Development and Experimental Evaluation of Concurrent Control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment [0.03%]
骨溶解病灶治疗中并行控制机器人臂和连续机械臂的开发与实验评估
Paul Wilkening,Farshid Alambeigi,Ryan J Murphy et al.
Paul Wilkening et al.
This paper presents the development and evaluation of concurrent control of a robotic system for less-invasive treatment of osteolytic lesions behind an acetabular implant. This system implements safety constraints including a remote center...
Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into The Middle Ear [0.03%]
通过咽鼓管的微型机器人内窥镜及其在中耳疾病诊疗中的应用研究
Loris Fichera,Neal P Dillon,Dongqing Zhang et al.
Loris Fichera et al.
This paper presents a novel miniature robotic endoscope that is small enough to pass through the Eustachian tube and provide visualization of the middle ear (ME). The device features a miniature bending tip previously conceived of as a smal...
Continuum Reconfigurable Parallel Robots for Surgery: Shape Sensing and State Estimation with Uncertainty [0.03%]
用于外科手术的连续体可重构并联机器人：不确定性条件下的形状感知与状态估计
Patrick L Anderson,Arthur W Mahoney,Robert J Webster rd
Patrick L Anderson
This paper examines shape sensing for a new class of surgical robot that consists of parallel flexible structures that can be reconfigured inside the human body. Known as CRISP robots, these devices provide access to the human body through ...
Gaussian Process Regression for Sensorless Grip Force Estimation of Cable Driven Elongated Surgical Instruments [0.03%]
基于高斯过程回归的无传感器缆线驱动手术工具握持力估计方法
Yangming Li,Blake Hannaford
Yangming Li
Haptic feedback is a critical but a clinically missing component in robotic Minimally Invasive Surgeries. This paper proposes a Gaussian Process Regression(GPR) based scheme to address the gripping force estimation problem for clinically co...
Paul Stegall,Damiano Zanotto,Sunil K Agrawal
Paul Stegall
Haptic feedback affects not only the quality of training but can also influence the physical design of robotic gait trainers by determining how much force needs to be applied to the user and the nature of the force. This paper presents the ...
Junhyoung Ha,Pierre E Dupont
Junhyoung Ha
Concentric tube robots experience elastic instability when the potential energy stored in torsional twisting of the tubes is suddenly released. To date, ensuring stability for all possible rotational configurations has involved constraining...
A Continuum Robot and Control Interface for Surgical Assist in Fetoscopic Interventions [0.03%]
一种用于胎儿内镜手术辅助的连续体机器人及控制接口
George Dwyer,Francois Chadebecq,Marcel Tella Amo et al.
George Dwyer et al.
Twin-twin transfusion syndrome requires interventional treatment using a fetoscopically introduced laser to sever the shared blood supply between the fetuses. This is a delicate procedure relying on small instrumentation with limited articu...
Design of a Compact Actuation and Control System for Flexible Medical Robots [0.03%]
一种柔性医疗机器人的驱动与控制系统设计
Tania K Morimoto,Elliot Wright Hawkes,Allison M Okamura
Tania K Morimoto
Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To mi...
Highly Articulated Robotic Needle Achieves Distributed Ablation of Liver Tissue [0.03%]
一种高灵活度的机器人穿刺针实现肝脏组织的消融功能
Giada Gerboni,Joseph D Greer,Paul F Laeseke et al.
Giada Gerboni et al.
Robotic needle steering will improve percutaneous radio-frequency ablation (RFA) in the liver by performing distributed ablations without requiring multiple punctures of the liver capsule, thus enabling the treatment of large or multifocal ...
High Precision Neural Decoding of Complex Movement Trajectories using Recursive Bayesian Estimation with Dynamic Movement Primitives [0.03%]
基于动态运动原语的递归贝叶斯估计在复杂运动轨迹高精度神经解码中的应用研究
Guy Hotson,Ryan J Smith,Adam G Rouse et al.
Guy Hotson et al.
Brain-machine interfaces (BMIs) are a rapidly progressing technology with the potential to restore function to victims of severe paralysis via neural control of robotic systems. Great strides have been made in directly mapping a user's cort...