Stochastic Force-based Insertion Depth and Tip Position Estimations of Flexible FBG-Equipped Instruments in Robotic Retinal Surgery [0.03%]
基于柔性FBG内窥镜工具的随机力感测的机器人视网膜手术中插入深度和钳尖位置估算方法
Ali Ebrahimi,Farshid Alambeigi,Shahriar Sefati et al.
Ali Ebrahimi et al.
Vitreoretinal surgery is among the most delicate surgical tasks during which surgeon hand tremor may severely attenuate surgeon performance. Robotic assistance has been demonstrated to be beneficial in diminishing hand tremor. Among the req...
Image processing metrics for phase identification of a multiaxis MEMS scanner used in single pixel imaging [0.03%]
单像素成像中用于多轴MEMS扫描器相位识别的图像处理指标
Mayur Birla,Xiyu Duan,Haijun Li et al.
Mayur Birla et al.
This paper applies image processing metrics to tracking of perturbations in mechanical phase delay in a multi-axis microelectromechanical system (MEMS) scanner. The compact mirror is designed to scan a laser beam in a Lissajous pattern duri...
A Surgical Robotic System for Treatment of Pelvic Osteolysis Using an FBG-Equipped Continuum Manipulator and Flexible Instruments [0.03%]
一种用于治疗骨盆疏松症的手术机器人系统：采用FBG型连续操作器和柔性器械
Shahriar Sefati,Rachel Hegeman,Farshid Alambeigi et al.
Shahriar Sefati et al.
This paper presents the development and experimental evaluation of a redundant robotic system for the less-invasive treatment of osteolysis (bone degradation) behind the acetabular implant during total hip replacement revision surgery. The ...
A Fully Actuated Robotic Assistant for MRI-Guided Precision Conformal Ablation of Brain Tumors [0.03%]
一种用于MRI引导的精准脑肿瘤消融的全驱动机器人助手
Gang Li,Niravkumar A Patel,Everette C Burdette et al.
Gang Li et al.
This paper reports the development of a fully actuated robotic assistant for magnetic resonance imaging (MRI)-guided precision conformal ablation of brain tumors using an interstitial high intensity needle-based therapeutic ultrasound (NBTU...
Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton with High Backdrivability and High Bandwidth [0.03%]
一种轻量级髋部外骨骼准直驱驱动方式实现高带宽背驱性能
Shuangyue Yu,Tzu-Hao Huang,Xiaolong Yang et al.
Shuangyue Yu et al.
High-performance actuators are crucial to enable mechanical versatility of wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. State-of-the-art actuators, e.g., series elastic actuators (SEAs...
Mechatronic Design of a Two-Arm Concentric Tube Robot System for Rigid Neuroendoscopy [0.03%]
用于刚性神经内窥镜手术的双臂管状机器人系统机构设计
Margaret F Rox,Dominick S Ropella,Richard J Hendrick et al.
Margaret F Rox et al.
Open surgical approaches are still often employed in neurosurgery, despite the availability of neuroendoscopic approaches that reduce invasiveness. The challenge of maneuvering instruments at the tip of the endoscope makes neuroendoscopy de...
Design of a Semi-Powered Stance-Control Swing-Assist Transfemoral Prosthesis [0.03%]
一种半动力 stance-control 假腿的设计
J T Lee,H L Bartlett,M Goldfarb
J T Lee
This paper describes the design of a new type of knee prosthesis called a stance-control, swing-assist (SCSA) knee prosthesis. The device is motivated by the recognition that energetically-passive stance-controlled microprocessor-controlled...
Motion Estimation for a Compact Electrostatic Microscanner via Shared Driving and Sensing Electrodes in Endomicroscopy [0.03%]
内窥镜中基于共用驱动和感应电极的静电微扫描仪运动估计算法研究
Yi Chen,Miki Lee,Mayur Bhushan Birla et al.
Yi Chen et al.
We present a method to estimate high frequency rotary motion of a highly compact electrostatic micro-scanner using the same electrodes for both actuation and sensing. The accuracy of estimated rotary motion is critical for reducing blur and...
Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery [0.03%]
一种用于双手持操手术机器人视网膜手术的自动光导管操作系统
Changyan He,Emily Yang,Niravkumar Patel et al.
Changyan He et al.
Retinal surgery is a bimanual operation in which surgeons operate with an instrument in their dominant hand (more capable hand) and simultaneously hold a light pipe (illuminating pipe) with their non-dominant hand (less capable hand) to pro...
Austin J Taylor,Trent Slutzky,Leah Feuerman et al.
Austin J Taylor et al.
Foldable origami structures have been implemented into robotics as a way of compacting joints and circuitry into smaller structures. This technique is especially useful in minimally invasive surgical instruments, where the goal is to create...