相关论文: Towards Autonomous Robotic Electrosurgery via Ther…
When they are damaged or injured, soft biological tissues are able to self-repair and heal. Mechanics is critical during the healing process, as the damaged extracellular matrix (ECM) tends to be replaced with a new undamaged ECM supporting…
Recent research is trying to leverage occupants' demand in the building's control loop to consider individuals' well-being and the buildings' energy savings. To that end, a real-time feedback system is needed to provide data about…
This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots…
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…
Human-machine interfaces in industrial automation need sensing modules that monitor operator actions and physiological state. This is important in factories, vehicles, machinery cabins, and human-robot collaboration, where workload, stress,…
Infrared thermography is emerging as a powerful tool in sports medicine, allowing assessment of thermal radiation during exercise and analysis of anatomical regions of interest, such as the well-exposed calves. Building on our previous…
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…
Tendon-driven musculoskeletal humanoids have many benefits in terms of the flexible spine, multiple degrees of freedom, and variable stiffness. At the same time, because of its body complexity, there are problems in controllability. First,…
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…
Radiotherapy can effectively kill malignant cells, but the doses required to cure cancer patients may inflict severe collateral damage to adjacent healthy tissues. Hyperthermia (HT) is a promising option to improve the outcome of radiation…
Neuromorphic engineering is essentially the development of artificial systems, such as electronic analog circuits that employ information representations found in biological nervous systems. Despite being faster and more accurate than the…
We consider a 2d permanent magnet synchronous machine operating in a sequence of static operating points coming from a drive cycle. We aim to find a rotor design which maximizes the efficiency defined as the quotient of input and output…
The healthcare industry has a growing need for realistic modeling and efficient simulation of surgical scenes. With effective models of deformable surgical scenes, clinicians are able to conduct surgical planning and surgery training on…
Surgeons normally need surgical scissors and tissue grippers to cut through a deformable surgical tissue. The cutting accuracy depends on the skills to manipulate these two tools. Such skills are part of basic surgical skills training as in…
Quantitative characterization of surgical movements can improve the quality of patient care by informing the development of new training protocols for surgeons, and the design and control of surgical robots. Here, we present a novel…
The purpose of this study was to develop a method for tissue elasticity imaging using tagged magnetic resonance imaging (MRI). First, we developed a cyclic pressure device that used air to remotely transmit the power to generate cyclic…
Labor shortages in the United States are impacting a number of industries including the meat processing sector. Collaborative technologies that work alongside humans while increasing production abilities may support the industry by…
A portable imaging system for the on-site detection of shoulder injury is necessary to identify its extent and avoid its development to severe condition. Here, firstly a microwave tomography system is introduced using state-of-the-art…
Electroporation is a very useful tool for drug delivery into various diseased tissues of the human body. This technique helps to improve the clinical treatment by transferring drugs into the targeted cells rapidly. In electroporation, drug…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…