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A needle-positioning robot has been developed for image-guided interventions in small animals. The device is designed to position a needle with an error ?? 100 ??m. The robot has two rotational axes (pitch and roll) to control needle orientation, and one linear axis to perform needle insertion. The three axes intersect at a single point, creating a remote center of motion. Needle positioning error...
The recent advent of real-time 3-D ultrasound (3D US) imaging enables a variety of surgical procedures to be performed within the beating heart. Implementation of these procedures is hampered by the difficulty of manipulating tissue guided by the distorted, low resolution 3D US images and the dexterity constraints imposed by the confined intracardiac space. This paper investigates the use of surgical...
Current surgical robotic systems dominate the space in the sterile field above the patient. Ideally, next generation systems will couple the simplicity of traditional laparoscopic instruments with the dexterity of robotic assisted surgery. This paper presents the design of a novel 6 DOF robotic instrument that eliminates the dependence on pivoting about the incision point. The motion envelope of the...
The purpose of this study was to examine how multijoint stretch reflexes are modulated during interactions with stiff and compliant environments. Reflex responses were elicited using a 3D robotic manipulator to perturb arm posture in the three degrees of freedom relevant to functional behaviors. The robot applied controlled displacements and simulated environments with different stiffnesses. Stiff...
The graphical user interface for an MR compatible robotic device has the capability of displaying oblique MR slices in 2D and a 3D virtual environment along with the representation of the robotic arm in order to swiftly complete the intervention. Using the advantages of the MR modality the device saves time and effort, is safer for the medical staff and is more comfortable for the patient
The hybrid stimulation in cochlear implants requires changes in the design of electrode arrays. A new generation of flat electrode arrays that does not damage the cochlea is being developed. For the insertion of these flat array electrodes a groove must be milled in the antero-inferior area of the round window niche. Even for the most experienced surgeon, it is very difficult to carry out this operation...
The motor recovery procedure of chronic stroke during robot-assisted training has not been well studied previously. In this work, we analyzed the variations in the coactivating patterns of elbow and shoulder muscles (biceps, triceps lateral, anterior deltoid, and posterior deltoid) in hemiplegic persons with chronic stroke (n=4) during a 20-session's interactive robot-assisted treatment. Significant...
The use of robotic gait training systems has become commonplace world-wide. In particular, the Lokomat robotic orthosis (Hocoma AG, Volketswil, Switzerland) is in use at nearly 75 facilities treating patients with spinal cord injury, stroke, and other neurological impairments. Despite the extensive use of the device, no studies have reported the leg kinematic trajectories while walking in the device...
We reported previously that the skills transferred from practicing using a bimanual grasp to skills in right hand are small but significant. In this study on healthy right-handed people we compared how well skills learned while training using a bimanual grasp transferred to the left and right hands performance individually. As before, the task was to make target-directed reaching movements while grasping...
Some of the most important problems arising during a laparoscopic surgery relate to the limited perception of depth and field of view (fov). In this paper we explore the possibilities of dealing with these problems using appropriate re-modeling of the laparoscopic equipment and image processing algorithms, as to increase the perception ability of the surgeon within the operation space. We demonstrate...
In this study, a myoelectrically controlled robotic system with one degree of freedom was developed to assist elbow training in the horizontal plane for patients after stroke. The system could provide assistive extension torque which was proportional to the amplitude of the subject's processed and normalized electromyograhpic (EMG) signal from triceps. The system also provided different resistive...
This study investigates the human response to impulse perturbations at the midpoint of a haptically-guided straight-line point-to-point movement. Such perturbation response may be used as an assessment tool during robot-mediated neuro-rehabilitation therapy. Subjects show variety in their perturbation responses. Movements with a lower perturbation displacement exhibit high frequency oscillations,...
The development of interfaces linking the human nervous system with artificial devices is an important area of research and several groups are now addressing it. Interfaces represent the key enabling technology for the development of devices usable for the restoration of motor and sensory function in subjects affected by neurological disorders, injuries or amputations. For example, current hand prostheses...
In the commercially available robot-assisted surgical systems, camera vision constitutes the only flow of data from the patient side to the surgeon side. This paper studies how various modalities for feedback of interaction between a surgical tool and soft tissue can improve the efficiency of a typical surgical task. Utilizing a haptics-enabled master-slave test-bed for minimally invasive surgery,...
This paper presents a new method of amplifying the small reaction force in the minimally invasive surgical system according to the surgeon's intended action. For this purpose, the analysis of the laparoscopic cholecystectomy procedure is first studied. The procedure is broken down and analyzed for the necessary forceps actions based on the degrees of freedom of the surgical tool and the task to be...
Teleoperated robot-assisted surgical systems provide surgeons with improved precision, dexterity, and visualization over traditional minimally invasive surgery. The addition of haptic (force and/or tactile) feedback has been proposed as a way to further enhance the performance of these systems. However, due to limitations in sensing and control technologies, implementing direct haptic feedback to...
In order to realize intelligent laparoscopic surgical robot, a vision integrated system constitutes one of the fundamental components. The authors have constructed a vision framework in the current version of NCC (National Cancer Center) laparoscopic surgical robot controlled on a real-time OS (RTLinux-Pro, FSMLabs Inc., U.S.A.). Adding vision framework, we have been applying and testing image processing...
We have designed and built a lower extremity powered exo-skeleton (LOPES) for the training of post-stroke patients. This paper describes the philosophy behind the design of LOPES, motivates the choices that have been made and gives some exemplary results of the ranges of mechanical impedances that can be achieved
Development of a handheld microsurgical manipulator that incorporates active cancellation of the hand tremor of the user is ongoing. Thus far, experiments with the instrument have involved mechanical tools or end-effectors. In considering the possibility of laser procedures with the instrument, it is conceivable that a laser version of the instrument could be developed with no moving parts, using...
Providing a surgeon with information regarding contacts made between tools and tissue during robot-assisted interventions can improve task efficiency and reliability. It is hypothesized that various modalities of contact feedback have the potential to enhance performance in a robot-assisted minimally invasive environment. In this paper, (kinesthetic) haptic feedback is compared with visual feedback...
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