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Hip implant surgery became one of the most popular rehabilitation procedures for femoral head dysfunctions. During the last decades, lots of progress has been made both concerning the technology and the materials used, computer science intervened in designing personalized implants, and virtual preliminary operations are made. But after performing the actual surgery, the task is not finished, the patient...
Changes in the stress-strain state of the cornea and in the intraocular pressure (IOP) readings obtained by Goldmann (GAT) and Maklakov (MAT) applanation tonometers after hyperopia correction surgery are discussed. Two types of refractive correction procedures (LASIK and IntraLASIK) are considered. In the ANSYS software package the corneasclera elastic system is presented as two conjugate transversely...
Teleoperation systems in the medical usage, allows a surgeon to perform a remote distance operation with or without magnification. There is an increasing need to provide telerobots with the ability to interact with unknown and hybrid environments to detect the abnormalities and also performing the diagnostic procedures. In such environments it is challenging to guarantee the whole system stability...
The main purpose of teleoperation in medical usage is to provide technical means to perform a desired task in patient' body. It is important to haptic feedback of sensitive and delicate environment to the surgeon hand's to improve task performance. The Kelvin-Voigt (KV) model for environment, due to physical contradiction is not suitable, but the Hunt-Crossley (HC) model is chosen because of its accuracy...
Total knee arthroplasty is a common procedure as a surgical solution to reduce pain and improve knee function. However, this procedure heavily depends on the skills and experience of a surgeon to determine the correct amount of soft tissue balancing during the procedure. Analysis of the contact point between the femoral and tibial component of the knee prosthesis is usually performed manually using...
Haptic sensation is difficult to describe verbally. An experiment was performed to evaluate the viability of using a contra lateral hap tic replication task to elicit hap tic information from subjects, bypassing verbal description. Subjects received force input of four magnitudes in four directions from one hap tic device to the hand, and attempted to reproduce it in another hap tic device that was...
In retinal microsurgery, membrane peeling is a standard procedure requiring the delamination of a thin fibrous membrane adherent to the retina surface by applying very small forces. Robotic devices with combined force-sensing instruments have significant potential to assist this procedure by facilitating membrane delamination through induced micro-vibrations. However, defining the optimal frequency...
This paper presents a novel indicator for lump detection that uses only contact pressure distribution, as well as its feasibility evaluation. The conventional lump detection methods are based on a pressure map obtained from contact pressure distributions, but they requires an adequate regulation of the contact condition during measurements. An alternative approach is to use a stiffness map, for which...
This paper proposed a multidimensional information monitoring method for a novel master-slave robotic vascular interventional system. We have designed a contact force sensor based on pressure sensitive rubber to transmit the force information to surgeon to improve the security during VIS (vascular interventional surgery). Furthermore, the motion information of catheter is also monitored in the information...
In autonomous robotic surgery, the supervision of the surgeon cannot be avoided due to the unforeseenable emergencies and complications that can take place during an operation. When necessary, the surgeon has to take over the surgical system switching it from an autonomous mode to a teleoperation mode. In this paper we propose a two-layer bilateral control architecture that ensures a safe behavior...
Measuring force and displacement in some environments is not a straight forward task. For example, in the presence of flammable materials or when surgery robots are dealing with human body, force and displacement sensors should be redesigned for this use. In surgical applications, the sensors have to be electrically passive and EMI compatible. Many kinds of sensors have been introduced for this application,...
During robot-assisted minimally invasive surgery, surgeons perform challenging dexterous tasks, including the manipulation of soft tissue and suture tying. In the absence of environment force sensing of tool-tissue interaction forces to provide force feedback, surgeons must rely on visual feedback to modulate the grip force they apply on the environment. Clinical systems, like the da Vinci Surgical...
Fracture reduction is a critical step in minimally invasive surgery of displaced femoral fracture treatment. Skeletal traction and alignment for fracture reduction can be performed individually in the operation, which is a standard procedure for the surgeons in practice. The intraoperative counteracting soft tissue forces during the fracture reduction should be measured precisely for improvement of...
Development of intuitive user interface of a dexterous forceps with wrist joint for minimally-invasive surgery (MIS) is important for reducing the surgeon's confusion and fatigue. In this paper, a wearable robotic forceps manipulator is proposed. By measuring the wrist attitude of the surgeon by a motion sensor and driving the forceps tip by actuators, intuitive operation is realized, compared with...
Lasers are being used in various surgical procedures to remove tissue or bones, to coagulate vessels or other structures. Due to difficulties in handling only a limited number of surgeons manage to display sufficient levels of precision in Minimally Invasive Surgery (MIS) procedures. Prior works on robotic laser surgery demonstrated shorter learning curves and higher ablation precision, but unfortunately...
Retinal Vein Occlusion is a common retinal vascular disorder which can cause severe loss of vision. Retinal vein cannulation and subsequent injection of anti-coagulant in the affected vein is a promising treatment. Given the scale and the fragility of retinal veins on one side and the surgeons limited positioning precision and force perception on the other side, this procedure is considered too risky...
Current mandibulomaxillary fixation (MMF) systems tend to deform easily and maintain proper alignment between the mandible and maxilla relatively poorly, resulting in malocclusion in approximately 36% of cases. A novel device was designed to specifically minimize deflection leading to misalignment by optimizing the structural dimensions of a C-channel beam that directly bridges the mandible and maxilla...
Scaling is a technique used to transfer the dynamic motion properties of a remote device (slave robot) to the operator (master robot) or vice versa. This is a challenging task in terms of force, position, power, and impedance scaling approaches when master and slave manipulators are dissimilar. Teleoperation using scaling methods is a popular topic in motion control field, and many research papers...
Image processing and robotics are leading technologies to improve dental surgery. The important information for physicians to perform implant surgery is “where to start cutting” and “when to stop cutting”. The aim of this research is to achieve automatic guide system for teaching the information of “where to start cutting”. To achieve this aim, L-J potential field, which can realize required performance...
Image navigation systems and robotics are leading technologies to improve the accuracy of dental surgery. In this paper, stereo vision based navigation system is implemented to the three degrees of freedom implant surgery assistant robot. The aim of this research is to achieve cooperative guide system for teaching the information of “where to start cutting”. To achieve this aim, modulated potential...
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