A Modified Dynamic Surface Controller for Delayed Neuromuscular Electrical Stimulation [0.03%]
一种用于延迟神经肌肉电刺激的改进动态表面控制器
Naji Alibeji,Nicholas Kirsch,Brad E Dicianno et al.
Naji Alibeji et al.
A widely accepted model of muscle force generation during neuromuscular electrical stimulation (NMES) is a second-order nonlinear musculoskeletal dynamics cascaded to a delayed first-order muscle activation dynamics. However, most nonlinear...
Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System [0.03%]
基于迭代雅可比矩阵的-inverse kinematics及开环控制MRI导引磁驱动式导管系统
Taoming Liu,Russell Jackson,Dominique Franson et al.
Taoming Liu et al.
This paper presents an iterative Jacobian-based inverse kinematics method for an MRI-guided magnetically-actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-c...
Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions [0.03%]
具备柔关节和索/外力干扰的灵巧 continuum 机械手的力学模型研究
Anzhu Gao,Ryan J Murphy,Hao Liu et al.
Anzhu Gao et al.
Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affec...
Design and Fabrication of MR-Tracked Metallic Stylet for Gynecologic Brachytherapy [0.03%]
用于妇科近距离放射治疗的MR跟踪金属式针具的设计与制作
Yue Chen,Wei Wang,Ehud J Schmidt et al.
Yue Chen et al.
Active magnetic resonance (MR) tracking for gynecologic brachytherapy was made possible by attaching the micro radiofrequency coils to the brachytherapy applicator. The rectangular planar micro coil was fabricated using flexible printed cir...
MR Safe Robot, FDA Clearance, Safety and Feasibility Prostate Biopsy Clinical Trial [0.03%]
磁共振安全机器人获得FDA认证：前列腺活检的安全性和可行性临床试验
Dan Stoianovici,Chunwoo Kim,Doru Petrisor et al.
Dan Stoianovici et al.
Compatibility of mechatronic devices with the MR environment has been a very challenging engineering task. After over a decade of developments, we report the successful translation to clinical trials of our MR Safe robot technology. MrBot i...
Wyatt Felt,Khai Yi Chin,C David Remy
Wyatt Felt
The inherent compliance of soft fluidic actuators makes them attractive for use in wearable devices and soft robotics. Their flexible nature permits them to be used without traditional rotational or prismatic joints. Without these joints, h...
Micropositioning and Control of an Underactuated Platform for Microscopic Applications [0.03%]
microscopic应用的欠驱动平台的微定位与控制
Kihan Park,Jaydev P Desai
Kihan Park
For automation of biological experiments at the micro-scale, highly precise manipulator equipped with a microscope is required. However, current micropositioning stages have several limitations, such as: 1) manual operation, 2) lack of rota...
Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator [0.03%]
一种用于高强度缆索驱动连续体机械臂的缆索与导向槽交互作用模型方法研究
Matthew S Moses,Ryan J Murphy,Michael D M Kutzer et al.
Matthew S Moses et al.
This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is presented that distinguishes between contributions from the cables and the backbone. ...
A 5-D Localization Method for a Magnetically Manipulated Untethered Robot using a 2-D Array of Hall-effect Sensors [0.03%]
基于霍尔效应传感器二维阵列的磁操纵无缆机器人五维定位方法
Donghoon Son,Sehyuk Yim,Metin Sitti
Donghoon Son
This paper introduces a new five-dimensional localization method for an untethered meso-scale magnetic robot, which is manipulated by a computer-controlled electromagnetic system. The developed magnetic localization setup is a two-dimension...
Design and Development of a Smart Exercise Bike for Motor Rehabilitation in Individuals with Parkinson's Disease [0.03%]
一种用于帕金森病患者的智能康复健身车的设计与实现
Hassan Mohammadi-Abdar,Angela L Ridgel,Fred M Discenzo et al.
Hassan Mohammadi-Abdar et al.
Recent studies in rehabilitation of Parkinson's disease (PD) have shown that cycling on a tandem bike at a high pedaling rate can reduce the symptoms of the disease. In this research, a smart motorized bicycle has been designed and built fo...