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...
Ian Bales,Haohan Zhang
Ian Bales
This paper presents a novel cable-driven exosuit intended for head-neck support and movement assistance. Mobility limitations in the head-neck, such as dropped head syndrome, can result from various neurological disorders. Current solutions...
Modeling Non-linear Effects in a 4-DoF Robotic Transcatheter Delivery System [0.03%]
一种四自由度机器人导管递送系统的非线性效应模拟方法研究
Namrata U Nayar,Jaydev P Desai
Namrata U Nayar
Transcatheter mitral valve repair (TMVr), a minimally invasive approach, is becoming increasingly popular for treating mitral regurgitation (MR) since nearly half of the MR patients are non-surgical candidates. However, current TMVr devices...
Quantitative Evaluation of Curved BioPrinted Constructs of an In Situ Robotic System Towards Treatment of Volumetric Muscle Loss [0.03%]
定量评估体内机器人系统生物打印治疗体积性肌肉损失的曲面生物结构
Omid Rezayof,Xinyuan Huang,Meenakshi Kamaraj et al.
Omid Rezayof et al.
Tissue engineering techniques and particularly in situ bioprinting using handheld devices and robotic systems have recently demonstrated promising outcomes to address volumetric muscle loss injuries. Nevertheless, these approaches suffer fr...
Ultrasound-Guided Real-Time Joint Space Control of a Robotic Transcatheter Delivery System [0.03%]
基于超声实时关节空间控制的机器人导管输送系统
Namrata U Nayar,Jaydev P Desai
Namrata U Nayar
Transcatheter mitral valve repair (TMVr) is growing in popularity for non-surgical mitral regurgitation (MR) patients, but the manual operation of current TMVr devices increases radiation exposure and limits telesurgery feasibility. A robot...
Mark Draelos
Mark Draelos
The Archimedean spiral is space-filling plane curve that is found in applications ranging from coverage path planning for robot exploration to scan pattern generation for medical imaging. The constant linear velocity (CLV) parameterization ...