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An omni-directional walker (ODW) has been developed for walking rehabilitation and walking support in the authors' previous studies. It is necessary for the ODW to know its user's directional intention according to the user's manipulation during walking support. In this paper, a novel method is proposed to recognize a user's directional intention according to his/her forearm pressures to the ODW,...
This paper reports a wearable tele-echography robot that a bystander could attach to a patient at injury scene. Quick diagnosis and treatment are important for patients who have shock by internal bleeding. Therefore, focused assessment with sonography for trauma (FAST), which is a simple and quick diagnostic method, was developed as a first lifesaving step in a hospital. However, a shock patient has...
Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. We have developed a multi-DOF robotic forceps manipulator using a novel omnidirectional bending mechanism, and for the developed robotic forceps manipulator, we proposed a passivity based bilateral control that enables motion scaling in both position tracking and force tracking, and guarantees the stability...
A 3-DOF planar robotic arm is designed and used as a rehabilitation treatment tool for the survivor after suffering a stroke, aiming to assist them to recover upper-limb function. In order to strengthen the patient's arm, some forces are desired to be followed while the position trajectories should be tracked simultaneously, therefore hybrid impedance control (HIC) is proposed. Due to the redundancy...
We have developed a novel catheter operating system with danger avoiding method in this paper, which included a highly precise master-slave remote control system. We used micro force sensors to realize haptic feedback, and used web camera and developed algorithm to realize visual feedback, with the help of visual and haptic feedback, surgeons can avoid danger effectively in the process of minimally...
Atomic Force Microscopy (AFM) based nanorobotics has been applied for building nano devices for almost a decade. It also offers the prospect for analyzing, handling and manipulating biological objects at nanometer scale. AFM itself is a high resolution imaging tool with unique advantages over others to work in liquid where physiological conditions can be maintained for biological samples. Visualization...
Walking is a vital exercise for health promotion and a fundamental ability necessary for everyday life. In the authors' previous studies, an omni-directional walker (ODW) has been developed for walking rehabilitation and walking support. In the case of walking support, it is necessary for the ODW to know which direction its user is intending to go according to the user's manipulation. However, since...
Recently, healthcare for elderly people is a big problem in certain countries. As the candidate to solve the problem, robots have been taking attention. The robots, which work in the nursing care field have to have multiple-degrees of freedom (DOF) to achieve variety of tasks. At the same time, the robots have to be small to work in limited space like human living environments. To achieve the goal,...
Zebrafish is increasingly used as a model for the pathogenic mechanisms of human disease and drug discovery. Robot-assisted microinjection has attracted much attention due to their great potential in providing high precision and high throughput in biological industry. In this paper, we propose a flexible and integrated robot-assisted microinjection platform, which is able to (1) conduct precise position/velocity...
This paper proposes a sensorless force estimation method for the end effector tip of a surgical robot instrument. Due to various size and safety constraints related to the surgical robot instrument, it is difficult to measure the reaction force at the instrument tip. This paper presents a method of estimating the reaction force of the surgical robot instrument without sensors and attempts to use state...
This paper presents a design for bilateral haptic control of a surgical robot. The control architecture consists of a force-force two-channel configuration. Neural networks model both slave and environment dynamics. An adaptive Lyapunov backstepping method utilizing tuning functions provides robustness to unmodeled tissue properties and smooths the applied control force. Simulation results for a one-degree-of-freedom...
Nowadays, studies of the interventional micro-robots have been hot topics in the field of medical device. The ultimate goal of medical micro robots is to reach currently inaccessible areas of the human body. In this paper, a novel bio-inspired interventional micro-robot in screw-in swim way is presented, which can move along the line, turn at the corner, and spinning. Based on the propulsion mechanism...
The number of hemiplegic patients with a unilateral-disabled limb has been increasing globally, this stimulate the development of rehabilitation robots that assist patients in motor function recovery and strength enhancement. However, as yet, few robots have achieved self-controlled rehabilitation training, and force feedback is generally realized with force sensors. This paper introduces a self-controlled...
Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain...
This paper presents the control strategy and efficient tasks for training with ReachMAN, a compact, portable 3 degree-of-freedom robot to train reaching, pronosupination and grasping, independently or in combination. A pilot study was performed with three sub-acute patients to evaluate the potential use of ReachMAN as a rehabilitation tool, and determine how it should be used. All subjects improved...
We have developed a force display method for a catheter operating system in this paper. We designed micro force sensors and used them in the system to ensure the operation security in intravascular neurosurgery applications. We also used camera to monitor the situation of simulation experiment, and used developed force display system to monitor the changed force that catheter contacted with blood...
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor for detecting the force and its center between the assisted people and robot arm. This paper introduces the design of the tactile...
Natural Orifice Transluminal Endoscopic Surgery (NOTES) has advantages in reducing postoperative abdominal wall pain, wound infection, hernia formation and adhesions. However, loss of spatial orientation and lack of haptic feedback during NOTES are two major technical barriers that hinder safe translation into full clinical practice. A complete solution for enhancing the spatial orientation and haptic...
Based on the motion principle of gastropod, a novel interventional minimal invasive robot which has the ability to run smoothly in the biological lumen with impulsive flowing liquid has been presented. Simulation models of the interventional micro robot operating in the straight or the bend blood vessels have been established with the software of Fluent. Blood flow distribution and the impact force...
Intelligent wheelchairs operating in dynamic environments need to sense its neighborhood and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, real-time obstacle avoidance extension of the classic potential field methodology. Our algorithm is specially adapted to share the wheelchair's control with the user avoiding risky situations...
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