muscle actuators, which utilize glucose as a power source for potential application in digestive organ. The proposed system is composed of a micro-manipulator, a force transducer with a glass probe, a signal processor, an inverted microscope and video recording system. Using this measurement...
For diagnosing the colon's pathologies micro-invasively or non-invasively actively, an autonomous prototype of the earthworm-like robot for colonoscopy was designed according with the principle of the bionics and manufactured using precision process technology. In-Vitro experiments in pig colon were made. This micro robot for colonoscopy was drove directly by electromagnetic linear driver. The mobile...
This work reports on a new and simple method to locate and track the medical robotic device based on the static magnetic field and Hall effort sensor array. In the design, we established an experimental platform based on the static magnetic field and Hall effect sensor array. The platform includes static magnetic source, sensor array module, computer interface and algorithm. The experimental result...
Robotic assistive devices that constrain motion along pre-defined paths are useful in reducing maneuvering efforts by human. This paper introduces an elastic path controller (EPC) that adds "elasticity" to the path following and enables dynamic modification of the paths. This permits the users to compensate for changes in the environment such as introduction of new obstacles or for errors...
The need of biofeedback in man-machine interfaces is of vital importance for the development of subconscious control with external devices. In order to obtain extended proprioception, in other words, to include the external devices into the body schema, we need to provide with more feedback channels to the human body. In this study we look into the use of electrical stimulation as biofeedback and...
Rehabilitation system for upper limbs is the device of implementing rehabilitation for patients' wounded limbs instead of therapists. According to review the development of rehabilitation system, we find some deficiencies such as insufficient movement space, few exact evaluations for impairment, and inadequate support for serious hemiplegia. Aiming at these problems, a novel rehabilitation system...
Since the population-aging problem is increasingly affecting the society, health monitoring at home with interactive teleoperation is of interest to researchers and healthcare practitioners. Thus, we develop a low-cost and platform-independent telecare system to support the aged and disable people for long-term health care online monitoring. A trinomial protocol and multi-modal human-machine interfaces...
This paper details a strategy of discriminating finger motions using surface electromyography (EMG) signals, which could be applied to teleoperating a dexterous robot hand or controlling the advanced multi-fingered myoelectric prosthesis for hand amputees. Finger motions discrimination is the key problem in this study. Thus the emphasis is put on myoelectric signal processing approaches in this paper...
The effect of gravity on the expression elbow/shoulder synergy patterns results in discoordination during movements following stroke. This is believed to be related to the shoulder abduction torques generated when lifting the arm against gravity, which results in a concurrent elbow flexion (i.e., the flexion synergy). The Arm Coordination Training 3-D (ACT 3D) robotic system is a novel way of recording...
A method is presented for data-driven calibration of the magnetometer in an active handheld microsurgical instrument in the presence of a surgical microscope. The instrument is designed to provide tremor compensation during vitreoretinal microsurgery. An adaptive-network-based fuzzy inference system is used to generate a calibration based on data points collected at random locations throughout the...
This paper presents the design of an automatic and intelligent robot arm for object grasping for people on wheelchair with mild to severe disabilities. The system is equipped with stereovision detection in order to distinguish different objects from the background. The robot arm has been designed with 6 degrees of action to grasp the detected object from the floor and bring it in front of the user...
We developed the upper extremity compound movements (UECM) rehabilitation training robot and designed straight-line paths tracking and circle paths tracking exercise based on neurological rehabilitation principles. Rehabilitative exercises should be on hand paths rather than on individual joints, robot can guide patients during forward reaching movements. The exterior oriented circle movement performed...
Our goal is to apply robotics and automation technology to assist, quantify, enhance, and verify neuro-rehabilitation. In this paper a novel robot neuro-rehabilitation for upper limb, with many merits, is developed. Mechanism and control of the robot are introduced in detail. By a clinical trial involving 30 stroke patients with three months at Rehabilitation Center of China, some results are obtained...
Due to recent advancement of AI and robotics technology, the research of intelligent wheelchair (iWheelChair) begins to draw attention from both scientific community and industry. WheelChair is a kind of home welfare tools and can help the handicapped and elderly people to gain mobility and lead to independent life. This paper describes a newly developed intelligent wheelchair. The controller of the...
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