相关论文: Development of Control Framework for Spine Surgery…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space,…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring preci-sion and safety throughout procedures. This paper presents a control architecture developed for a robotic system designed for MIS operations. The…
We present an ongoing project that aims to develop a social robot to help children cope with painful and distressing medical procedures in a clinical setting. Our approach uses automated planning as a core component for action selection in…
Surgical robots have had clinical use since the mid 1990s. Robot-assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for…
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-level control, such as supervised autonomy…
Traditional control and task automation have been successfully demonstrated in a variety of structured, controlled environments through the use of highly specialized modeled robotic systems in conjunction with multiple sensors. However, the…
Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…
The control system in surgical robots must ensure patient safety and real time control. As such, all the uncertainties which could appear should be considered into an extended model of the plant. After such an uncertain plant is formed, an…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory…
Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…
Robotics enables a variety of unconventional actuation strategies to be used for endoscopes, resulting in reduced trauma to the GI tract. For transmission of force to distally mounted endoscopic instruments, robotically actuated tendon…
This paper describes a new research project that aims to develop a social robot designed to help children cope with painful and distressing medical procedures in a clinical setting. While robots have previously been trialled for this task,…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic design, the surgeons can feel more comfortable to conduct the…
In recent decades, the tremendous benefits surgical robots have brought to surgeons and patients have been witnessed. With the dexterous operation and the great precision, surgical robots can offer patients less recovery time and less…