A-SEE2.0: Active-Sensing End-Effector for Robotic Ultrasound Systems with Dense Contact Surface Perception Enabled Probe Orientation Adjustment [0.03%]
一种用于机器人超声系统的主动式末端执行器，具有密集接触表面感知的探头方位调节功能
Yernar Zhetpissov,Xihan Ma,Kehan Yang et al.
Yernar Zhetpissov et al.
Conventional freehand ultrasound (US) imaging is highly dependent on the skill of the operator, leading to inconsistent results and increased physical burden on sonographers. Robotic Ultrasound Systems (RUSS) aim to address these limitation...
Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization [0.03%]
心脏瓣膜介入导管机器人化的通用执行机构与运动学模型研究
Weizhao Wang,Zicong Wu,Carlo Saija et al.
Weizhao Wang et al.
Catheters have been widely used to deal with heart valve diseases. However, the diversity in handle structures and bending curvatures imposes significant complexities in safe delivery and positioning. In this work, we designed a module for ...
The Only Way Is Up: Active Knee Exoskeleton Reduces Muscular Effort in Quadriceps During Weighted Stair Ascent [0.03%]
膝关节外骨骼在负重爬楼梯时减少股四头肌的用力
Vincent S Boon,Brendon Ortolano,Andrew J Gunnell et al.
Vincent S Boon et al.
Firefighters consistently rank stair ascent with gear, which can weigh over 35 kg, as their most demanding activity. Weighted stair climbing requires dynamic motions and large knee torques, which can cause exhaustion in the short term, and ...
A novel seamless magnetic-based actuating mechanism for end-effector-based robotic rehabilitation platforms [0.03%]
一种新颖的基于磁场作用机制的末端效应器康复机器人平台接续方式
Sima Ghafoori,Ali Rabiee,Maryam Norouzi et al.
Sima Ghafoori et al.
Rehabilitation robotics continues to confront sub-stantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs, ...
A Real-Time, Semi-Autonomous Navigation Platform for Soft Robotic Bronchoscopy [0.03%]
一种软体机器人支气管镜的实时半自主导航平台
Daniel Van Lewen,Yitong Lu,Frank Juliá-Wise et al.
Daniel Van Lewen et al.
Navigating through the peripheral lung branches poses a significant challenge in diagnosing lesions during bronchoscopy. Soft robots are well-suited to address current limitations in bronchoscopy due to their scale, dexterity, and adaptabil...
Robotic Ankle Exoskeleton and Limb Angle Biofeedback for Assisting Stroke Gait: A Feasibility Study [0.03%]
助力卒中步态的机器人踝足外骨骼与关节生物反馈可行性研究
Kinsey R Herrin,Yi-Tsen Pan,Trisha M Kesar et al.
Kinsey R Herrin et al.
Post-stroke gait is slow, energetically costly, and unstable. Rehabilitation is necessary to encourage, retrain, and assist proper gait mechanics in stroke survivors. Evidence indicates robotic ankle exoskeletons can improve gait outcomes i...
High-Precision Autonomous Control of Flexible Needles via Real-Time Finite Element Simulation and Cross-Entropy Optimization [0.03%]
基于实时有限元仿真和交叉熵优化的柔性针高精度自主控制
Yanzhou Wang,Chang Chang,Junling Mei et al.
Yanzhou Wang et al.
This paper presents a unified framework for autonomous flexible needle control in soft tissues using real-time finite element (FE) simulation and cross-entropy (CE) optimization. The method combines a sampling-based model predictive control...
Model-based Parameter Selection for a Steerable Continuum Robot - Applications to Bronchoalveolar Lavage (BAL) [0.03%]
基于模型的参数选择用于可转向连续体机器人支气管肺泡灌洗(BAL)中的应用
Amber K Rothe,Timothy A Brumfiel,Revanth Konda et al.
Amber K Rothe et al.
Bronchoalveolar lavage (BAL) is a minimally invasive procedure for diagnosing lung infections and diseases. However, navigating tortuous lung anatomy to the distal branches of the bronchoalveolar tree for adequate sampling using BAL remains...
Towards a Tendon-Driven Robotically Steerable Guidewire with a Retractable Distal Balloon [0.03%]
一种肌腱驱动的可操纵导管机器人的研制（带远端可伸缩气球）
C Cloud Barré,Jaydev P Desai
C Cloud Barré
Minimally invasive endovascular and transcather procedures frequently involve delivering tools to the surgical site via a guidewire. Even when made steerable, the guidewire tip has the potential to cause tissue damage while traversing the v...
Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot [0.03%]
COAST导丝机器人紧凑卷绕装置的设计与建模
Timothy A Brumfiel,Jared Grinberg,Betina Siopongco et al.
Timothy A Brumfiel et al.
The treatment of many intravascular procedures begins with a clinician manually placing a guidewire to the target lesion to aid in placing other devices. Manually steering the guidewire is challenging due to the lack of direct tip control a...