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Tendon sheath actuation is widely used in the minimally invasive surgery (MIS) robotic system, particularly in the single port laparoscopy (SPL) and the natural orifice transluminal endoscopic surgery (NOTES) robots. The force propagation from the proximal end to distal end is the most important characters for the tendon sheath actuation, and the friction is a major problem. In this paper, a classical...
Vascular interventional robot is becoming increasingly popular in assisting doctors for the treatment of cardiovascular diseases (CVDs). However, natural manipulations and motion patterns of surgeons in percutaneous coronary intervention (PCI), including finger motion and hand motion, are potentially altered more or less through this solution. Since clinical success is highly dependent on the skills...
Most of existing works on the tubes design optimization of concentric-tube robot (CTR) do not include the elastic stability in the optimization criteria. The only work which formulates the elastic stability in the objective function is based on scalarization method which is used in existing multi-objective design optimization. The objective function is formed by a set of weighted objective functions...
An endoscopic robot capable of assisting medical professionals in the public health sector by providing imaging and biopsy functionalities during Gastrointestinal Tract (GIT) procedures at a reduced cost, was to be designed. The endoscope was designed using soft robotic technology and to use a novel approach to provide robust and precise control over the robot. The design is separated into functional...
Robotically Assisted Minimally Invasive Surgery (RAMIS) offers many advantages over manual surgical techniques. Most of the limitations of RAMIS stem from its nonintuitive user interface and costs. One way to mitigate some of the limitations is to automate surgical subtasks (e.g. suturing) such that they are performed faster while allowing the surgeon to plan the next step of the procedure. One component...
Suturing is a challenging and highly dexterous task in minimally invasive surgery, even with the assistance of robotic surgical systems. In this work, we propose a simple yet versatile impedance virtual fixture framework, which can be applied on the master manipulator in a tele-operated robotic surgical system. With this framework, we further develop two types of virtual fixtures that assist with...
This paper presents a simulation-based safety training simulator for robot assisted surgery. While adverse events occur rarely during training, they could be fatal to the patients if they happen during real surgical procedures and are not handled properly by the surgical team. In this work we propose a hardware-in-the-loop robotic surgery simulator with high fidelity of the robot motion in a simulated...
Surgeons and robots typically use different approaches for bone milling. Surgeons adjust their speed and tool incidence angle constantly, which enables them to efficiently mill porous bone. Surgeons also adjust milling parameters such as speed and depth of cut throughout the procedure based on proximity to sensitive structures like nerves and blood vessels. In this paper we use image-based bone density...
In this paper, a concentric wire-driven mechanism (CWM) is presented. The CWM comprises of two nested wire-driven mechanisms (WDM). Each WDM contains a flexible backbone and a set of wires. The backbone bending is controlled by pulling the wires. The stiffness of the outer WDM is controllable and dominants that of the overlapped section. Therefore, in the overlapped section the inner WDM conforms...
The given paper depicts a conducted analysis of special positions of using instruments for assisted mechatronic (robot) complex used Russia. In article it will be shown an approach, which forecasts and implements instruments, techniques and technologies, fundamentally possible during surgery, including assisting mechatronic (robotic) surgery complex. The obtained research results can be applied for...
Teleoperation systems allow a surgeon to perform a remote distance operation with or without magnification. Nonlinearity and unknown dynamics of master and slave robots, in teleoperation systems, make it challenging to guarantee stability and convergence of the position tracking error in such systems. This paper presents an interval Type-2 Fuzzy (T2F) logic controller to control position of a teleoperation...
In order to develop an effective and user-friendly control method for surgical robotic system, we propose a new framework of cognitive engine to supervise and regulate the surgical processes. The framework aims to make the surgical processes understandable by both human operators and robots. A prototype cognitive engine was implemented using ontology and SPARQL query language on JAVA and tested in...
Information technology tools are gaining increasing importance in surgical skill training and assessment, due to the need of objective and repeatable measurement of performance. This is especially true for Minimally Invasive Surgery (MIS), where complex tool manipulation should be mastered employing artificial phantoms and simulators — either in the case of manual or robotic laparoscopy. In this paper,...
This poster presentation represents an attempt to harmonize unidirectional “mapping” from Conceptual Metaphor Theory (CMT) and cognitive linguistics with knowledge from cognitive neuroscience to explain how details of feature attribution are determined in metaphorical inferencing. Specifically, an adapted view of “mapping” (herein termed “conceptual filtering”) will be proposed. In this view, unidirectional...
In many complicated cognitive-motor tasks mentoring is inevitable during the learning process. Although mentors are expert in doing the task, trainee's operation might be new for a mentor. This makes mentoring a very difficult task which demands not only the knowledge and experience of a mentor, but also his/her ability to follow trainee's movements and patiently advise him/her during the operation...
A study on haptic feedback of the master side for an interventional surgical robot system plays a critical important role in the master-slave vascular interventional surgery robot system with haptic feedback, and accuracy control of force feedback is an important means to improve accuracy of the vascular interventional surgery robot teleoperation. Focus on the problem of lacking haptic feedback and...
Starting with the launch of the Human Genome Project in 1990, the past quarter-century has brought spectacular achievements in genomics that dramatically empower the study of human biology and disease. The human genomics enterprise is now in the midst of an important transition, as the growing foundation of genomic knowledge is being used by researchers and clinicians to tackle increasingly complex...
Surgical robot systems for minimally invasive surgery (MIS), such as laparoscopic surgery, typically employ remote center of motion (RCM) mechanisms consisting of rigid links. Although the rigid body mechanisms have high reliability based on their stiffness, their large volume interferes the workspace of surgeons and the rigidity of pivot point requires precise positioning during the setup of robots...
Many surgical procedures require a sequence of different end-effectors but switching tools for robot-assisted minimally-invasive surgery (RMIS) requires time-consuming removal and replacement through the trocar port. We present an interchangeable instrument system that can be contained within the body cavity. It is based on a novel mounting mechanism compatible with a standard RMIS gripper and a tool-guide...
The interventional therapy is a kind of minimally invasive treatment. Under the guidance of medical imaging equipment, surgeons take the special catheter, guide wire and other precision instruments import in the body to do the pathological diagnosis and local treatment. The characters of interventional therapy are no operation, small trauma, rapid recovery, etc. However, the interventional treatment...
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