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Brain-computer interfaces (BCIs) offer high potential for enhancing training in many tasks, especially those that require maintaining high levels of concentration such as surgery. Training focus and attention can play a critical role in surgery since concentration on the task at hand is fundamental to prevent life-threatening errors. In this paper we propose a new method for concentration training...
Robotic beating heart surgery requires accurate information about the current state of the heart. For this purpose, it is of great importance to have a good estimate of the heart's current phase, which in essence corresponds to the percentage of the current heart cycle that has already passed. Estimation of the heart phase is a highly nontrivial problem as the heart motion is not exactly periodic...
Additive manufacturing is a technology in constant evolution. It is able to produce objects otherwise either impractical or unfavorable for traditional manufacturing technologies, especially in relatively limited quantities. The advancement of Selective Laser Melting (SLM) has made it possible to manufacture functional, production-quality components directly from rapid prototyping for long-term use...
This paper considers the semi-automated robotic surgical procedure for removing the brain tumor margins, where the manual operation is a tedious and time-consuming task for surgeons. We present robust path planning methods for robotic ablation of tumor residues in various shapes, which are represented in point-clouds instead of analytical geometry. Along with the path plans, corresponding metrics...
A fuzzy controller is established for the wire feeder of the invasive vascular interventional surgery robot in this paper. First of all, the mechanism of the wire feeder is introduced, and the axial motion is analyzed. Second, the dynamic model of the wire feeder is established. Next, the fuzzy PID controller is established to improve the positional accuracy and dynamic performance. At last, the controller...
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...
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...
Transurethral resection of bladder tumors (TURBT) presents surgeons with challenges of limited tool dexterity. This paper investigates the limitations of dexterity and resection reach and accuracy within the intra-vesicular space of the bladder. The paper assumes the kinematics and geometry of current tools used for TURBT. The study presents a kinematic modeling framework and a simulation evaluation...
We describe an approach to automatically locating faulty statements in control code in embedded systems. Our approach uses the controller structure and examples of normal behavior in simulation to build structured probabilistic models that compactly encode the dynamic behavior of the system. Given an anomalous behavior sequence, we analyze the values of system state variables to determine which variables...
Retinal surgery is one of the most technically challenging surgical disciplines. Many robotic systems have been developed to enhance the surgical capabilities. However, very few of them provide the surgeon the dexterity within the patient's eye to enable more flexible, more advanced surgical procedures. This paper presents a sub-millimeter intraocular dexterous robot, the Integrated Robotic Intraocular...
Lung cancer is the most deadly form of cancer, and survival depends on early-stage diagnosis and treatment. Transoral access is preferable to traditional between-the-ribs needle insertion because it is less invasive and reduces risk of lung collapse. Yet many sites in the peripheral zones of the lung or distant from the bronchi cannot currently be accessed transorally, due to the relatively large...
This paper describes the implementation of a heart motion compensation system on the da Vinci surgical system (Intuitive Surgical Inc.) for coronary artery bypass surgery. By introducing a robot-assisted solution, this surgery could be performed completely minimally invasively and on a beating heart. In this work we describe the development of open loop controllers based on spectral line decomposition...
Robot-assisted laparoscopic partial nephrectomies (RALPN) are performed to treat patients with locally confined renal carcinoma. However, there are challenges in identifying tumor margins and critical benign structures in this time-critical procedure. The primary objective of this effort is to couple multiple image and data streams together to augment visual information currently provided to surgeons...
Among numerous medical devices that generate noise, music is gaining increasing importance in modern operating rooms. Many surgeons perceive music as concentration enhancing during surgery. In safety critical situations instead, e.g. when a medical device emits an alarm, the additional noise exposure induced by music is considered distracting. In this article we present a novel, modular device that...
In minimal invasive robotic surgery (MIRS) port placement has a particular status accounted for joint limits of the robots. The port depicts a pivot point so that the robots movement is constraint by reducing its degrees of freedom (DOF). Additionally the workspace of reachable points is limited by the instrument length and the robots' flexibility. Our approach for optimizing the port position and...
Designing a robotic system for surgical procedures is always challenging. Reliability, integration in the operating room and intuitive use even in stressful situations are some major requirements. Our project aims at the improvement of two widespread interventions in minimally invasive surgery (MIS): the endoscopic submucosal dissection (ESD) and the laparoscopic sigmoid resection (LSR). We develop...
During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed...
The goal in minimally-invasive surgery like NOTES (natural orifice transluminal endoscopic surgery), or single-port surgery, through one artificial incision, is to reduce the operative and post-operative stresses for the patients. Today's challenges for physicians during procedures are the missing mobility of the used flexible instruments inside the human body. Primarily the missing ability to manipulate...
Velocity control is one of important manipulate methods in terms of tele-operation applications, especially in minimally invasive robotic surgery. The input of the user (doctor) is always with the highest hierarchy in the control loop, however the poor force feedback and limited visual cues may cause inappropriate decision-making. In this paper, a virtual constraint of velocity based on fuzzy logic...
A single port surgery has merits as small scar and little physical burden of subject while it has narrow workspace and small range of operations because of the mechanical limits of the instruments. In order to enlarge the application range of single port surgery, it is important to increase the stiffness and the force of the instruments. This paper presents the design and simulation of a single-port...
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