Model-based Design of the COAST Guidewire Robot for Large Deflection [0.03%]
基于模型的COAST导丝机器人机构设计用于大位移操作
Yash Chitalia,Achraj Sarma,Timothy A Brumfiel et al.
Yash Chitalia et al.
Minimally invasive endovascular procedures involve the manual placement of a guidewire, which is made difficult by vascular tortuosity and the lack of precise tip control. Steerable guidewire systems have been developed with tendon-driven, ...
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks [0.03%]
用于肺部干预的连续机器人腕足：探索折叠支撑盘
Margaret Rox,Daniel S Esser,Mariana E Smith et al.
Margaret Rox et al.
Toward the future goal of creating a lung surgery system featuring multiple tentacle-like robots, we present a new folding concept for continuum robots that enables them to squeeze through openings smaller than the robot's nominal diameter ...
A-SEE: Active-Sensing End-effector Enabled Probe Self-Normal-Positioning for Robotic Ultrasound Imaging Applications [0.03%]
一种基于自感式末端执行器的机器人超声探头主动感知自稳态定位方法(A-SEE)
Xihan Ma,Wen-Yi Kuo,Kehan Yang et al.
Xihan Ma et al.
Conventional manual ultrasound (US) imaging is a physically demanding procedure for sonographers. A robotic US system (RUSS) has the potential to overcome this limitation by automating and standardizing the imaging procedure. It also extend...
Data-Driven Modelling and Control for Robot Needle Insertion in Deep Anterior Lamellar Keratoplasty [0.03%]
数据驱动的深板层角膜移植术机器人针插入建模与控制方法
William Edwards,Gao Tang,Yuan Tian et al.
William Edwards et al.
Deep anterior lamellar keratoplasty (DALK) is a technique for cornea transplantation which is associated with reduced patient morbidity. DALK has been explored as a potential application of robot microsurgery because the small scales, fine ...
Deep-Learning to Map a Benchmark Dataset of Non-amputee Ambulation for Controlling an Open Source Bionic Leg [0.03%]
基于深度学习的基准数据集映射方法在开源仿生腿控制中的应用研究
Minjae Kim,Levi J Hargrove
Minjae Kim
Powered lower-limb prosthetic devices may be becoming a promising option for amputation patients. Although various methods have been proposed to produce gait trajectories similar to those of non-disabled individuals, implementing these cont...
Zicong Wu,Mikel De Iturrate Reyzabal,S M Hadi Sadati et al.
Zicong Wu et al.
Soft robots that grow through eversion/apical extension can effectively navigate fragile environments such as ducts and vessels inside the human body. This paper presents the physics-based model of a miniature steerable eversion growing rob...
Characterizing Prosthesis Control Fault during Human-Prosthesis Interactive Walking Using Intrinsic Sensors [0.03%]
基于内置传感器的假肢交互步行中假肢控制故障表征研究
Amirreza Naseri,Ming Liu,I-Chieh Lee et al.
Amirreza Naseri et al.
The physical interactions between wearable lower limb robots and humans have been investigated to inform effective robot design for walking augmentation. However, human-robot interactions when internal faults occur within robots have not be...
Enhanced Accuracy in Magnetic Actuation: Closed-loop Control of a Magnetic Agent with Low-Error Numerical Magnetic Model Estimation [0.03%]
磁驱动的增强精度：具有低误差数值磁场模拟的磁性粒子闭环控制
Onder Erin,Suraj Raval,Trevor J Schwehr et al.
Onder Erin et al.
Magnetic actuation holds promise for wirelessly controlling small, magnetic surgical tools and may enable the next generation of ultra minimally invasive surgical robotic systems. Precise torque and force exertion are required for safe surg...
Brandon H Meng,Isuru S Godage,Iyad Kanj
Brandon H Meng
Continuum arms are bio-inspired devices that exhibit continuous, smooth bending and generate motion through structural deformation. Rapidly-exploring random trees (RRT) is a traditional approach for performing efficient path planning. RRT a...
Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study [0.03%]
用于冠状疫情期间安全远程诊断的触觉机器人远程医疗：系统设计、可行性及使用研究
Abdeldjallil Naceri,Jean Elsner,Mario Trobinger et al.
Abdeldjallil Naceri et al.
The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to...