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Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
Image-guided navigation is an important component of the orthognathic assisted robot, and it allows the robots to operate in precise accordance with a preoperative virtual plan. However, the present commercially available image-guided navigation systems, which use infrared-based tracking, cant guide the relocation of the bone in the orthognathic operation, that means they are not suitable for orthognathic...
This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
Cornea transplantation surgery needs a highly skilled ophthalmologist due to the requirement of precise positioning and the plasticity of a cornea. In this paper, we propose a cornea holding device, which fixes the relative position between a donor cornea and a patient cornea. The proposed device prevents the slipping or deformation of the corneas during transplantation surgery. The cornea holder...
This paper presents a novel method— asymmetric dual-user shared control method and makes a proof of the stability conditions of the novel method with time delay. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors, considering the influence between the slave and masters respectively. Then, the system is divided into three paralleling subsystems, and the system...
This paper focuses on 5G Mobile Systems for ultra-reliable low latency communications applied to the healthcare use cases, specifically: Wireless Tele Surgery (WTS) - using a mobile console and robotic platforms with video, audio and haptic feed-back; and Wireless Service Robots (WSR) - companion robots or service robots performing tasks of social caretakers, professional personnel or family members...
Endoscopic Endonasal Skull Base Surgery (ESBS) is one of the surgical methods to remove the tumor of pituitary. However, it is difficult to remove the entire tumor that develops above the skull with the current surgical instruments. In order to solve this problem, we are developing an end-effector with 5 degrees of freedom motion, a spherical manipulator that can adjust the position of the end-effector...
In recent years, mobile terminals come to be used to assist works. However, we can not say that they are enough suitable to assist works either that occupy hands or that are accomplished in environment with water or fire, which cause troubles with electronic devices. In this study, in order to solve this problem, we propose an assist system using projection mapping and NUI. Note that our system is...
Epiduroscopy is one of the widely implemented procedures in effective diagnosing and curing lumbago patients. Such endoscopic surgery requires much skill to control the surgical instruments well. Therefore, this paper proposes an epiduroscopy training simulator using a haptic master device. The proposed training simulator calculates forces using virtual fixture implemented in a catheter insertion...
The objective of this paper is to describe the endoscope holder mechanism design and the controller configuration for the laryngeal surgical robotic system. This system consists of a master device, a slave device, and a control PC. The endoscope holder mechanism was designed based on a stackable mechanism. The EtherCAT communication was used for overall real-time control of the laryngeal surgical...
Over time, surgical trainees learn to compensate for the lack of haptic feedback in commercial robotic minimally invasive surgical systems. Incorporating touch cues into robotic surgery training could potentially shorten this learning process if the benefits of haptic feedback were sustained after it is removed. In this paper, we develop a wrist-squeezing haptic feedback system and evaluate whether...
Robot-assisted minimally invasive surgery can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex, undulating tissue surface to enhance the effective field-of-view through video mosaicing. In this paper, the da Vinci® surgical robot, through the dVRK framework, is used for...
The integration of minimally invasive robotic assistance and image-guidance can have positive impact on joint fracture surgery, providing a better clinical outcome with respect to the current open procedure. In this paper, a new design of the RAFS surgical system is presented. The redesign of the robotic system and its integration with a novel 3D navigation system through a new clinical workflow,...
Context-aware segmentation of laparoscopic and robot assisted surgical video has been shown to improve performance and perioperative workflow efficiency, and can be used for education and time-critical consultation. Modern pressures on productivity preclude manual video analysis, and hospital policies and legacy infrastructure are often prohibitive of recording and storing large amounts of data. In...
In this paper, we present a precise robot-aided single-cell surgery system to perform single-cell biopsy for cells <25 μm in diameter. A microfluidic chip is designed to arrange upto 100 individual cells in an array. A micropipette mounted onto a 3-DOF micromanipulator and a computer mouse-operated high-precision XY stage is developed to perform high-precision and high-throughput single-cell biopsy...
In the last years, the use of robotics and semantics inmedical context has become more and more essential to improvemedical doctors' performance. In this work, we present a framework which exploits reasoningand semantic techniques to assist medical doctors duringthe cricothyrotomy - a well-known life-saving procedure. Morespecifically, it first acquires data in real time from a cricothyrotomysimulator,...
Kinematic analysis and simulation of minimally invasive surgical robot (MISR) systems are critical for the control system design with remote center of motion (RCM) constraint. In this paper, a MISR system using bimanual manipulator is introduced. The system is simulated under a virtual reality (VR) environment to validate the dynamics and control. A new control scheme was proposed to track desired...
Introducing robots into the operating theatre has become more popular in recent decades. Surgical manipulators have been developed to assist in surgeries like a human assistant to facilitate the surgical procedures. In this paper, we present an eye-controlled interface for the surgeon to control this kind of robot based on eye-tracking glasses. In our approach, we use the monitor for providing the...
X-ray angiography is a common method for image-guided navigation comprising surgical devices and vessel contours detection which can offer visual feedback to physicians. However, for the sake of both physicians' and patients' health, the contrast agent is injected intermittently and in a low dosage, so the X-ray images are not always of adequate quality for visual examination. So the navigation, which...
The aim of this work is to integrate a soft-rigid collision detection algorithm in the open source physics engine Bullet Physics. In surgical applications these types of collisions occur, for example, when a clamp grabs deformable organic material or a spatula opens a brain fissure. The goal is to handle the collision between the soft body (deformable organ) and the rigid body (surgical tool), assuming...
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