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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 following topics are dealt: time-frequency analysis; functional magnetic resonance imaging; cancer drug delivery; glucose sensor and diabetics control; neural computing; EEG; biomechanics; biomedical information network; health care environment; optical coherence tomography; medical diagnostics device; image-guided surgery; radiation therapy; laparoscopy; circadian rhythms; rehabilitation techniques;...
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...
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...
The effect of gravity increases the expression elbow/shoulder synergy patterns results in discoordination during movements following stroke. The Arm Coordination Training 3-D (ACT3D) robotic system is a novel way of recording movement patterns while a subject generates varying amounts of shoulder abduction torque. This system is used to provide preliminary data that show reduced elbow extension and...
The effect of gravity increases the expression elbow/shoulder synergy patterns results in discoordination during movements following stroke. The Arm Coordination Training 3-D (ACT3D) robotic system is a novel way of recording movement patterns while a subject generates varying amounts of shoulder abduction torque. This system is used to provide preliminary data that show reduced elbow extension and...
Body-weight supported treadmill training following neurological disorders such as stroke and spinal cord injuries (SCI) has become an integral part of rehabilitation for treating gait disorders. Unfortunately techniques for selecting important training parameters, such as walking speed and body-weight support, have not been established. Here we present a 3-D inverse-dynamics based approach for evaluating...
Body-weight supported treadmill training following neurological disorders such as stroke and spinal cord injuries (SCI) has become an integral part of rehabilitation for treating gait disorders. Unfortunately techniques for selecting important training parameters, such as walking speed and body-weight support, have not been established. Here we present a 3-D inverse-dynamics based approach for evaluating...
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
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
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 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 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 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...
This document describes the effects of several design parameters on the traction generated by the suction pads of a mobile robot that walks on the surface of the heart. HeartLander is a miniature mobile robot that adheres to the epicardial surface of the heart using suction, and can travel to any desired location on the heart to administer therapeutic applications. To maximize the effectiveness of...
This document describes the effects of several design parameters on the traction generated by the suction pads of a mobile robot that walks on the surface of the heart. HeartLander is a miniature mobile robot that adheres to the epicardial surface of the heart using suction, and can travel to any desired location on the heart to administer therapeutic applications. To maximize the effectiveness of...
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...
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...
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 les100 mum. 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...
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 les100 mum. 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...
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