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The robotized endoscope holder in laparoscopic surgery allows a surgeon to control the endoscope without the intervention of an assistant. For providing the more convenient interactions between the surgeon and a robotized endoscope holder, we propose a new method for the automatic 3D-tracking of laparoscopic instruments in real-time. The method is based on the measurement of the 3D positions of the...
To improve the imbalance surgery development of china's urban and rural areas, a real and effective teleoperation virtual surgery simulation system is studied. First, the telecommunication is designed based on the Client/Server mode, which used to transmit video, voice and files in a real-time. Then, virtual scene mapping of the actual operation and the remote operation is established based on the...
Beating-heart surgery is not currently possible for most surgical procedures as it requires superhuman skill to manually track the heart's motion while performing a surgical task. However, if a surgical tool could track the motion of the point of interest (POI) on the heart, then, with respect to the surgical tool tip the POI would appear stationary. Such a system can be created with a teleoperated...
Many medical applications can benefit from the new technology of concentric-tube robot (CTR) due to its miniature size, superior steerability, and controllability of the end tool. However, the kinematic modeling of CTR is challenging because of complicated physical phenomena caused by the elasticity interaction between tubes. Existing control methods of CTR are based on inverse kinematics calculation...
This paper proposes an expertise-oriented training platform for robotics-assisted minimally invasive surgery. The framework builds on previous work of the authors and makes use of dual-user teleoperation scenario, allowing the presence of an expert in the training loop. A Fuzzy-Logic (FL) methodology is proposed, which specifies the level/mode of the training required for the trainee according to...
This paper describes design and application of a novel counter-balancing stackable parallel mechanism. The stackable mechanism is designed by combining a five-bar and a couple of parallelograms. This design allows a compact design and wide workspace as compared to prior parallel type counter-balancing mechanisms. A linear geometry of this mechanism guarantees static balancing in the whole workspace...
Retinal surgery is one of the most challenging types of surgery because of the scale and the fragility of the human eye anatomy. The surgeon suffers from limited positioning accuracy, tremor and poor force feedback directly affecting the quality of the surgical procedures. To tackle these issues, we developed a teleoperation system to assist surgeons during retinal surgery. The system offers features...
Active constraints are high-level control algorithms providing software-generated force feedback from virtual environments. When applied to surgery, they can assist surgeons in performing complex tasks by guiding their navigation pathways along narrow, possibly convoluted, surgical trajectories. This paper presents a method to generate concave tubular constraints implicitly from pre- or intra-operative...
By developments of robotics and increments in utilizing this knowledge in different scientific and industrial branches, the issue of path planning, either in intelligent and online state, or by pre-determined algorithms has been arised as one of the discussion fields in control and specially robotics. In the path planning literature, several algorithms have been used repetitively, among which can...
Besides the motion control issues and problems arising in general robotic applications, control engineers frequently encounter difficulties in designing robotic surgery systems due to the complex environmental constraints present. One of the most challenging problems is caused by the unique behavior of soft tissues under manipulations such as grabbing, cutting and indentation. The appropriate modeling...
This paper presents the design of a new autonomous surgical suturing robot StapBot using staples. This system is designed for performing wounds closure in Minimally Invasive Surgery (MIS). StapBot is equipped with a translational platform composed of different types of sensors for detecting all wound's characteristics and two automated robotic arms for clamping and stapling. Embedded algorithms analyze...
Robotic-assisted beating heart surgery aims to eliminate the relative motion of heart, so that, the surgeon can operate on a stabilized heart without any kind of additional instruments. In this literature, the robot actively cancels heart motion by closely following a point of interest (POI) of heart surface. In this paper, we use biological signal such as ECG or blood pressure, to improvement of...
In order to exhibit the surgery instruments in intraoperative image, the tracking system must be introduced so that it may finally achieve the image guide surgery on minimally invasive spine surgery (MISS). To exhibit the tip of the instrument, the transform of the CARM(a device which generates X-ray images) and CT image, the transform of the world and CARM. The more transforms of different space...
As we know that MIS permits vascular interventions through very small incisions and minimizes the patients' trauma and permits a faster recovery compared. In this document, we present the mechanical and haptic simulation of the MIS VR operation training system. Virtual reality technology for doctors can improve the accuracy and safety of real vascular interventional surgery for vascular interventional...
This paper presents the use of computed tomography image (CT) to generate a 3D workspace in the area of skull base. Our ultimate goal is to develop a surgical robotic system to aid in the endoscopic transsphenoidal surgery. The 3D workspace can benefit both aspects of robot design and intra operative navigation system. In our system, the 3D model of a skull base area is created by the 3DSlicer program...
This paper proposes a novel tool detection and tracking approach using uncalibrated monocular surgical videos for computer-aided surgical interventions. We hypothesize surgical tool end-effector to be the most distinguishable part of a tool and employ state-of-the-art object detection methods to learn the shape and localize the tool in images. For tracking, we propose a Product of Tracking Experts...
Cardiovascular disease is a class of diseases that involve the heart and blood vessels, which is the leading cause of deaths globally. Vascular interventional surgery is an effective treatment. As belongs to minimally invasive surgery (MIS), it is more popular due to the advantages of smaller injury, faster recovery and higher accuracy rate. However, it needs up to 10 years to train a skilled surgeon...
This paper mainly concentrates on the control of Lunar-bots and is also applicable to other kinds of robots like the one used in warfare, medical surgeries, and even the one that is used for UAV automation using the world wide accessed internet communication with Earth Moon Communication (EMC). This paper discusses the unique way in which we can control the robot deployed in the Moon for space research...
In this paper we present a combination of neuroscience experiments with the use of a parallel armrest robot to study the effects of temporal delays and spatial biases on the movement perception. A dedicated armrest to guide and manipulate the arm has been developed for these experiments. It is a three-degree-of-freedom Delta structure. In combination with a virtual reality application, the movement...
This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a motion compensation framework, the motion of the heart surface is stabilized in a virtual space, which is presented to the surgeon to operate in. Consequently, the fixture...
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