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This paper presents the control algorithm implanted on the childbirth simulator BirthSIM in order to provide training to novice obstetricians. The forceps extraction is an obstetric manipulation learned by experience. However, nowadays the training is mainly provided during real childbirths. This kind of training could lead to dramatic consequences due to the lack of experience of some operators....
An active training system is characterized by providing quantitative information of the trainee's performance of the task to the trainee, simulating real-world conditions of the task, and assuring training effectiveness. For this purpose, the authors have been developing an Airway management training system. In particular, we have previously presented an evaluation model system to acquire quantitative...
This paper focuses on the problem of incorporating haptics-enabled teleoperation in minimally invasive tumor localization. Since the stiffness of a tumor is higher than that of the surrounding tissue, it can be identified as a hard nodule when palpated. Using a Tactile Sensing Instrument (TSI) developed at CSTAR, the distributed pressure profiles along the contacting surface can be measured during...
Intelligent bionic leg controlled by a micro processing unit is an advanced intelligent prosthesis. In order to provide an ideal test-bed for the development of intelligent bionic leg, a new pattern humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. The conception and research purpose of BRHL are expatiated. Based on human bioscience, bionic design of artificial knee joint is analyzed...
In this paper we present our low-level software framework that allows human neuromuscular properties and behaviors to be programmed modularly onto biologically inspired prosthetic devices. Specifically this software framework is used at the lowest level of the anatomically correct testbed (ACT) hand. It abstracts away from the robotic details and allows users including biologists to program individual...
The emerging field of medical robotics is aiming in introducing intelligent tools to perform medical procedures. In particular, robotic researchers have been proposed advanced medical training systems to enhance motor dexterities of trainees. An efficient medical training system should be designed to simulate real-world conditions and to assure their effectiveness as the representation of the motor...
This paper describes a haptic simulator that has been developed as an aid for the sensorimotor skill acquisition in dentistry. An important feature of the simulator is the ability to generate templates of position and force trajectories for the students to follow. Furthermore, the simulator has a mechanism, haptic playback, to help the students follow and learn these templates. Using this feature,...
This paper presents an approach to a methodology for design, analysis and optimization of haptic devices. This approach roughly divides the design process into; device requirements, conceptual design, device design, control design and finally building a prototype of the device. In addition, we have applied the first two phases of this methodology, i.e. device requirements and conceptual design on...
In this paper, we developed a novel catheter operating system using force sensors for medical application, which included a highly precise master-slave remote control system. We designed micro force sensors and used them in the system to ensure the operation security in intravascular neurosurgery applications. We carried out the operation simulation experiments and got the force information by force...
Current changes in aging demographics poses new challenges: people require to keep their quality of life even after circumstances that threatened their movement and function. This increases the demand for new physical rehabilitation facilities that go beyond the traditional patient-therapist, one-to-one rehabilitation sessions. Two promising solutions rely on virtual reality and on the development...
To better understand the biomechanical properties involved in Drosophila embryo research, this work presents a mechanical characterization of living Drosophila embryos through the stages of embryogenesis. Measurement of the mechanical properties of Drosophila embryos is implemented using a networked human/robot cooperative interface featuring a novel, in situ, and minimally invasive piezoelectric...
Service dogs have successfully provided assistance to thousands of motor-impaired people worldwide. As a step towards the creation of robots that provide comparable assistance, we present a biologically inspired robot capable of obeying many of the same commands and exploiting the same environmental modifications as service dogs. The robot responds to a subset of the 71 verbal commands listed in the...
Up to now, there is no widely accepted assessment of surgical skills. Nowadays, an objective structured clinical examination (OSCE) has been proposed as a modern type of examination often used in medicine to test skills. The assessment of skills is realized by practical exams, in which students are evaluated by experienced examiner using a check list. However, the examiner lacks of information which...
This paper presents a method of intelligent perception assist (IPA) with optimum force vector modification for an upper-limb exoskeleton robot to assist the perception of the user to interact with environment in addition to power-assist. The exoskeleton assists not only the motion but also the perception of the user. In the case of perception assist, the exoskeleton assists user to interact with the...
It is well known that the massage therapy is useful for the rehabilitation of various diseases; i.e. oral health problems, etc. Authors have proposed the development of a novel rehabilitation robot designed to provide massage to maxillofacial region (as a therapy to patients with dry mouth, etc.). In this year, we have succeeded in developing the Waseda-Asahi oral-rehabilitation robot No.1 (WAO-1)...
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