Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints [0.03%]
基于任务和解剖约束的同心管机器人设计与优化
Christos Bergeles,Andrew H Gosline,Nikolay V Vasilyev et al.
Christos Bergeles et al.
Concentric tube robots are catheter-sized continuum robots that are well suited for minimally invasive surgery inside confined body cavities. These robots are constructed from sets of pre-curved superelastic tubes and are capable of assumin...
High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning [0.03%]
基于并行采样的不确定环境中的高频 replan 算法研究
Wen Sun,Sachin Patil,Ron Alterovitz
Wen Sun
As sampling-based motion planners become faster, they can be re-executed more frequently by a robot during task execution to react to uncertainty in robot motion, obstacle motion, sensing noise, and uncertainty in the robot's kinematic mode...
The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot [0.03%]
一种7自由度机器人穿刺辅助系统的结构设计与评估
Max L Balter,Alvin I Chen,Timothy J Maguire et al.
Max L Balter et al.
Accessing the venous bloodstream to deliver fluids or obtain a blood sample is the most common clinical routine practiced in the U.S. Practitioners continue to rely on manual venipuncture techniques, but success rates are heavily dependent ...
Jeffrey Ichnowski,Ron Alterovitz
Jeffrey Ichnowski
We present PRRT (Parallel RRT) and PRRT* (Parallel RRT*), sampling-based methods for feasible and optimal motion planning designed for modern multicore CPUs. We parallelize RRT and RRT* such that all threads concurrently build a single moti...
Andrew D Wilson,Jarvis A Schultz,Todd D Murphey
Andrew D Wilson
Estimation of model parameters in a dynamic system can be significantly improved with the choice of experimental trajectory. For general nonlinear dynamic systems, finding globally "best" trajectories is typically not feasible; however, giv...
Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments with Transfemoral Amputees [0.03%]
智能假肢腿的虚拟约束控制：从仿真到截瘫受试者实验研究
Robert D Gregg,Tommaso Lenzi,Levi J Hargrove et al.
Robert D Gregg et al.
Recent powered (or robotic) prosthetic legs independently control different joints and time periods of the gait cycle, resulting in control parameters and switching rules that can be difficult to tune by clinicians. This challenge might be ...
Sachin Patil,Jessica Burgner,Robert J Webster rd et al.
Sachin Patil et al.
Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy and reaching previously inaccessible targets that are behind sensitive or...
D Caleb Rucker,Jadav Das,Hunter B Gilbert et al.
D Caleb Rucker et al.
Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be u...
3-D Localization Method for a Magnetically Actuated Soft Capsule Endoscope and Its Applications [0.03%]
一种磁控软胶囊内窥镜的三维定位方法及其应用研究
Sehyuk Yim,Metin Sitti
Sehyuk Yim
In this paper, we present a 3-D localization method for a magnetically actuated soft capsule endoscope (MASCE). The proposed localization scheme consists of three steps. First, MASCE is oriented to be coaxially aligned with an external perm...
Vladimir M Fomin,Markus Hippler,Veronika Magdanz et al.
Vladimir M Fomin et al.
We describe the propulsion mechanism of the catalytic microjet engines that are fabricated using rolled-up nanotech. Microjets have recently shown numerous potential applications in nanorobotics but currently there is a lack of an accurate ...