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.
The objective of this paper is to describe a new design of a trans-oral surgical robot. The trans-oral robotic surgery system consists of a master device and a slave device. Specifically, the concept of stackable mechanism is applied to design both master and slave devices. Using the stackable architecture, counter-balancing can be achieved over the whole workspace and compact design can be made by...
Minimally Invasive Surgery (MIS) has many advantages and is achieved mainly by Remote Center Motion. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. Optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used...
Mass Spring Model (MSM) is widely used in the simulation of soft tissue deformation due to its high efficiency. However, the anisotropie property of soft tissue challenges such a simulation. This manuscript proposed an improved MSM by taking into consideration of anisotropie property. Firstly, the anisotropie property of soft tissue is investigated. Then, the parameters of MSM are set according to...
In our past study, we have developed a robotic tele-surgery system that is capable of performing a laparoscopie surgery within a long distance through the Internet. To show the feasibility of tele-surgery within long distance, we have conducted several times of tele-surgery experiments between Japan-Korea and Japan-Thailand. Laparoscopie cholecystectomy have been successfully performed in these tests...
This paper presents the architecture and work flow of an intelligent surgical robotic system that we are developing. The robotic surgical system which comprises a cognitive engine is designed to augment and enhance the hand-eye coordination capability of the surgeon during operation in order to achieve the desired outcome and reduce invasiveness. By incorporating advances in surgical simulation and...
The texture quality of 3D models, generated from either multi-view color images or color-depth images, mainly depends on the resolution of the images and the lighting condition used in the 3D reconstruction stage. It is often required to increase the texture quality or remove the unwanted artifacts such as seams or shadings without reinitiating the entire process. We propose an interactive method...
3D Hair reconstruction based on real-life hair capture is an important and challenging work in hair modeling field. Most of existing hair capture methods use 2D images to reconstruct 3D hair, and these methods usually adopt 3D polygons to present hair wisp. In this paper, we introduce an approach to capture real-life hair using Kinect sensor and digital single-lens reflex (DSLR) camera and to reconstruct...
The collaboration between humans and intelligent agents keeps increasing as the technology advances. In this sense, each can rely on the other's strengths to achieve the best overall performance. But as intelligent agents play an increasingly escalating role as a partner rather than mere tools, it is imperative that we understand how humans are influenced by such agents. This is so as to achieve a...
In this paper we analyze the differences in the EKF-SLAM frameworks that are constructed using different coordinate system. First, we derive the EKF equations in the world coordinate system through modification of the EKF equations in the robot coordinate system. When the reference coordinate system is changed, the equations change due to its nonlinear behavior. We identify four EKF-SLAM frameworks,...
In this paper, we proposed a novel supervised feature extractor named as class-augmented independent component analysis (CA-ICA) whose performance can be maintained even after the input variables are varied, only if new input variables are still linear combinations of the same independent sources as old input variables were. This property can be useful in implementing an sEMG decoder robust to the...
This paper introduces a robotic approach for colonoscopy. 4 DOF haptic master device and slave device were designed by analyzing the movement of surgeon. The force or torque felt during insertion of the endoscope tube is feedback to the master device for providing the operator with haptic feeling and preventing damage of the inner surface of the large intestine.
This paper presents a new circuit realization of force sensing interface module strategy for surgical robot. Using analog-to-digital conversion, digital-to-analog conversion and mux IC, the full scaled and high resolution (14bit) sensed interface board has been developed. The very small micro-controller was used for the implementation of the embedded board is limited 05.5 diameter. The auto calibration...
This study aims to achieve a remote cooperative navigation system of a mobile robot which anyone can operate easily. This paper proposes a method of generating and online updating way points according to operator's intentions at remote sites. That makes flexible remote navigation utilizing autonomous behaviors of the mobile robot. In this paper, some remote navigations experiments were performed and...
This paper proposes a user customizable interface for user-centered interaction in a space where the real, virtual and remote world is unified and indistinguishable through a combination of humans, artifacts and a virtual world. We have developed a new user customizable interface, which is a set according to the preferences of users and is intuitive and natural to minimize inconvenience of using the...
Minimally invasive robotic surgery required disposable endoscopie optical coherence tomography (OCT) for high-resolution deep tissue imaging and cross-contamination prevention. Here, we developed a miniaturized plastic lens by injection molding for developing a disposable endoscopie optical coherence tomography system for the first time. Injection molding provided low-cost and high-production rate...
We developed an advanced intraoperative surgical photoacoustic microscopy (AISPAM) system by fusing a laser-scanning based optical-resolution photoacoustic microscopy (LS-OR-PAM) with 1064 nm pulsed laser, augmented reality device, and commercial surgical microscope. By sharing the same optical path of sample part in the LS-OR-PAM and microscope system, a cross-sectional PAM and microscope images...
Recently, much attention has been drawn to stretchable or flexible electronic sensors for measuring input pressure or deformation on movable and arbitrarily shaped objects. In this research as a preliminary study for developing a new stretchable stain sensor, we designed an integrated experimental system for measuring simultaneously change of strain, stress, and conductance of a stretchable membrane...
Haptic rendering of soft objects is an essential component for medical haptic applications. In this paper we follow a data-driven haptic rendering approach, which generates haptic feedback based on recorded signals for high fidelity rendering. This paper introduces a new data-driven haptic rendering framework that can especially generates a model and renders frictional sliding contact with a deformable...
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.