WorldWideScience

Sample records for surgical robotic systems

  1. Towards Safe Robotic Surgical Systems

    DEFF Research Database (Denmark)

    Sloth, Christoffer; Wisniewski, Rafael

    2015-01-01

    A proof of safety is paramount for an autonomous robotic surgical system to ensure that it does not cause trauma to patients. However, a proof of safety is rarely constructed, as surgical systems are too complex to be dealt with by most formal verification methods. In this paper, we design...... a controller for motion compensation in beating-heart surgery, and prove that it is safe, i.e., the surgical tool is kept within an allowable distance and orientation of the heart. We solve the problem by simultaneously finding a control law and a barrier function. The motion compensation system is simulated...

  2. Automated kinematic generator for surgical robotic systems.

    Science.gov (United States)

    Jung, David L; Dixon, Warren E; Pin, François G

    2004-01-01

    Unlike traditional assembly line robotic systems that have a fixed kinematic structure associated with a single tool for a structured task, next-generation robotic surgical assist systems will be required to use an array of end-effector tools. Once a robot is connected with a tool, the kinematic equations of motion are altered. Given the need to accommodate evolving surgical challenges and to alleviate the restrictions imposed by the confined minimally invasive environment, new surgical tools may resemble small flexible snakes rather than rigid, cable driven instruments. Connecting to these developing articulated tools will significantly alter the overall kinematic structure of a robotic system. In this paper we present a technique for real-time automated generation and evaluation of manipulator kinematic equations that exhibits the combined advantages of existing methods-speed and flexibility to kinematic change--without their disadvantages.

  3. Development of a Cognitive Robotic System for Simple Surgical Tasks

    Directory of Open Access Journals (Sweden)

    Riccardo Muradore

    2015-04-01

    Full Text Available The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotic systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions autonomously. This paper reports on the development of technologies for introducing automation within the surgical workflow. The results have been obtained during the ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR. The main goal of the project is to demonstrate that autonomous robotic surgical systems can carry out simple surgical tasks effectively and without major intervention by surgeons. To fulfil this goal, we have developed innovative solutions (both in terms of technologies and algorithms for the following aspects: fabrication of soft organ models starting from CT images, surgical planning and execution of movement of robot arms in contact with a deformable environment, designing a surgical interface minimizing the cognitive load of the surgeon supervising the actions, intra-operative sensing and reasoning to detect normal transitions and unexpected events. All these technologies have been integrated using a component-based software architecture to control a novel robot designed to perform the surgical actions under study. In this work we provide an overview of our system and report on preliminary results of the automatic execution of needle insertion for the cryoablation of kidney tumours.

  4. Development of a Cognitive Robotic System for Simple Surgical Tasks

    Directory of Open Access Journals (Sweden)

    Riccardo Muradore

    2015-04-01

    Full Text Available The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotic systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions autonomously. This paper reports on the development of technologies for introducing automation within the surgical workflow. The results have been obtained during the ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR. The main goal of the project is to demonstrate that autonomous robotic surgical systems can carry out simple surgical tasks effectively and without major intervention by surgeons. To fulfil this goal, we have developed innovative solutions (both in terms of technologies and algorithms for the following aspects: fabrication of soft organ models starting from CT images, surgical planning and execution of movement of robot arms in contact with a deformable environment, designing a surgical interface minimizing the cognitive load of the surgeon supervising the actions, intra-operative sensing and reasoning to detect normal transitions and unexpected events. All these technologies have been integrated using a component-based software architecture to control a novel robot designed to perform the surgical actions under study. In this work we provide an overview of our system and report on preliminary results of the automatic execution of needle insertion for the cryoablation of kidney tumours.

  5. Instrumentation of the da Vinci Robotic Surgical System

    DEFF Research Database (Denmark)

    Hansen, Karl Damkjær; Jensen, Simon; Sloth, Christoffer

    2015-01-01

    This paper details the AAU surgical robot, its hardware and software setup. The aim of the paper is to explain how a surgical robot has been rebuild as an open source platform for research in surgical robotics. As a result, the robot has full actuation and sensing capabilities at high sampling ra....... We aim at exploiting the developed surgical robot for research in semi-autonomous control, and safety mechanisms in the context of robotic surgery.......This paper details the AAU surgical robot, its hardware and software setup. The aim of the paper is to explain how a surgical robot has been rebuild as an open source platform for research in surgical robotics. As a result, the robot has full actuation and sensing capabilities at high sampling rate...

  6. Instrumentation of the da Vinci Robotic Surgical System

    DEFF Research Database (Denmark)

    Hansen, Karl Damkjær; Jensen, Simon; Sloth, Christoffer

    2015-01-01

    This paper details the AAU surgical robot, its hardware and software setup. The aim of the paper is to explain how a surgical robot has been rebuild as an open source platform for research in surgical robotics. As a result, the robot has full actuation and sensing capabilities at high sampling ra....... We aim at exploiting the developed surgical robot for research in semi-autonomous control, and safety mechanisms in the context of robotic surgery.......This paper details the AAU surgical robot, its hardware and software setup. The aim of the paper is to explain how a surgical robot has been rebuild as an open source platform for research in surgical robotics. As a result, the robot has full actuation and sensing capabilities at high sampling rate...

  7. Development of a Cognitive Robotic System for Simple Surgical Tasks

    OpenAIRE

    Riccardo Muradore; Paolo Fiorini; Gokhan Akgun; Duygun Erol Barkana; Marcello Bonfe; Fabrizio Boriero; Andrea Caprara; Giacomo Rossi; Riccardo Dodi; Ole Jakob Elle; Federica Ferraguti; Lorenza Gasperotti; Roger Gassert; Kim Mathiassen; Dilla Handini

    2015-01-01

    ARTICLE International Journal of Advanced Robotic Systems Development of a Cognitive Robotic System for Simple Surgical Tasks Invited Feature Article Riccardo Muradore1*, Paolo Fiorini1, Gokhan Akgun2, Duygun Erol Barkana3, Marcello Bonfe4, Fabrizio Boriero1, Andrea Caprara11, Giacomo De Rossi1, Riccardo Dodi5, Ole Jakob Elle6, Federica Ferraguti7, Lorenza Gasperotti1, Roger Gassert8, Kim Mathiassen6, Dilla Handini9, Olivier Lambercy8, Lin Li10, Maarja Kruusmaa10, Aura...

  8. Design, Implementation and Testing of Master Slave Robotic Surgical System

    Directory of Open Access Journals (Sweden)

    Syed Amjad Ali

    2015-01-01

    Full Text Available The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system

  9. Robotic Surgical System for Radical Prostatectomy: A Health Technology Assessment

    Science.gov (United States)

    Wang, Myra; Xie, Xuanqian; Wells, David; Higgins, Caroline

    2017-01-01

    Background Prostate cancer is the second most common type of cancer in Canadian men. Radical prostatectomy is one of the treatment options available, and involves removing the prostate gland and surrounding tissues. In recent years, surgeons have begun to use robot-assisted radical prostatectomy more frequently. We aimed to determine the clinical benefits and harms of the robotic surgical system for radical prostatectomy (robot-assisted radical prostatectomy) compared with the open and laparoscopic surgical methods. We also assessed the cost-effectiveness of robot-assisted versus open radical prostatectomy in patients with clinically localized prostate cancer in Ontario. Methods We performed a literature search and included prospective comparative studies that examined robot-assisted versus open or laparoscopic radical prostatectomy for prostate cancer. The outcomes of interest were perioperative, functional, and oncological. The quality of the body of evidence was examined according to the Grading of Recommendations, Assessment, Development, and Evaluation (GRADE) Working Group criteria. We also conducted a cost–utility analysis with a 1-year time horizon. The potential long-term benefits of robot-assisted radical prostatectomy for functional and oncological outcomes were also evaluated in a 10-year Markov model in scenario analyses. In addition, we conducted a budget impact analysis to estimate the additional costs to the provincial budget if the adoption of robot-assisted radical prostatectomy were to increase in the next 5 years. A needs assessment determined that the published literature on patient perspectives was relatively well developed, and that direct patient engagement would add relatively little new information. Results Compared with the open approach, we found robot-assisted radical prostatectomy reduced length of stay and blood loss (moderate quality evidence) but had no difference or inconclusive results for functional and oncological outcomes

  10. Design, Implementation and Testing of Master Slave Robotic Surgical System

    OpenAIRE

    Syed Amjad Ali; Amir Mahmood Soomro; Arbab Nighat Khizer

    2015-01-01

    The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main rea...

  11. A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals.

    Science.gov (United States)

    Wang, Hesheng; Zhang, Runxi; Chen, Weidong; Wang, Xiaozhou; Pfeifer, Rolf

    2017-08-01

    Minimally invasive surgery attracts more and more attention because of the advantages of minimal trauma, less bleeding and pain and low complication rate. However, minimally invasive surgery for beating hearts is still a challenge. Our goal is to develop a soft robot surgical system for single-port minimally invasive surgery on a beating heart. The soft robot described in this paper is inspired by the octopus arm. Although the octopus arm is soft and has more degrees of freedom (DOFs), it can be controlled flexibly. The soft robot is driven by cables that are embedded into the soft robot manipulator and can control the direction of the end and middle of the soft robot manipulator. The forward, backward and rotation movement of the soft robot is driven by a propulsion plant. The soft robot can move freely by properly controlling the cables and the propulsion plant. The soft surgical robot system can perform different thoracic operations by changing surgical instruments. To evaluate the flexibility, controllability and reachability of the designed soft robot surgical system, some testing experiments have been conducted in vivo on a swine. Through the subxiphoid, the soft robot manipulator could enter into the thoracic cavity and pericardial cavity smoothly and perform some operations such as biopsy, ligation and ablation. The operations were performed successfully and did not cause any damage to the surrounding soft tissues. From the experiments, the flexibility, controllability and reachability of the soft robot surgical system have been verified. Also, it has been shown that this system can be used in the thoracic and pericardial cavity for different operations. Compared with other endoscopy robots, the soft robot surgical system is safer, has more DOFs and is more flexible for control. When performing operations in a beating heart, this system maybe more suitable than traditional endoscopy robots.

  12. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Directory of Open Access Journals (Sweden)

    Saúl Tovar-Arriaga

    2012-07-01

    Full Text Available In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms. The implemented control allows the robot to compensate for small patient movements.

  13. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Science.gov (United States)

    Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

    2012-01-01

    In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

  14. Pilot study of design method for surgical robot using workspace reproduction system.

    Science.gov (United States)

    Seno, Hiroto; Kawamura, Kazuya; Kobayashi, Yo; Fujie, Masakatsu G

    2011-01-01

    Recent development methods for surgical robots have an inherent problem. The user-friendliness of operating robot cannot be revealed until completion of the robot. To assist the design of a surgical robot that is user-friendly in terms of surgeon's operation, we propose a system that considers the operation manner of surgeon during the design phase of the robot. This system includes the following functionality: 1) a master manipulator that measures the operation manner of the surgeon (operator), and 2) a slave simulator in which the mechanical parameters can be configured freely. The operator can use the master manipulator to operate the slave simulator. Using this system, we investigate the necessity of considering the operator's manner when developing a surgical robot. In the experiment, we used three instruments with mechanisms that differed with respect to the length between bending joints and measured the trajectory of each instrument tip position during the surgical task. The results show that there are differences in the trajectories of each mechanism. Based on the results, changes in the mechanism of the surgical robot influenced the operator's manner. Therefore, when designing the mechanism for a surgical robot, there is a need to consider how this influences the operator's manner.

  15. Evolution of autonomous and semi-autonomous robotic surgical systems: a review of the literature.

    Science.gov (United States)

    Moustris, G P; Hiridis, S C; Deliparaschos, K M; Konstantinidis, K M

    2011-12-01

    Autonomous control of surgical robotic platforms may offer enhancements such as higher precision, intelligent manoeuvres, tissue-damage avoidance, etc. Autonomous robotic systems in surgery are largely at the experimental level. However, they have also reached clinical application. A literature review pertaining to commercial medical systems which incorporate autonomous and semi-autonomous features, as well as experimental work involving automation of various surgical procedures, is presented. Results are drawn from major databases, excluding papers not experimentally implemented on real robots. Our search yielded several experimental and clinical applications, describing progress in autonomous surgical manoeuvres, ultrasound guidance, optical coherence tomography guidance, cochlear implantation, motion compensation, orthopaedic, neurological and radiosurgery robots. Autonomous and semi-autonomous systems are beginning to emerge in various interventions, automating important steps of the operation. These systems are expected to become standard modality and revolutionize the face of surgery. Copyright © 2011 John Wiley & Sons, Ltd.

  16. Do Robotic Surgical Systems Improve Profit Margins? A Cross-Sectional Analysis of California Hospitals.

    Science.gov (United States)

    Shih, Ya-Chen Tina; Shen, Chan; Hu, Jim C

    2017-09-01

    The aim of this study was to examine the association between ownership of robotic surgical systems and hospital profit margins. This study used hospital annual utilization data, annual financial data, and discharge data for year 2011 from the California Office of Statewide Health Planning and Development. We first performed bivariate analysis to compare mean profit margin by hospital and market characteristics and to examine whether these characteristics differed between hospitals that had one or more robotic surgical systems in 2011 and those that did not. We applied the t test and the F test to compare mean profit margin between two groups and among three or more groups, respectively. We then conducted multilevel logistic regression to determine the association between ownership of robotic surgical systems and having a positive profit margin after controlling for other hospital and market characteristics and accounting for possible correlation among hospitals located within the same market. The study sample included 167 California hospitals with valid financial information. Hospitals with robotic surgical systems tended to report more favorable profit margins. However, multilevel logistic regression showed that this relationship (an association, not causality) became only marginally significant (odds ratio [OR] = 6.2; P = 0.053) after controlling for other hospital characteristics, such as ownership type, teaching status, bed size, and surgical volumes, and market characteristics, such as total number of robotic surgical systems owned by other hospitals in the same market area. As robotic surgical systems become widely disseminated, hospital decision makers should carefully evaluate the financial and clinical implications before making a capital investment in this technology. Copyright © 2017 International Society for Pharmacoeconomics and Outcomes Research (ISPOR). Published by Elsevier Inc. All rights reserved.

  17. Intraocular robotic interventional surgical system (IRISS): Mechanical design, evaluation, and master-slave manipulation.

    Science.gov (United States)

    Wilson, Jason T; Gerber, Matthew J; Prince, Stephen W; Chen, Cheng-Wei; Schwartz, Steven D; Hubschman, Jean-Pierre; Tsao, Tsu-Chin

    2017-07-31

    Since the advent of robotic-assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi-step procedures from start to finish. Many intraocular surgical steps continue to be manually performed. An intraocular robotic interventional surgical system (IRISS) capable of performing various intraocular surgical procedures was designed, fabricated, and evaluated. Methods were developed to evaluate the performance of the remote centers of motion (RCMs) using a stereo-camera setup and to assess the accuracy and precision of positioning the tool tip using an optical coherence tomography (OCT) system. The IRISS can simultaneously manipulate multiple surgical instruments, change between mounted tools using an onboard tool-change mechanism, and visualize the otherwise invisible RCMs to facilitate alignment of the RCM to the surgical incision. The accuracy of positioning the tool tip was measured to be 0.205±0.003 mm. The IRISS was evaluated by trained surgeons in a remote surgical theatre using post-mortem pig eyes and shown to be effective in completing many key steps in a variety of intraocular surgical procedures as well as being capable of performing an entire cataract extraction from start to finish. The IRISS represents a necessary step towards fully automated intraocular surgery and demonstrated accurate and precise master-slave manipulation for cataract removal and-through visual feedback-retinal vein cannulation. Copyright © 2017 John Wiley & Sons, Ltd.

  18. Hybrid procedure for total laryngectomy with a flexible robot-assisted surgical system.

    Science.gov (United States)

    Schuler, Patrick J; Hoffmann, Thomas K; Veit, Johannes A; Rotter, Nicole; Friedrich, Daniel T; Greve, Jens; Scheithauer, Marc O

    2017-06-01

    Total laryngectomy is a standard procedure in head-and-neck surgery for the treatment of cancer patients. Recent clinical experiences have indicated a clinical benefit for patients undergoing transoral robot-assisted total laryngectomy (TORS-TL) with commercially available systems. Here, a new hybrid procedure for total laryngectomy is presented. TORS-TL was performed in human cadavers (n = 3) using a transoral-transcervical hybrid procedure. The transoral approach was performed with a robotic flexible robot-assisted surgical system (Flex®) and compatible flexible instruments. Transoral access and visualization of anatomical landmarks were studied in detail. Total laryngectomy is feasible with a combined transoral-transcervical approach using the flexible robot-assisted surgical system. Transoral visualization of all anatomical structures is sufficient. The flexible design of the robot is advantageous for transoral surgery of the laryngeal structures. Transoral robot assisted surgery has the potential to reduce morbidity, hospital time and fistula rates in a selected group of patients. Initial clinical studies and further development of supplemental tools are in progress. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

  19. Image-Guided Surgical Robotic System for Percutaneous Reduction of Joint Fractures.

    Science.gov (United States)

    Dagnino, Giulio; Georgilas, Ioannis; Morad, Samir; Gibbons, Peter; Tarassoli, Payam; Atkins, Roger; Dogramadzi, Sanja

    2017-08-16

    Complex joint fractures often require an open surgical procedure, which is associated with extensive soft tissue damages and longer hospitalization and rehabilitation time. Percutaneous techniques can potentially mitigate these risks but their application to joint fractures is limited by the current sub-optimal 2D intra-operative imaging (fluoroscopy) and by the high forces involved in the fragment manipulation (due to the presence of soft tissue, e.g., muscles) which might result in fracture malreduction. Integration of robotic assistance and 3D image guidance can potentially overcome these issues. The authors propose an image-guided surgical robotic system for the percutaneous treatment of knee joint fractures, i.e., the robot-assisted fracture surgery (RAFS) system. It allows simultaneous manipulation of two bone fragments, safer robot-bone fixation system, and a traction performing robotic manipulator. This system has led to a novel clinical workflow and has been tested both in laboratory and in clinically relevant cadaveric trials. The RAFS system was tested on 9 cadaver specimens and was able to reduce 7 out of 9 distal femur fractures (T- and Y-shape 33-C1) with acceptable accuracy (≈1 mm, ≈5°), demonstrating its applicability to fix knee joint fractures. This study paved the way to develop novel technologies for percutaneous treatment of complex fractures including hip, ankle, and shoulder, thus representing a step toward minimally-invasive fracture surgeries.

  20. The effect of a robot-assisted surgical system on the kinematics of user movements.

    Science.gov (United States)

    Nisky, Ilana; Hsieh, Michael H; Okamura, Allison M

    2013-01-01

    Teleoperated robot-assisted surgery (RAS) offers many advantages over traditional minimally invasive surgery. However, RAS has not yet realized its full potential, and it is not clear how to optimally train surgeons to use these systems. We hypothesize that the dynamics of the master manipulator impact the ability of users to make desired movements with the robot. We compared freehand and teleoperated movements of novices and experienced surgeons. To isolate the effects of dynamics from procedural knowledge, we chose simple movements rather than surgical tasks. We found statistically significant effects of teleoperation and user expertise in several aspects of motion, including target acquisition error, movement speed, and movement smoothness. Such quantitative assessment of human motor performance in RAS can impact the design of surgical robots, their control, and surgeon training methods, and eventually, improve patient outcomes.

  1. Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

    Science.gov (United States)

    Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

    2017-03-27

    To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

  2. Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery

    Science.gov (United States)

    Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

    2013-01-01

    This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information. PMID:24398557

  3. [Analysis of key vision position technologies in robot assisted surgical system for total knee replacement].

    Science.gov (United States)

    Zhao, Zijian; Liu, Yuncai; Wu, Xiaojuan; Liu, Hongjian

    2008-02-01

    Robot assisted surgery is becoming a widely popular technology and is now entering the total knee replacement. The development of total knee replacement and the operation system structure are introduced in this paper. The vision position technology and the related calibration technology, which are very important, are also analyzed. The experiments of error analysis in our WATO system demonstrate that the position and related calibration technologies have a high precision and can satisfy surgical requirement.

  4. Robot-assisted cardiac surgery using the da vinci surgical system: a single center experience.

    Science.gov (United States)

    Kim, Eung Re; Lim, Cheong; Kim, Dong Jin; Kim, Jun Sung; Park, Kay Hyun

    2015-04-01

    We report our initial experiences of robot-assisted cardiac surgery using the da Vinci Surgical System. Between February 2010 and March 2014, 50 consecutive patients underwent minimally invasive robot-assisted cardiac surgery. Robot-assisted cardiac surgery was employed in two cases of minimally invasive direct coronary artery bypass, 17 cases of mitral valve repair, 10 cases of cardiac myxoma removal, 20 cases of atrial septal defect repair, and one isolated CryoMaze procedure. Average cardiopulmonary bypass time and average aorta cross-clamping time were 194.8±48.6 minutes and 126.1±22.6 minutes in mitral valve repair operations and 132.0±32.0 minutes and 76.1±23.1 minutes in myxoma removal operations, respectively. During atrial septal defect closure operations, the average cardiopulmonary bypass time was 128.3±43.1 minutes. The median length of stay was between five and seven days. The only complication was that one patient needed reoperation to address bleeding. There were no hospital mortalities. Robot-assisted cardiac surgery is safe and effective for mitral valve repair, atrial septal defect closure, and cardiac myxoma removal surgery. Reducing operative time depends heavily on the experience of the entire robotic surgical team.

  5. New real-time MR image-guided surgical robotic system for minimally invasive precision surgery

    Energy Technology Data Exchange (ETDEWEB)

    Hashizume, M.; Yasunaga, T.; Konishi, K. [Kyushu University, Department of Advanced Medical Initiatives, Faculty of Medical Sciences, Fukuoka (Japan); Tanoue, K.; Ieiri, S. [Kyushu University Hospital, Department of Advanced Medicine and Innovative Technology, Fukuoka (Japan); Kishi, K. [Hitachi Ltd, Mechanical Engineering Research Laboratory, Hitachinaka-Shi, Ibaraki (Japan); Nakamoto, H. [Hitachi Medical Corporation, Application Development Office, Kashiwa-Shi, Chiba (Japan); Ikeda, D. [Mizuho Ikakogyo Co. Ltd, Tokyo (Japan); Sakuma, I. [The University of Tokyo, Graduate School of Engineering, Bunkyo-Ku, Tokyo (Japan); Fujie, M. [Waseda University, Graduate School of Science and Engineering, Shinjuku-Ku, Tokyo (Japan); Dohi, T. [The University of Tokyo, Graduate School of Information Science and Technology, Bunkyo-Ku, Tokyo (Japan)

    2008-04-15

    To investigate the usefulness of a newly developed magnetic resonance (MR) image-guided surgical robotic system for minimally invasive laparoscopic surgery. The system consists of MR image guidance [interactive scan control (ISC) imaging, three-dimensional (3-D) navigation, and preoperative planning], an MR-compatible operating table, and an MR-compatible master-slave surgical manipulator that can enter the MR gantry. Using this system, we performed in vivo experiments with MR image-guided laparoscopic puncture on three pigs. We used a mimic tumor made of agarose gel and with a diameter of approximately 2 cm. All procedures were successfully performed. The operator only advanced the probe along the guidance device of the manipulator, which was adjusted on the basis of the preoperative plan, and punctured the target while maintaining the operative field using robotic forceps. The position of the probe was monitored continuously with 3-D navigation and 2-D ISC images, as well as the MR-compatible laparoscope. The ISC image was updated every 4 s; no artifact was detected. A newly developed MR image-guided surgical robotic system is feasible for an operator to perform safe and precise minimally invasive procedures. (orig.)

  6. The Settings, Pros and Cons of the New Surgical Robot da Vinci Xi System for Transoral Robotic Surgery (TORS): A Comparison With the Popular da Vinci Si System.

    Science.gov (United States)

    Kim, Da Hee; Kim, Hwan; Kwak, Sanghyun; Baek, Kwangha; Na, Gina; Kim, Ji Hoon; Kim, Se Heon

    2016-10-01

    The da Vinci system (da Vinci Surgical System; Intuitive Surgical Inc.) has rapidly developed in several years from the S system to the Si system and now the Xi System. To investigate the surgical feasibility and to provide workflow guidance for the newly released system, we used the new da Vinci Xi system for transoral robotic surgery (TORS) on a cadaveric specimen. Bilateral supraglottic partial laryngectomy, hypopharyngectomy, lateral oropharyngectomy, and base of the tongue resection were serially performed in search of the optimal procedures with the new system. The new surgical robotic system has been upgraded in all respects. The telescope and camera were incorporated into one system, with a digital end-mounted camera. Overhead boom rotation allows multiquadrant access without axis limitation, the arms are now thinner and longer with grabbing movements for easy adjustments. The patient clearance button dramatically reduces external collisions. The new surgical robotic system has been optimized for improved anatomic access, with better-equipped appurtenances. This cadaveric study of TORS offers guidance on the best protocol for surgical workflow with the new Xi system leading to improvements in the functional results of TORS.

  7. Towards robotic heart surgery: introduction of autonomous procedures into an experimental surgical telemanipulator system.

    Science.gov (United States)

    Bauernschmitt, R; Schirmbeck, E U; Knoll, A; Mayer, H; Nagy, I; Wessel, N; Wildhirt, S M; Lange, R

    2005-09-01

    The introduction of telemanipulator systems into cardiac surgery enabled the heart surgeon to perform minimally invasive procedures with high precision and stereoscopic view. For further improvement and especially for inclusion of autonomous action sequences, implementation of force-feedback is necessary. The aim of our study was to provide a robotic scenario giving the surgeon an impression very similar to open procedures (high immersion) and to enable autonomous surgical knot tying with delicate suture material. In this experimental set-up the feasibility of autonomous surgical knot tying is demonstrated for the first time using stereoscopic view and force feedback. Copyright 2005 John Wiley & Sons, Ltd.

  8. Early experience with the da Vinci® surgical system robot in gynecological surgery at King Abdulaziz University Hospital

    Directory of Open Access Journals (Sweden)

    Sait KH

    2011-07-01

    Full Text Available Khalid H SaitObstetrics and Gynecology Department, Faculty of Medicine, Gynecology Oncology Unit, King Abdulaziz University Hospital, Jeddah, Saudi ArabiaBackground: The purpose of this study was to review our experience and the challenges of using the da Vinci® surgical system robot during gynecological surgery at King Abdulaziz University Hospital.Methods: A retrospective study was conducted to review all cases of robot-assisted gynecologic surgery performed at our institution between January 2008 and December 2010. The patients were reviewed for indications, complications, length of hospital stay, and conversion rate, as well as console and docking times.Results: Over the three-year period, we operated on 35 patients with benign or malignant conditions using the robot for a total of 62 surgical procedures. The docking times averaged seven minutes. The mean console times for simple hysterectomy, bilateral salpingo-oophorectomy, and bilateral pelvic lymphadenectomy were 125, 47, and 62 minutes, respectively. In four patients, laparoscopic procedures were converted to open procedures, giving a conversion rate of 6.5%. All of the conversions were among the first 15 procedures performed. The average hospital stay was 3 days. Complications occurred in five patients (14%, and none were directly related to the robotic system.Conclusion: Our early experience with the robot show that with proper training of the robotic team, technical difficulty with the robotic system is limited. There is definitely a learning curve that requires performance of gynecological surgical procedures using the robot.Keywords: da Vinci robot, gynecological surgery, laparoscopy

  9. Load evaluation of the da Vinci surgical system for transoral robotic surgery.

    Science.gov (United States)

    Fujiwara, Kazunori; Fukuhara, Takahiro; Niimi, Koji; Sato, Takahiro; Kitano, Hiroya

    2015-12-01

    Transoral robotic surgery, performed with the da Vinci surgical system (da Vinci), is a surgical approach for benign and malignant lesions of the oral cavity and laryngopharynx. It provides several unique advantages, which include a 3-dimensional magnified view and ability to see and work around curves or angles. However, the current da Vinci surgical system does not provide haptic feedback. This is problematic because the potential risks specific to the transoral use of the da Vinci include tooth injury, mucosal laceration, ocular injury and mandibular fracture. To assess the potential for intraoperative injuries, we measured the load of the endoscope and the instrument of the da Vinci Si surgical system. We pressed the endoscope and instrument of the da Vinci Si against Load cell six times each and measured the dynamic load and the time-to-maximum load. We also struck the da Vinci Si endoscope and instrument against the Load cell six times each and measured the impact load. The maximum dynamic load was 7.27 ± 1.31 kg for the endoscope and 1.90 ± 0.72 for the instrument. The corresponding time-to-maximum loads were 1.72 ± 0.22 and 1.29 ± 0.34 s, but the impact loads were significantly lower than the dynamic load. It remains possible that a major load is exerted on adjacent structures by continuous contact with the endoscope and instrument of da Vinci Si. However, there is a minor delay in reaching the maximum load. Careful monitoring by an on-site assistant may, therefore, help prevent contiguous injury.

  10. A history of robots: from science fiction to surgical robotics.

    Science.gov (United States)

    Hockstein, N G; Gourin, C G; Faust, R A; Terris, D J

    2007-01-01

    Surgical robotics is an evolving field with great advances having been made over the last decade. The origin of robotics was in the science-fiction literature and from there industrial applications, and more recently commercially available, surgical robotic devices have been realized. In this review, we examine the field of robotics from its roots in literature to its development for clinical surgical use. Surgical mills and telerobotic devices are discussed, as are potential future developments.

  11. A history of robots: from science fiction to surgical robotics

    OpenAIRE

    Hockstein, N. G.; Gourin, C. G.; Faust, R. A.; Terris, D. J.

    2007-01-01

    Surgical robotics is an evolving field with great advances having been made over the last decade. The origin of robotics was in the science-fiction literature and from there industrial applications, and more recently commercially available, surgical robotic devices have been realized. In this review, we examine the field of robotics from its roots in literature to its development for clinical surgical use. Surgical mills and telerobotic devices are discussed, as are potential future developme...

  12. Robotic telemanipulating surgical systems for laparoscopy: the story so far in the UK.

    Science.gov (United States)

    Sood, Harpreet S; Arya, Manit; Maple, Hannah; Grange, Philippe; Haq, Asif

    2010-11-01

    Surgical robotics is, at present, one of the most dynamically developing areas of biomedical engineering that has been proven to increase the stability and robustness of surgery. Robotics can integrate, assist, control and extend the human capabilities, correcting for manual errors, or record the spatial points-of-interest and motions. This is of importance as an adjunct to many laparoscopic subspecialty procedures, from cardiac to pelvic surgery. Evidence-based medicine is now demonstrating that robotized equipment can greatly add to the preoperative simulation, the ergonomics of the procedure, the preoperative simulation and the risk-free training of the surgeon with precision surgery and less trauma to the patient. This article discusses the robots that are clinically available at present and their importance to the surgeon and patient.

  13. Robot and robot system

    Science.gov (United States)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  14. A robot-assisted surgical system using a force-image control method for pedicle screw insertion.

    Directory of Open Access Journals (Sweden)

    Wei Tian

    Full Text Available OBJECTIVE: To introduce a robot-assisted surgical system for spinal posterior fixation that can automatically recognize the drilling state and stop potential cortical penetration with force and image information and to further evaluate the accuracy and safety of the robot for sheep vertebra pedicle screw placement. METHODS: The Robotic Spinal Surgery System (RSSS was composed of an optical tracking system, a navigation and planning system, and a surgical robot equipped with a 6-DOF force/torque sensor. The robot used the image message and force signals to sense the different operation states and to prevent potential cortical penetration in the pedicle screw insertion operation. To evaluate the accuracy and safety of the RSSS, 32 screw insertions were conducted. Furthermore, six trajectories were deliberately planned incorrectly to explore whether the robot could recognize the different drilling states and immediately prevent cortical penetration. RESULTS: All 32 pedicle screws were placed in the pedicle without any broken pedicle walls. Compared with the preoperative planning, the average deviations of the entry points in the axial and sagittal views were 0.50 ± 0.33 and 0.65 ± 0.40 mm, and the average deviations of the angles in the axial and sagittal views were 1.9 ± 0.82° and 1.48 ± 1.2°. The robot successfully recognized the different drilling states and prevented potential cortical penetration. In the deliberately incorrectly planned trajectory experiments, the robot successfully prevented the cortical penetration. CONCLUSION: These results verified the RSSS's accuracy and safety, which supported its potential use for the spinal surgery.

  15. A robot-assisted surgical system using a force-image control method for pedicle screw insertion.

    Science.gov (United States)

    Tian, Wei; Han, Xiaoguang; Liu, Bo; Liu, Yajun; Hu, Ying; Han, Xiao; Xu, Yunfeng; Fan, Mingxing; Jin, Haiyang

    2014-01-01

    To introduce a robot-assisted surgical system for spinal posterior fixation that can automatically recognize the drilling state and stop potential cortical penetration with force and image information and to further evaluate the accuracy and safety of the robot for sheep vertebra pedicle screw placement. The Robotic Spinal Surgery System (RSSS) was composed of an optical tracking system, a navigation and planning system, and a surgical robot equipped with a 6-DOF force/torque sensor. The robot used the image message and force signals to sense the different operation states and to prevent potential cortical penetration in the pedicle screw insertion operation. To evaluate the accuracy and safety of the RSSS, 32 screw insertions were conducted. Furthermore, six trajectories were deliberately planned incorrectly to explore whether the robot could recognize the different drilling states and immediately prevent cortical penetration. All 32 pedicle screws were placed in the pedicle without any broken pedicle walls. Compared with the preoperative planning, the average deviations of the entry points in the axial and sagittal views were 0.50 ± 0.33 and 0.65 ± 0.40 mm, and the average deviations of the angles in the axial and sagittal views were 1.9 ± 0.82° and 1.48 ± 1.2°. The robot successfully recognized the different drilling states and prevented potential cortical penetration. In the deliberately incorrectly planned trajectory experiments, the robot successfully prevented the cortical penetration. These results verified the RSSS's accuracy and safety, which supported its potential use for the spinal surgery.

  16. Workflow-based Context-aware Control of Surgical Robots

    OpenAIRE

    Beyl, Tim

    2015-01-01

    Surgical assistance system such as medical robots enhanced the capabilities of medical procedures in the last decades. This work presents a new perspective on the use of workflows with surgical robots in order to improve the technical capabilities and the ease of use of such systems. This is accomplished by a 3D perception system for the supervision of the surgical operating room and a workflow-based controller, that allows to monitor the surgical process using workflow-tracking techniques.

  17. Recent in vivo surgical robot and mechanism developments.

    Science.gov (United States)

    Rentschler, M E; Oleynikov, D

    2007-09-01

    The surgical landscape is quickly changing because of the major driving force of robotics. Well-established technology that provides robotic assistance from outside the patient may soon give way to alternative approaches that place the robotic mechanisms inside the patient, whether through traditional laparoscopic ports or through other, natural orifices. While some of this technology is still being developed, other concepts are being evaluated through clinical trials. This article examines the state of the art in surgical robots and mechanisms by providing an overview of the ex vivo robotic systems that are commercially available to in vivo mechanisms, and robotic assistants that are being tested in animal models.

  18. A phantom pig abdomen as an alternative for testing robotic surgical systems: our experience.

    Science.gov (United States)

    Ristolainen, Asko; Colucci, Gianluca; Kruusmaa, Maarja

    2013-11-01

    The use of animals for testing and validating new medical devices and surgical techniques has raised ethical issues for a long time. Following the introduction of the Three Rs principle, significant efforts have been made to achieve a reduction in the numbers of animals used in testing. Nevertheless, the number of large animals used for testing purposes is still too high. This article describes a potential alternative to the use of large animals in the early phase of the development of surgical equipment -- a high-definition phantom pig abdomen. The phantom pig abdomen was developed from computed tomography scans by using affordable materials, and it was used with two different robotic platforms. It permitted the testing of minimally-invasive robotic pancreatic enucleation, with or without intraoperative ultrasound guidance. The phantom pig abdomen has proven to be a realistic tool, with the potential to reduce the cost and time-frame of the experiments. 2013 FRAME.

  19. [First 24 Japanese cases of robotic-assisted laparoscopic radical prostatectomy using the daVinci Surgical System].

    Science.gov (United States)

    Yoshioka, Kunihiko; Hatano, Tadashi; Nakagami, Yoshihiro; Ozu, Choichiro; Horiguchi, Yutaka; Sakamoto, Noboru; Yonov, Hiroyuki; Ohno, Yoshio; Ohori, Makoto; Tachibana, Masaaki; Patel, Vipul R

    2008-05-01

    In Japan, as of September 2007, prostatectomy is conducted with open surgical procedures in more than 90% of the cases. Following the first reported robotic prostatectomy by Binder, et al. in 2000, a robotic-assisted laparoscopic radical prostatectomy (RALP) using the daVinci Surgical System (Intuitive Surgical, Inc., Sunnyvale, California, USA) has been extensively used as a standard procedure with gratifying results in the United States. In the Asian region, in contrast, RALP is still in an introductory phase. Recently, we introduced RALP in Japan. A total of 24 patients received robotic surgery within a year since August 2006. RALP was completed in all patients without conversion to open surgery, except for the first patient in whom a restriction to a 2-hour operation had been imposed by the Ethical Committee. The mean operative time using the daVinci device and the mean estimated blood loss were 232.0 (range; 136-405) minutes and 313.0 (range; 10-1,000) ml, respectively. The training program we recently developed proved remarkably effective in reducing the learning curve of robotic surgery in Japan, where there is no person with expertise in this operating procedure. In particular, the intraoperative guidance given by the expert was useful after relevant problematic points were delineated by operators who received comprehensive video-based image training and actually performed robot surgery in several cases. With direct intraoperative guidance by the mentor during cases 13 and 14, both the operation time and estimated blood loss was markedly reduced.

  20. Minimally invasive treatment of displaced femoral shaft fractures with a teleoperated robot-assisted surgical system.

    Science.gov (United States)

    Zhu, Qing; Liang, Bin; Wang, Xingsong; Sun, Xiaogang; Wang, Liming

    2017-10-01

    Minimally invasive surgical operation of intramedullary (IM) nailing is a standard technique for treating diaphyseal fractures. However, in addition to its advantages, there are some drawbacks such as the frequent occurrence of malalignment, physical fatigue and high radiation exposure to medical staff. The use of robotic and navigation techniques is promising treatments for femoral fractures. This paper presents a novel robot-assisted manipulator for femoral shaft fracture reduction with indirect contact with the femur. An alternative clinical testing model was proposed for orthopedic surgeons to practice femoral fracture reduction. This model imitates the human musculoskeletal system in shape and functional performance. The rubber tube simulate muscles providing contraction forces, and the silicone simulates passive elasticity of muscles. Two-group experiments were performed for studying feasibility of the teleoperated manipulator. The average operative time was about 7min. In the first group experiments, the femur axial, antero-posterior (AP) and lateral views mean errors were 2.2mm, 0.7mm and 1.1mm, respectively, and their maximums were 3.0mm, 0.9mm and 1.5mm; the mean errors of rotation were 0.8° around x-axis, 1.6° around y-axis, 2.0° around z-axis, and their maximums were 1.1°, 2.2°, 2.9°, respectively. For the second group experiments, the femur axial, AP and lateral views mean errors were 1.8mm, 0.4mm and 0.8mm, respectively, and their maximums were 2.2mm, 0.7mm and 1.1mm; the mean errors of rotation were 1.2° around x-axis, 1.6° around y-axis, 1.9° around z-axis, and their maximums were 2.4°, 1.8°, 2.7°, respectively. Reduction for AP view displacement is easier than lateral (pminimally invasive teleoperated manipulator would have greater development prospect. Copyright © 2017 Elsevier Ltd. All rights reserved.

  1. Perioperative nurse training in cardiothoracic surgical robotics.

    Science.gov (United States)

    Connor, M A; Reinbolt, J A; Handley, P J

    2001-12-01

    The exponential growth of OR technology during the past 10 years has placed increased demands on perioperative nurses. Proficiency is required not only in patient care but also in the understanding, operating, and troubleshooting of video systems, computers, and cutting edge medical devices. The formation of a surgical team dedicated to robotically assisted cardiac surgery requires careful selection, education, and hands-on practice. This article details the six-week training process undertaken at Sarasota Memorial Hospital, Sarasota, Fla, which enabled staff members to deliver excellent patient care with a high degree of confidence in themselves and the robotic technology.

  2. 外科手术机器人系统及其临床应用%Surgical Robot System and Its Clinical Applications

    Institute of Scientific and Technical Information of China (English)

    戚仕涛; 刘铁兵

    2011-01-01

    Compared with traditional TV endoscopic surgery, surgical robot system has many advantages, such as more sophistication, minimally invasion and so on. This article described a surgical robot system's architecture, and surgical robot's technical characteristics and clinical applications. The development of surgical robots was also briefly explored.%与传统电视腔镜手术相比,外科机器人辅助手术具有更加精细、微创等优点.本文介绍了手术机器人系统的特点及达芬奇手术机器人组成原理,并对手术机器人系统的临床应用情况和未来发展做了简要探讨.

  3. Surgical Residents are Excluded From Robot-assisted Surgery

    DEFF Research Database (Denmark)

    Broholm, Malene; Rosenberg, Jacob

    2015-01-01

    PURPOSE: Implementation of a robotic system may influence surgical training. The aim was to report the charge of the operating surgeon and the bedside assistant at robot-assisted procedures in urology, gynecology, and colorectal surgery. MATERIALS AND METHODS: A review of hospital charts from...... performed. In 10 (1.3%) of these procedures, a resident attended as bedside assistant and never as operating surgeon in the console. CONCLUSIONS: Our results demonstrate a severe problem with surgical education. Robot-assisted surgery is increasingly used; however, robotic surgical training during residency...... surgical procedures during a 1-year period from October 2013 to October 2014. All robot-assisted urologic, gynecologic, and colorectal procedures were identified. Charge of both operating surgeon in the console and bedside assistant were registered. RESULTS: A total of 774 robot-assisted procedures were...

  4. Haptic feedback and control of a flexible surgical endoscopic robot.

    Science.gov (United States)

    Wang, Zheng; Sun, Zhenglong; Phee, Soo Jay

    2013-11-01

    A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

  5. A Comparative Study of Da Vinci Robot System with Video-assisted Thoracoscopy in the Surgical Treatment of Mediastinal Lesions

    Directory of Open Access Journals (Sweden)

    Renquan DING

    2014-07-01

    Full Text Available Background and objective In recent years, Da Vinci robot system applied in the treatment of intrathoracic surgery mediastinal diseases become more mature. The aim of this study is to summarize the clinical data about mediastinal lesions of General Hospital of Shenyang Military Region in the past 4 years, then to analyze the treatment effect and promising applications of da Vinci robot system in the surgical treatment of mediastinal lesions. Methods 203 cases of mediastinal lesions were collected from General Hospital of Shenyang Military Region between 2010 and 2013. These patients were divided into two groups da Vinci and video-assisted thoracoscopic surgery (VATS according to the selection of the treatments. The time in surgery, intraoperative blood loss, postoperative drainage amount within three days after surgery, the period of bearing drainage tubes, hospital stays and hospitalization expense were then compared. Results All patients were successfully operated, the postoperative recovery is good and there is no perioperative death. The different of the time in surgery between two groups is Robots group 82 (20-320 min and thoracoscopic group 89 (35-360 min (P>0.05. The intraoperative blood loss between two groups is robot group 10 (1-100 mL and thoracoscopic group 50 (3-1,500 mL. The postoperative drainage amount within three days after surgery between two groups is robot group 215 (0-2,220 mL and thoracoscopic group 350 (50-1,810 mL. The period of bearing drainage tubes after surgery between two groups is robot group 3 (0-10 d and thoracoscopic group: 5 (1-18 d. The difference of hospital stays between two groups is robot group 7 (2-15 d and thoracoscopic group 9 (2-50 d. The hospitalization expense between two groups is robot group (18,983.6±4,461.2 RMB and thoracoscopic group (9,351.9±2,076.3 RMB (All P<0.001. Conclusion The da Vinci robot system is safe and efficient in the treatment of mediastinal lesions compared with video

  6. Virtual wall-based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery.

    Science.gov (United States)

    Seung, Sungmin; Choi, Hongseok; Jang, Jongseong; Kim, Young Soo; Park, Jong-Oh; Park, Sukho; Ko, Seong Young

    2017-01-01

    This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall-based haptic guidance together with a medical image-guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall-based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator's trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% ( p haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.

  7. Current Capabilities and Development Potential in Surgical Robotics

    Directory of Open Access Journals (Sweden)

    Mathias Hoeckelmann

    2015-05-01

    Full Text Available Commercial surgical robots have been in clinical use since the mid-1990s, supporting surgeons in various tasks. In the past decades, many systems emerged as research platforms, and a few entered the global market. This paper summarizes the currently available surgical systems and research directions in the broader field of surgical robotics. The widely deployed teleoperated manipulators aim to enhance human cognitive and physical skills and provide smart tools for surgeons, while image-guided robotics focus on surpassing human limitations by introducing automated targeting and treatment delivery methods. Both concepts are discussed based on prototypes and commercial systems. Through concrete examples the possible future development paths of surgical robots are illustrated. While research efforts are taking different approaches to improve the capacity of such systems, the aim of this survey is to assess their maturity from the commercialization point of view.

  8. [da Vinci surgical system].

    Science.gov (United States)

    Watanabe, Gou; Ishikawa, Norihiro

    2014-07-01

    The da Vinci surgical system was developed by Intuitive Surgical Inc. in the United States as an endoscopic surgical device to assist remote control surgeries. In 1998, the Da Vinci system was first used for cardiothoracic procedures. Currently a combination of robot-assisted internal thoracic artery harvest together with coronary artery bypass grafting (CABG) through a mini-incision (ThoraCAB) or totally endoscopic procedures including anastomoses under robotic assistance (TECAB) are being conducted for the treatment of coronary artery diseases. With the recent advances in catheter interventions, hybrid procedures combining catheter intervention with ThoraCAB or TECAB are anticipated in the future.On the other hand, with the decrease in number of coronary artery bypass surgeries, the share of valvular surgeries is expected to increase in the future. Among them, mitral valvuloplasty for mitral regurgitation is anticipated to be conducted mainly by low-invasive procedures, represented by minimally invasive cardiac surgery( MICS) and robot-assisted surgery. Apart from the intrinsic good surgical view, robotic-assisted systems offer additional advantages of the availability of an amplified view and the easy to observe the mitral valve in the physiological position. Thus, robotic surgical surgeries that make complicated procedures easier are expected to accomplish further developments in the future. Furthermore, while the number of surgeries for atrial septal defects has decreased dramatically following the widespread use of Amplatzer septal occluder, robotic surgery may become a good indication for cases in which the Amplatzer device is not indicated. In Japan, clinical trial of the da Vinci robotic system for heart surgeries has been completed. Statutory approval of the da Vinci system for mitral regurgitation and atrial septal defects is anticipated in the next few years.

  9. Liability exposure for surgical robotics instructors.

    Science.gov (United States)

    Lee, Yu L; Kilic, Gokhan; Phelps, John Y

    2012-01-01

    Surgical robotics instructors provide an essential service in improving the competency of novice gynecologic surgeons learning robotic surgery and advancing surgical skills on behalf of patients. However, despite best intentions, robotics instructors and the gynecologists who use their services expose themselves to liability. The fear of litigation in the event of a surgical complication may reduce the availability and utility of robotics instructors. A better understanding of the principles of duty of care and the physician-patient relationship, and their potential applicability in a court of law likely will help to dismantle some concerns and uncertainties about liability. This commentary is not meant to discourage current and future surgical instructors but to raise awareness of liability issues among robotics instructors and their students and to recommend certain preventive measures to curb potential liability risks.

  10. Robotic systems in spine surgery.

    Science.gov (United States)

    Onen, Mehmet Resid; Naderi, Sait

    2014-01-01

    Surgical robotic systems have been available for almost twenty years. The first surgical robotic systems were designed as supportive systems for laparoscopic approaches in general surgery (the first procedure was a cholecystectomy in 1987). The da Vinci Robotic System is the most common system used for robotic surgery today. This system is widely used in urology, gynecology and other surgical disciplines, and recently there have been initial reports of its use in spine surgery, for transoral access and anterior approaches for lumbar inter-body fusion interventions. SpineAssist, which is widely used in spine surgery, and Renaissance Robotic Systems, which are considered the next generation of robotic systems, are now FDA approved. These robotic systems are designed for use as guidance systems in spine instrumentation, cement augmentations and biopsies. The aim is to increase surgical accuracy while reducing the intra-operative exposure to harmful radiation to the patient and operating team personnel during the intervention. We offer a review of the published literature related to the use of robotic systems in spine surgery and provide information on using robotic systems.

  11. 达芬奇手术机器人系统及其临床应用%DA VINCI(R) STM surgical robot system and its clinical applications

    Institute of Scientific and Technical Information of China (English)

    戚仕涛; 汤黎明

    2011-01-01

    手术机器人的发明和应用开创了外科手术的又一新纪元.与传统电视腔镜手术相比,手术机器人系统具有更加精细、微创等优点.本文介绍了达芬奇手术机器人系统的组成原理、手术机器人的特点与临床应用情况,并对手术机器人的发展做了简要探讨.%The invention and its application of surgical robots created yet another new era of surgery. Compared with traditional TV endoscopic surgery surgical robot system has many advantages as more sophistication , minimally invasion and so on. This article described a surgical robot system's architecture, and surgical robot's technical characteristics and clinical applications, and the development of surgical robots was also briefly explored.

  12. Surgical robotics. Evaluation of the Computer Motion AESOP 3000 robotic endoscope holder.

    Science.gov (United States)

    2002-07-01

    The use of robots to manipulate surgical instruments inside the patient has already moved from the world of fiction to fact. While the widespread use of full-function surgical robots is still many years away, less sophisticated robots that perform very specific surgical functions are already at a stage where the typical hospital can consider their use. Currently, the most affordable and commonly used type of "surgical-assist" robot is the robotic endoscope holder, which is used to hold and position rigid endoscopes during minimally invasive surgery. In this study, we introduce readers to the topic of surgical robotics, focusing specifically on robotic endoscope holders. The study includes a Technology Management Guide, in which we discuss who should and who shouldn't consider implementing such robots, and it includes our evaluation protocol and findings for one such robot, the Computer Motion AESOP 3000. We judged the evaluated system based on its performance relative to the human scope holders it is designed to replace, as well as its safety and ease of use. While we found the AESOP 3000 to be an acceptable, and sometimes preferred, alternative to the use of a human scope holder, we caution that many healthcare facilities won't see sufficient clinical benefit to warrant its purchase at this time.

  13. A prototype surgical manipulator for robotic intraocular micro surgery.

    Science.gov (United States)

    Mulgaonkar, Amit P; Hubschman, Jean-Pierre; Bourges, Jean-Louis; Jordan, Brett L; Cham, Christopher; Wilson, Jason T; Tsao, Tsu-Chin; Culjat, Martin O

    2009-01-01

    A prototype manipulator system was developed for ophthalmologic microsurgery. The system, consisting of two parallel X-Y stages, can mechanically maintain a fixed-point of rotation at the surface of the eye, potentially reducing trauma during surgical procedures. The initial prototype was designed to function in concert with the da Vinci Surgical System for gross positioning. Robotic tests demonstrated the mechanical fitness of the prototype while an in vitro surgical sclerectomy was performed to demonstrate functionality of the approach.

  14. Raven surgical robot training in preparation for da vinci.

    Science.gov (United States)

    Glassman, Deanna; White, Lee; Lewis, Andrew; King, Hawkeye; Clarke, Alicia; Glassman, Thomas; Comstock, Bryan; Hannaford, Blake; Lendvay, Thomas S

    2014-01-01

    The rapid adoption of robotic assisted surgery challenges the pace at which adequate robotic training can occur due to access limitations to the da Vinci robot. Thirty medical students completed a randomized controlled trial evaluating whether the Raven robot could be used as an alternative training tool for the Fundamentals of Laparoscopic Surgery (FLS) block transfer task on the da Vinci robot. Two groups, one trained on the da Vinci and one trained on the Raven, were tested on a criterion FLS block transfer task on the da Vinci. After robotic FLS block transfer proficiency training there was no statistically significant difference between path length (p=0.39) and economy of motion scores (p=0.06) between the two groups, but those trained on the da Vinci did have faster task times (p=0.01). These results provide evidence for the value of using the Raven robot for training prior to using the da Vinci surgical system for similar tasks.

  15. Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm

    OpenAIRE

    Wei Wang; Weidong Wang; Wei Dong; Hongjian Yu; Zhiyuan Yan; Zhijiang Du

    2015-01-01

    Based on the proposed end-effector structure of a laparoscopic minimally invasive surgical manipulator, a dimensional optimization method is investigated to enlarge the motion range of the mechanical arm in the specific target area and reduce the collision among the mechanical arms simultaneously. Both the length of the kinematics links and the overall size of the integrated system are considered in the optimization process. The NSGA-II algorithm oriented to the multi-objective optimization i...

  16. Development of a vision integration framework for laparoscopic surgical robot.

    Science.gov (United States)

    Shin, Jung W; Park, Jun W; Lee, Chul H; Hong, Soyoung; Jo, Yungho; Choi, Jaesoon

    2006-01-01

    In order to realize intelligent laparoscopic surgical robot, a vision integrated system constitutes one of the fundamental components. The authors have constructed a vision framework in the current version of NCC (National Cancer Center) laparoscopic surgical robot controlled on a real-time OS (RTLinux-Pro, FSMLabs Inc., U.S.A.). Adding vision framework, we have been applying and testing image processing algorithms- edge detection of object for positioning surgical tool, Watersheds for recognizing object. This paper documents the implementation of the framework and preliminary results of the image segmentation using Watersheds algorithm. Finally the real-time processing capability of our vision system is discussed.

  17. Surgical Robotics Research in Cardiovascular Disease

    Energy Technology Data Exchange (ETDEWEB)

    Pohost, Gerald M; Guthrie, Barton L; Steiner, Charles

    2008-02-29

    This grant is to support a research in robotics at three major medical centers: the University of Southern California-USC- (Project 1); the University of Alabama at Birmingham-UAB-(Project 2); and the Cleveland Clinic Foundation-CCF-(Project 3). Project 1 is oriented toward cardiovascular applications, while projects 2 and 3 are oriented toward neurosurgical applications. The main objective of Project 1 is to develop an approach to assist patients in maintaining a constant level of stress while undergoing magnetic resonance imaging or spectroscopy. The specific project is to use handgrip to detect the changes in high energy phosphate metabolism between rest and stress. The high energy phosphates, ATP and phosphocreatine (PCr) are responsible for the energy of the heart muscle (myocardium) responsible for its contractile function. If the blood supply to the myocardium in insufficient to support metabolism and contractility during stress, the high energy phosphates, particularly PCr, will decrease in concentration. The high energy phosphates can be tracked using phosphorus-31 magnetic resonance spectroscopy ({sup 31}P MRS). In Project 2 the UAB Surgical Robotics project focuses on the use of virtual presence to assist with remote surgery and surgical training. The goal of this proposal was to assemble a pilot system for proof of concept. The pilot project was completed successfully and was judged to demonstrate that the concept of remote surgical assistance as applied to surgery and surgical training was feasible and warranted further development. The main objective of Project 3 is to develop a system to allow for the tele-robotic delivery of instrumentation during a functional neurosurgical procedure (Figure 3). Instrumentation such as micro-electrical recording probes or deep brain stimulation leads. Current methods for the delivery of these instruments involve the integration of linear actuators to stereotactic navigation systems. The control of these delivery

  18. [Surgical robotics, short state of the art and prospects].

    Science.gov (United States)

    Gravez, P

    2003-11-01

    State-of-the-art robotized systems developed for surgery are either remotely controlled manipulators that duplicate gestures made by the surgeon (endoscopic surgery applications), or automated robots that execute trajectories defined relatively to pre-operative medical imaging (neurosurgery and orthopaedic surgery). This generation of systems primarily applies existing robotics technologies (the remote handling systems and the so-called "industrial robots") to current surgical practices. It has contributed to validate the huge potential of surgical robotics, but it suffers from several drawbacks, mainly high costs, excessive dimensions and some lack of user-friendliness. Nevertheless, technological progress let us anticipate the appearance in the near future of miniaturised surgical robots able to assist the gesture of the surgeon and to enhance his perception of the operation at hand. Due to many in-the-body articulated links, these systems will have the capability to perform complex minimally invasive gestures without obstructing the operating theatre. They will also combine the facility of manual piloting with the accuracy and increased safety of computer control, guiding the gestures of the human without offending to his freedom of action. Lastly, they will allow the surgeon to feel the mechanical properties of the tissues he is operating through a genuine "remote palpation" function. Most probably, such technological evolutions will lead the way to redesigned surgical procedures taking place inside new operating rooms featuring a better integration of all equipments and favouring cooperative work from multidisciplinary and sometimes geographically distributed medical staff.

  19. Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm

    Directory of Open Access Journals (Sweden)

    Wei Wang

    2015-02-01

    Full Text Available Based on the proposed end-effector structure of a laparoscopic minimally invasive surgical manipulator, a dimensional optimization method is investigated to enlarge the motion range of the mechanical arm in the specific target area and reduce the collision among the mechanical arms simultaneously. Both the length of the kinematics links and the overall size of the integrated system are considered in the optimization process. The NSGA-II algorithm oriented to the multi-objective optimization is utilized to calculate the Pareto solution set of the objective function. Finally, the dependence of the evaluation indexes is analysed to filter the non-inferior set, which guarantees the selection of the optimization solution.

  20. Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics.

    Science.gov (United States)

    Pourghodrat, Abolfazl; Nelson, Carl A

    2017-03-01

    Fusion of robotics and minimally invasive surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems to miniature in-vivo robotics. However, with miniaturization of electric-motor-driven surgical robots, there comes a trade-off between the size of the robot and its capability. Slow actuation, low load capacity, sterilization difficulties, leaking electricity and transferring produced heat to tissues, and high cost are among the key limitations of the use of electric motors in in-vivo applications. Fluid power in the form of hydraulics or pneumatics has a long history in driving many industrial devices and could be exploited to circumvent these limitations. High power density and good compatibility with the in-vivo environment are the key advantages of fluid power over electric motors when it comes to in-vivo applications. However, fabrication of hydraulic/pneumatic actuators within the desired size and pressure range required for in-vivo surgical robotic applications poses new challenges. Sealing these types of miniature actuators at operating pressures requires obtaining very fine surface finishes which is difficult and costly. The research described here presents design, fabrication, and testing of a hydraulic/pneumatic double-acting cylinder, a limited-motion vane motor, and a balloon-actuated laparoscopic grasper. These actuators are small, seal-less, easy to fabricate, disposable, and inexpensive, thus ideal for single-use in-vivo applications. To demonstrate the ability of these actuators to drive robotic joints, they were modified and integrated in a robotic arm. The design and testing of this surgical robotic arm are presented to validate the concept of fluid-power actuators for in-vivo applications.

  1. Comparing Single and Dual Console Systems in the Robotic Surgical Training of Graduating OB/GYN Residents in the United States

    Directory of Open Access Journals (Sweden)

    Emad Mikhail

    2016-01-01

    Full Text Available Objective. To assess the impact of a single versus dual console robotic system on the perceptions of program directors (PD and residents (RES towards robotic surgical training among graduating obstetrics and gynecology residents. Design. An anonymous survey was developed using Qualtrics, a web-based survey development and administration system, and sent to obstetrics and gynecology program directors and graduating residents. Participants. 39 program directors and 32 graduating residents (PGY4. Results. According to residents perception, dual console is utilized in about 70% of the respondents’ programs. Dual console system programs were more likely to provide a robotics training certificate compared to single console programs (43.5% versus 0%, p=0.03. A greater proportion of residents graduating from a dual console program perform more than 20 robotic-assisted total laparoscopic hysterectomies, 30% versus 0% (p=0.15. Conclusions. Utilization of dual console system increased the likelihood of obtaining robotic training certification without significantly increasing the case volume of robotic-assisted total laparoscopic hysterectomy.

  2. Comparing Single and Dual Console Systems in the Robotic Surgical Training of Graduating OB/GYN Residents in the United States.

    Science.gov (United States)

    Mikhail, Emad; Salemi, Jason L; Hart, Stuart; Imudia, Anthony N

    2016-01-01

    Objective. To assess the impact of a single versus dual console robotic system on the perceptions of program directors (PD) and residents (RES) towards robotic surgical training among graduating obstetrics and gynecology residents. Design. An anonymous survey was developed using Qualtrics, a web-based survey development and administration system, and sent to obstetrics and gynecology program directors and graduating residents. Participants. 39 program directors and 32 graduating residents (PGY4). Results. According to residents perception, dual console is utilized in about 70% of the respondents' programs. Dual console system programs were more likely to provide a robotics training certificate compared to single console programs (43.5% versus 0%, p = 0.03). A greater proportion of residents graduating from a dual console program perform more than 20 robotic-assisted total laparoscopic hysterectomies, 30% versus 0% (p = 0.15). Conclusions. Utilization of dual console system increased the likelihood of obtaining robotic training certification without significantly increasing the case volume of robotic-assisted total laparoscopic hysterectomy.

  3. Robotics Offer Newfound Surgical Capabilities

    Science.gov (United States)

    2008-01-01

    Barrett Technology Inc., of Cambridge, Massachusetts, completed three Phase II Small Business Innovation Research (SBIR) contracts with Johnson Space Center, during which the company developed and commercialized three core technologies: a robotic arm, a hand that functions atop the arm, and a motor driver to operate the robotics. Among many industry uses, recently, an adaptation of the arm has been cleared by the U.S. Food and Drug Administration (FDA) for use in a minimally invasive knee surgery procedure, where its precision control makes it ideal for inserting a very small implant.

  4. Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm

    National Research Council Canada - National Science Library

    Wang, Wei; Wang, Weidong; Dong, Wei; Yu, Hongjian; Yan, Zhiyuan; Du, Zhijiang

    2015-01-01

    Based on the proposed end-effector structure of a laparoscopic minimally invasive surgical manipulator, a dimensional optimization method is investigated to enlarge the motion range of the mechanical...

  5. Evaluation of a 3D system based on a high-quality flat screen and polarized glasses for use by surgical assistants during robotic surgery

    Directory of Open Access Journals (Sweden)

    Kazushi Tanaka

    2014-01-01

    Full Text Available Introduction: One of the main benefits of robotic surgery is the surgeon′s three-dimensional (3D vision system. The purpose of this study is to evaluate the efficacy of 3D vision using a flat screen and polarized glasses for surgical skills during robotic surgeries. Materials and Methods: In an experimental model, six surgeons performed three surgical tasks with laparoscopic devices using a standard 2D and a flat-screen 3D model with polarized glasses. Performance times were compared between two-dimensional (2D and 3D vision for each task. The surgeons also graded the efficiency of the 3D system, on a subjective scale of 0-100. Results: Performance times for task 1 (seven holes and 2 (elastic bands were significantly reduced by 84% and 56% using 3D compared with a 2D system and experienced surgeons performed all three tasks faster in 3D than 2D. The surgeons reported the polarized glasses were comfortable to wear and direct vision was seldom affected. Conclusions: The use of 3D visualization seems to improve the efficiency of surgical skills during robotic surgery and reduce performance time for characteristic surgical procedure tasks.

  6. Integrating surgical robots into the next medical toolkit.

    Science.gov (United States)

    Lai, Fuji; Entin, Eileen

    2006-01-01

    Surgical robots hold much promise for revolutionizing the field of surgery and improving surgical care. However, despite the potential advantages they offer, there are multiple barriers to adoption and integration into practice that may prevent these systems from realizing their full potential benefit. This study elucidated some of the most salient considerations that need to be addressed for integration of new technologies such as robotic systems into the operating room of the future as it evolves into a complex system of systems. We conducted in-depth interviews with operating room team members and other stakeholders to identify potential barriers in areas of workflow, teamwork, training, clinical acceptance, and human-system interaction. The findings of this study will inform an approach for the design and integration of robotics and related computer-assisted technologies into the next medical toolkit for "computer-enhanced surgery" to improve patient safety and healthcare quality.

  7. Tandem mobile robot system

    Energy Technology Data Exchange (ETDEWEB)

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  8. Robotic system

    Science.gov (United States)

    Ambrose, Robert O. (Inventor)

    2003-01-01

    A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot.

  9. Collision detection and untangling for surgical robotic manipulators.

    Science.gov (United States)

    Morvan, Tangui; Martinsen, Magnar; Reimers, Martin; Samset, Eigil; Elle, Ole Jakob

    2009-09-01

    Robotic-assisted minimally invasive surgery provides several advantages over traditional surgery; however, it also has several drawbacks, such as possible collisions between the robotic arms and a limited field of view. A generic method for tracking the configuration of a surgical manipulator in real time is presented. It is coupled with a collision detection and dynamic simulation algorithm, allowing the operator to detect collisions between robotic arms before they happen and presenting the best possible untangling direction to get out of collisions. Our algorithm successfully tracks the configuration of the Zeus surgical system and accurately detects possible collisions in real time. A pilot study on our system proved its efficiency in reducing the duration and severity of collisions, at the price of longer completion times. Our system helps alleviate the collision problem by reducing the time in collision.

  10. Hydraulic Robotic Surgical Tool Changing Manipulator.

    Science.gov (United States)

    Pourghodrat, Abolfazl; Nelson, Carl A; Oleynikov, Dmitry

    2017-03-01

    Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform "scarless" abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.

  11. Pilot study on effectiveness of simulation for surgical robot design using manipulability.

    Science.gov (United States)

    Kawamura, Kazuya; Seno, Hiroto; Kobayashi, Yo; Fujie, Masakatsu G

    2011-01-01

    Medical technology has advanced with the introduction of robot technology, which facilitates some traditional medical treatments that previously were very difficult. However, at present, surgical robots are used in limited medical domains because these robots are designed using only data obtained from adult patients and are not suitable for targets having different properties, such as children. Therefore, surgical robots are required to perform specific functions for each clinical case. In addition, the robots must exhibit sufficiently high movability and operability for each case. In the present study, we focused on evaluation of the mechanism and configuration of a surgical robot by a simulation based on movability and operability during an operation. We previously proposed the development of a simulator system that reproduces the conditions of a robot and a target in a virtual patient body to evaluate the operability of the surgeon during an operation. In the present paper, we describe a simple experiment to verify the condition of the surgical assisting robot during an operation. In this experiment, the operation imitating suturing motion was carried out in a virtual workspace, and the surgical robot was evaluated based on manipulability as an indicator of movability. As the result, it was confirmed that the robot was controlled with low manipulability of the left side manipulator during the suturing. This simulation system can verify the less movable condition of a robot before developing an actual robot. Our results show the effectiveness of this proposed simulation system.

  12. Operation Coordination for the da Vinci Robot Surgical System%达芬奇机器人手术系统的手术配合

    Institute of Scientific and Technical Information of China (English)

    喻晓芬; 王知非; 洪敏

    2015-01-01

    [Summary] This paper reported the surgical cooperation in 72 cases of da Vinci robot operations between September 2014 and December 2014 in this hospital .All the 72 cases of total laparoscopic operation by using the da Vinci robot assistance were successfully completed, without robot faults caused by mismatch and nursing complications caused by improper nursing .We believe that nurse training with robot surgical system and qualification certification , preoperative patient visits , reasonable arrangement of operation room , careful observation with skilled coordination with the robot , proper postoperative placement of the robot , and maintenance and disinfection of the machine are crucial to a successful surgery .%本文报道2014年9~12月我院实施72例达芬奇机器人手术的护理配合,72例达芬奇机器人辅助完全腹腔镜下手术顺利完成,未出现由于配合不当引起机器人故障及由于术中护理不当出现护理并发症。我们认为护士通过机器人手术系统培训并取得专业上岗证书,有针对性的对患者进行术前访视,合理布置手术间,术中进行细致的观察及熟练配合机器人的各项操作,术后妥善放置机器人及对机器人的保养和配套器械的消毒是保证手术顺利进行的重要条件。

  13. 机器人手术系统在普通外科临床应用现状%Application situation of robotic surgical system in the general surgery

    Institute of Scientific and Technical Information of China (English)

    秦新裕

    2016-01-01

    随着外科理念和手术器械的不断进步,普通外科业已进入微创时代。机器人手术系统已经在普通外科各专科中广泛应用。在胃肠外科、肝胆胰外科和甲状腺外科领域中,机器人手术系统均已显示出其独特的价值。虽然与传统腹腔镜技术相比,机器人手术系统在很多方面尚未显示出明显优势,价格也较为昂贵,但随着设备的普及和规模化,其有望开创微创外科的新纪元。%With the development of the surgical concept and surgical instruments,the general surgery has developed into the era of mini-invasive surgery time. Robotic surgical system has been applied into all specialized field of general surgery, for example,gastrointestinal,hepatobiliary,pancreatic and thyroid operations, and has showed some typical characteristics. Although compared with the traditional laparoscopy,robotic surgical system still has not displayed significant advantages and been more expensive. But with the popularization and large-scale installation,robotic surgical system may be the new era of the mini-invasive time of the general surgery.

  14. Evaluation of teleoperated surgical robots in an enclosed undersea environment.

    Science.gov (United States)

    Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

    2009-05-01

    The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

  15. Incidence of surgical site infection associated with robotic surgery.

    Science.gov (United States)

    Hermsen, Elizabeth D; Hinze, Tim; Sayles, Harlan; Sholtz, Lee; Rupp, Mark E

    2010-08-01

    Robot-assisted surgery is minimally invasive and associated with less blood loss and shorter recovery time than open surgery. We aimed to determine the duration of robot-assisted surgical procedures and the incidence of postoperative surgical site infection (SSI) and to compare our data with the SSI incidence for open procedures according to national data. Retrospective cohort study. A 689-bed academic medical center. All patients who underwent a surgical procedure with use of a robotic surgical system during the period from 2000-2007. SSIs were defined and procedure types were classified according to National Healthcare Safety Network criteria. National data for comparison were from 1992-2004. Because of small sample size, procedures were grouped according to surgical site or wound classification. Sixteen SSIs developed after 273 robot-assisted procedures (5.9%). The mean surgical duration was 333.6 minutes. Patients who developed SSI had longer mean surgical duration than did patients who did not (558 vs 318 minutes; P<.001). The prostate and genitourinary group had 5.74 SSIs per 100 robot-assisted procedures (95% confidence interval [CI], 2.81-11.37), compared with 0.85 SSIs per 100 open procedures from national data. The gynecologic group had 10.00 SSIs per 100 procedures (95% CI, 2.79-30.10), compared with 1.72 SSIs per 100 open procedures. The colon and herniorrhaphy groups had 33.33 SSIs per 100 procedures (95% CI, 9.68-70.00) and 37.50 SSIs per 100 procedures (95% CI, 13.68-69.43), respectively, compared with 5.88 and 1.62 SSIs per 100 open procedures from national data. Patients with a clean-contaminated wound developed 6.1 SSIs per 100 procedures (95% CI, 3.5-10.3), compared with 2.59 SSIs per 100 open procedures. No significant differences in SSI rates were found for other groups. Increased incidence of SSI after some types of robot-assisted surgery compared with traditional open surgery may be related to the learning curve associated with use of the

  16. Surgical robotics: the early chronicles: a personal historical perspective.

    Science.gov (United States)

    Satava, Richard M

    2002-02-01

    The use of robotics has been emerging for approximately 75 years, but only during the past 5 years has the potential of robotics been recognized by the surgical community as a whole. This personal perspective chronicles the development of robotics for the general surgical community, the role of the military medical research effort, and many of the major programs that contributed to the current success of robotics.

  17. Telesurgery via Unmanned Aerial Vehicle (UAV) with a field deployable surgical robot.

    Science.gov (United States)

    Lum, Mitchell J H; Rosen, Jacob; King, Hawkeye; Friedman, Diana C W; Donlin, Gina; Sankaranarayanan, Ganesh; Harnett, Brett; Huffman, Lynn; Doarn, Charles; Broderick, Timothy; Hannaford, Blake

    2007-01-01

    Robotically assisted surgery stands to further revolutionize the medical field and provide patients with more effective healthcare. Most robotically assisted surgeries are teleoperated from the surgeon console to the patient where both ends of the system are located in the operating room. The challenge of surgical teleoperation across a long distance was already demonstrated through a wired communication network in 2001. New development has shifted towards deploying a surgical robot system in mobile settings and/or extreme environments such as the battlefield or natural disaster areas with surgeons operating wirelessly. As a collaborator in the HAPs/MRT (High Altitude Platform/Mobile Robotic Telesurgery) project, The University of Washington surgical robot was deployed in the desert of Simi Valley, CA for telesurgery experiments on an inanimate model via wireless communication through an Unmanned Aerial Vehicle (UAV). The surgical tasks were performed telerobotically with a maximum time delay between the surgeon's console (master) and the surgical robot (slave) of 20 ms for the robotic control signals and 200 ms for the video stream. This was our first experiment in the area of Mobile Robotic Telesurgery (MRT). The creation and initial testing of a deployable surgical robot system will facilitate growth in this area eventually leading to future systems saving human lives in disaster areas, on the battlefield or in other remote environments.

  18. Human-robot skills transfer interfaces for a flexible surgical robot.

    Science.gov (United States)

    Calinon, Sylvain; Bruno, Danilo; Malekzadeh, Milad S; Nanayakkara, Thrishantha; Caldwell, Darwin G

    2014-09-01

    In minimally invasive surgery, tools go through narrow openings and manipulate soft organs to perform surgical tasks. There are limitations in current robot-assisted surgical systems due to the rigidity of robot tools. The aim of the STIFF-FLOP European project is to develop a soft robotic arm to perform surgical tasks. The flexibility of the robot allows the surgeon to move within organs to reach remote areas inside the body and perform challenging procedures in laparoscopy. This article addresses the problem of designing learning interfaces enabling the transfer of skills from human demonstration. Robot programming by demonstration encompasses a wide range of learning strategies, from simple mimicking of the demonstrator's actions to the higher level imitation of the underlying intent extracted from the demonstrations. By focusing on this last form, we study the problem of extracting an objective function explaining the demonstrations from an over-specified set of candidate reward functions, and using this information for self-refinement of the skill. In contrast to inverse reinforcement learning strategies that attempt to explain the observations with reward functions defined for the entire task (or a set of pre-defined reward profiles active for different parts of the task), the proposed approach is based on context-dependent reward-weighted learning, where the robot can learn the relevance of candidate objective functions with respect to the current phase of the task or encountered situation. The robot then exploits this information for skills refinement in the policy parameters space. The proposed approach is tested in simulation with a cutting task performed by the STIFF-FLOP flexible robot, using kinesthetic demonstrations from a Barrett WAM manipulator. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

  19. Can teenage novel users perform as well as General Surgery residents upon initial exposure to a robotic surgical system simulator?

    Science.gov (United States)

    Mehta, A; Patel, S; Robison, W; Senkowski, T; Allen, J; Shaw, E; Senkowski, C

    2017-06-05

    New techniques in minimally invasive and robotic surgical platforms require staged curricula to insure proficiency. Scant literature exists as to how much simulation should play a role in training those who have skills in advanced surgical technology. The abilities of novel users may help discriminate if surgically experienced users should start at a higher simulation level or if the tasks are too rudimentary. The study's purpose is to explore the ability of General Surgery residents to gain proficiency on the dVSS as compared to novel users. The hypothesis is that Surgery residents will have increased proficiency in skills acquisition as compared to naive users. Six General Surgery residents at a single institution were compared with six teenagers using metrics measured by the dVSS. Participants were given two 1-h sessions to achieve an MScoreTM in the 90th percentile on each of the five simulations. MScoreTM software compiles a variety of metrics including total time, number of attempts, and high score. Statistical analysis was run using Student's t test. Significance was set at p value technology.

  20. ToolNet: Holistically-Nested Real-Time Segmentation of Robotic Surgical Tools

    OpenAIRE

    Garcia-Peraza-Herrera, Luis C.; Li, Wenqi; Fidon, Lucas; Gruijthuijsen, Caspar; Devreker, Alain; Attilakos, George; Deprest, Jan; Poorten, Emmanuel Vander; Stoyanov, Danail; Vercauteren, Tom; Ourselin, Sebastien

    2017-01-01

    Real-time tool segmentation from endoscopic videos is an essential part of many computer-assisted robotic surgical systems and of critical importance in robotic surgical data science. We propose two novel deep learning architectures for automatic segmentation of non-rigid surgical instruments. Both methods take advantage of automated deep-learning-based multi-scale feature extraction while trying to maintain an accurate segmentation quality at all resolutions. The two proposed methods encode ...

  1. Towards an in vivo wireless mobile robot for surgical assistance.

    Science.gov (United States)

    Hawks, Jeff A; Rentschler, Mark E; Redden, Lee; Infanger, Roger; Dumpert, Jason; Farritor, Shane; Oleynikov, Dmitry; Platt, Stephen R

    2008-01-01

    The use of miniature in vivo robots that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Previous work has demonstrated that mobile and fixed-base in vivo robots can be used to improve visualization of the surgical field and perform surgical tasks such as collecting biopsy tissue samples. All of these robots used tethers to provide for power and data transmission. This paper describes recent work focused on developing a modular wireless mobile platform that could be used for in vivo robotic sensing and manipulation applications. One vision for these types of self-contained in vivo robotic devices is that they could be easily carried and deployed by non-medical personnel at the site of an injury. Such wireless in vivo robots are much more transportable and lower cost than current robotic surgical assistants, and could ultimately allow a surgeon to become a remote first responder irrespective of the location of the patient.

  2. 微创手术机器人远程监控系统设计%Design of remote monitoring and control system for minimally invasive surgical robot

    Institute of Scientific and Technical Information of China (English)

    吴应东; 刁燕; 徐建柱

    2012-01-01

    远程监控机器人系统能够实现远距离控制本地机器人.它在危险环境作业中具有不可替代的作用.同时在远程医疗中也具有相当广阔的应用前景.为了建立基于互联网的手术机器人远程监控系统,实现控制数据及视频画面的传输,利用Video for Windows(VFW)在机器人端捕捉摄像头视频信号,H.263算法完成视频信号压缩.信息的传送采用Visual Basic6.0的Winsock控件.详细介绍了远程控制结构和控制协议,以及通信两端软件基于Visual Basic6.0的实现.通过对自主设计的手术机器人实验表明,该远程监控方案是可行、有效的.最后展望了远程监控的发展趋势以及本系统需要改进的地方.%The remote control system can control the local robot far away.lt plays an important role when working in dangerous environment.Also,it has been applied in telemedicine.In order to build up the remote monitoring and control system for minimally invasive surgical robot.VFW was used to capture video data,then compressed with H.263 algorithm.Winsock control of'Visual Basic6.0 was used to transmit all in?formation.The design of the robot motion control structure,robot control protocol and communication software based on Visual Basic6.0 are described in detail.The experimental results indicate that the scheme is feasible and provides a basis for Internet based supervisory control of minimally invasive surgical robot.Fi-nally, it points out the trends of the remote control system and future work.

  3. The effect of music on robot-assisted laparoscopic surgical performance.

    Science.gov (United States)

    Siu, Ka-Chun; Suh, Irene H; Mukherjee, Mukul; Oleynikov, Dmitry; Stergiou, Nick

    2010-12-01

    Music is often played in the operating room to increase the surgeon's concentration and to mask noise. It could have a beneficial effect on surgical performance. Ten participants with limited experience with the da Vinci robotic surgical system were recruited to perform two surgical tasks: suture tying and mesh alignment when classical, jazz, hip-hop, and Jamaican music were presented. Kinematics of the instrument tips of the surgical robot and surface electromyography of the subjects were recorded. Results revealed that a significant music effect was found for both tasks with decreased time to task completion (P = .005) and total travel distance (P = .021) as well as reduced muscle activations ( P = .016) and increased median muscle frequency (P = .034). Subjects improved their performance significantly when they listened to either hip-hop or Jamaican music. In conclusion, music with high rhythmicity has a beneficial effect on robotic surgical performance. Musical environment may benefit surgical training and make acquisition of surgical skills more efficient.

  4. [Clinical application of Da Vinci surgical system in China].

    Science.gov (United States)

    Jin, Zhenyu

    2014-01-01

    Da Vinci robotic surgical system leads the development of minimally invasive surgical techniques. By using Da Vinci surgical robot for minimally invasive surgery, it brings a lot of advantages to the surgeons. Since 2008, Da Vinci surgeries have been performed in 14 hospitals in domestic cities such as Beijing and Shanghai. Until the end of 2012, 3 551 cases of Da Vinci robotic surgery have been performed, covering various procedures of various surgical departments including the department of general surgery, urology, cardiovascular surgery, thoracic surgery, gynecology, and etc. Robotic surgical technique has made remarkable achievements.

  5. Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training.

    Science.gov (United States)

    Despinoy, Fabien; Bouget, David; Forestier, Germain; Penet, Cedric; Zemiti, Nabil; Poignet, Philippe; Jannin, Pierre

    2016-06-01

    Dexterity and procedural knowledge are two critical skills that surgeons need to master to perform accurate and safe surgical interventions. However, current training systems do not allow us to provide an in-depth analysis of surgical gestures to precisely assess these skills. Our objective is to develop a method for the automatic and quantitative assessment of surgical gestures. To reach this goal, we propose a new unsupervised algorithm that can automatically segment kinematic data from robotic training sessions. Without relying on any prior information or model, this algorithm detects critical points in the kinematic data that define relevant spatio-temporal segments. Based on the association of these segments, we obtain an accurate recognition of the gestures involved in the surgical training task. We, then, perform an advanced analysis and assess our algorithm using datasets recorded during real expert training sessions. After comparing our approach with the manual annotations of the surgical gestures, we observe 97.4% accuracy for the learning purpose and an average matching score of 81.9% for the fully automated gesture recognition process. Our results show that trainees workflow can be followed and surgical gestures may be automatically evaluated according to an expert database. This approach tends toward improving training efficiency by minimizing the learning curve.

  6. Raven-II: an open platform for surgical robotics research.

    Science.gov (United States)

    Hannaford, Blake; Rosen, Jacob; Friedman, Diana W; King, Hawkeye; Roan, Phillip; Cheng, Lei; Glozman, Daniel; Ma, Ji; Kosari, Sina Nia; White, Lee

    2013-04-01

    The Raven-II is a platform for collaborative research on advances in surgical robotics. Seven universities have begun research using this platform. The Raven-II system has two 3-DOF spherical positioning mechanisms capable of attaching interchangeable four DOF instruments. The Raven-II software is based on open standards such as Linux and ROS to maximally facilitate software development. The mechanism is robust enough for repeated experiments and animal surgery experiments, but is not engineered to sufficient safety standards for human use. Mechanisms in place for interaction among the user community and dissemination of results include an electronic forum, an online software SVN repository, and meetings and workshops at major robotics conferences.

  7. Quality Control of the Da Vinci Si Robotic Surgical System%达芬奇Si手术机器人系统的质量控制

    Institute of Scientific and Technical Information of China (English)

    余冬兰; 刘阳萍; 李宏行; 冯锦涛; 崔泳琳; 匡铭

    2016-01-01

    Objective The Da Vinci Si surgical system is the most advanced platform for minimally invasive surgery available in the world nowadays. The integration of the high-resolution 3D vision, the wristed instrumentation, and the intuitive motion control enables the Da Vinci surgery do not to be limited by conventional surgical technologies. The system also provides a minimally invasive approach to a broad range of complex surgical procedures. High precision and quality is essential for the success of the surgery and the outcome of operation. Thus quality control and maintenance is very important in the system.Methods Emphasis was placed on the quality control of the Da Vinci Si robotic surgical system based on the Medical Device Directive, 93/42/EEC and manufacturer’s standard. The components of quality control includes the electrical safety, the stability and accuracy,and the visual and information communication.Results The precision and function of the Da Vinci Si robotic surgical system, as well as patients’ safety, were ensured through quality control.Conclusion It is important to check the system strictly based on the quality control standard and to maintain the system regularly to ifnd out potential defective parts. It is essential to avoid non-intuitive control, blurred images, and instability of communication signals of the robotic system to ensure the safety and success of the surgery.%目的:达芬奇Si(Da Vinci Si)手术机器人系统是目前全世界最先进的微创外科手术平台。该系统整合了三维立体高分辨率的影像技术和可转腕手术器械以及直觉同步操控技术,使复杂外科手术能以微创方式开展,因为其质量和精度关系到患者的生命安全,所以该系统的质量控制非常重要。方法以93/42/EEC Medical Devices Directive标准及厂家标准为依据,对机器人设备的电气安全、稳定性和精确性、视频及信息通讯等方面进行质量控制。结果通过质

  8. In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery.

    Science.gov (United States)

    Sekiguchi, Yuta; Kobayashi, Yo; Watanabe, Hiroki; Tomono, Yu; Noguchi, Takehiko; Takahashi, Yu; Toyoda, Kazutaka; Uemura, Munenori; Ieiri, Satoshi; Ohdaira, Takeshi; Tomikawa, Morimasa; Hashizume, Makoto; Fujie, Masakatsu G

    2011-01-01

    Recently, robotics systems are focused to assist in Single Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOFs, cautery: 3DOFs) can be attached at the tip of sheath manipulator. In particular, this paper focuses on an in vivo experiment. We showed that vision control in the stomach and a cautery task by a cautery tool could be effectively achieved.

  9. [Robotics].

    Science.gov (United States)

    Bier, J

    2000-05-01

    Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

  10. Sensorization of a surgical robotic instrument for force sensing

    Science.gov (United States)

    Shahzada, Kaspar S.; Yurkewich, Aaron; Xu, Ran; Patel, Rajni V.

    2016-03-01

    This paper presents the development and application of an approach for sensorizing a surgical robotic instrument for two degree-of-freedom (DOF) lateral force sensing. The sensorized instrument is compatible with the da Vinci® Surgical System and can be used for skills assessment and force control in specific surgical tasks. The sensing technology utilizes a novel layout of four fiber Bragg grating (FBG) sensors attached to the shaft of a da Vinci® surgical instrument. The two cross-section layout is insensitive to error caused by combined force and torque loads, and the orientation of the sensors minimizes the condition number of the instrument's compliance matrix. To evaluate the instrument's sensing capabilities, its performance was tested using a commercially available force-torque sensor, and showed a resolution of 0.05N at 1 kHz sampling rate. The performance of the sensorized instrument was evaluated by performing three surgical tasks on phantom tissue using the da Vinci® system with the da Vinci Research Kit (dVRK): tissue palpation, knot tightening during suturing and Hem-O-Lok® tightening during knotless suturing. The tasks were designed to demonstrate the robustness of the sensorized force measurement approach. The paper reports the results of further evaluation by a group of expert and novice surgeons performing the three tasks mentioned above.

  11. Microsurgery robots: addressing the needs of high-precision surgical interventions.

    Science.gov (United States)

    Mattos, Leonardo S; Caldwell, Darwin G; Peretti, Giorgio; Mora, Francesco; Guastini, Luca; Cingolani, Roberto

    2016-01-01

    Robotics has a significant potential to enhance the overall capacity and efficiency of healthcare systems. Robots can help surgeons perform better quality operations, leading to reductions in the hospitalisation time of patients and in the impact of surgery on their postoperative quality of life. In particular, robotics can have a significant impact on microsurgery, which presents stringent requirements for superhuman precision and control of the surgical tools. Microsurgery is, in fact, expected to gain importance in a growing range of surgical specialties as novel technologies progressively enable the detection, diagnosis and treatment of diseases at earlier stages. Within such scenarios, robotic microsurgery emerges as one of the key components of future surgical interventions, and will be a vital technology for addressing major surgical challenges. Nonetheless, several issues have yet to be overcome in terms of mechatronics, perception and surgeon-robot interfaces before microsurgical robots can achieve their full potential in operating rooms. Research in this direction is progressing quickly and microsurgery robot prototypes are gradually demonstrating significant clinical benefits in challenging applications such as reconstructive plastic surgery, ophthalmology, otology and laryngology. These are reassuring results offering confidence in a brighter future for high-precision surgical interventions.

  12. BCI-based user training in surgical robotics.

    Science.gov (United States)

    Olivieri, Emidio; Barresi, Giacinto; Mattos, Leonardo S

    2015-08-01

    Human error is a critical risk in surgery, so an important aim of surgical robotic systems is to improve the performance and the safety of surgical operations. Such systems can be potentially enhanced by a brain-computer interface (BCI) able to monitor the user's mental focus and use this information to improve the level of safety of the procedures. In order to evaluate such potential usage of BCIs, this paper describes a novel framework for training the user to regulate his/her own mental state while performing surgery-like tasks using a robotic system. This self-regulation is based on augmented reality (AR) feedback representing the BCI-monitored mental state, which helps the user's effort in maintaining a high level of mental focus during the task. A comparison between a BCI-based training and a training without a BCI highlighted a reduction of post-training trial times as a result of the enhanced training setup, without any loss in performance or in user experience. Such finding allows the identification of further improvements and novel potential applications of this training and interaction paradigm.

  13. Teleoperation in surgical robotics--network latency effects on surgical performance.

    Science.gov (United States)

    Lum, Mitchell J H; Rosen, Jacob; King, Hawkeye; Friedman, Diana C W; Lendvay, Thomas S; Wright, Andrew S; Sinanan, Mika N; Hannaford, Blake

    2009-01-01

    A teleoperated surgical robotic system allows surgical procedures to be conducted across long distances while utilizing wired and wireless communication with a wide spectrum of performance that may affect the outcome. An open architecture portable surgical robotic system (Raven) was developed for both open and minimally invasive surgery. The system has been the subject of an intensive telesurgical experimental protocol aimed at exploring the boundaries of the system and surgeon performance during a series of field experiments in extreme environments (desert and underwater) teleportation between US, Europe, and Japan as well as lab experiments under synthetic fixed time delay. One standard task (block transfer emulating tissue manipulation) of the Fundamentals of Laparoscopic Surgery (FLS) training kit was used for the experimental protocol. Network characterization indicated a typical time delay in the range of 16-172 ms in field experiments. The results of the lab experiments showed that the completion time of the task as well as the length of the tool tip trajectory significantly increased (alphaerrors (block drooping) as well as the completion time and the tool tip path length at different time delays.

  14. Surgical robotics through a keyhole: from today's translational barriers to tomorrow's "disappearing" robots.

    Science.gov (United States)

    Marcus, Hani; Nandi, Dipankar; Darzi, Ara; Yang, Guang-Zhong

    2013-03-01

    In the last century, engineering advances have transformed the practice of surgery. Keyhole surgical techniques offer a number of advantages over traditional open approaches including less postoperative pain, fewer wound complications, and reduced length of stay in hospital. However, they also present considerable technical challenges, particularly to surgeons performing new operative approaches, such as those through natural orifices. Advances in surgical robots have improved surgical visualization, dexterity, and manipulation consistency, thus greatly enhancing surgical performance and patient care. Clinically, however, robotic surgery is still in its infancy, and its use has remained limited to relatively few operations. In the paper, we will discuss the economic-, clinical-, and research-related factors that may act as barriers to the widespread utilization and development of surgical robots. In overcoming these barriers through a synergistic effort of both engineering and medicine, we highlight our future vision of robotic surgery, in both the short and long term.

  15. State of the art in surgical robotics: clinical applications and technology challenges.

    Science.gov (United States)

    Cleary, K; Nguyen, C

    2001-01-01

    Although it has been over 15 years since the first recorded use of a robot for a surgical procedure, the field of medical robotics is still an emerging one that has not yet reached a critical mass. Although robots have the potential to improve the precision and capabilities of physicians, the number of robots in clinical use is still very small. In this review article, we begin with a short historical review of medical robotics, followed by an overview of clinical applications where robots have been applied. The clinical applications are then discussed; they include neurosurgery, orthopedics, urology, maxillofacial surgery, radiosurgery, ophthalmology, and cardiac surgery. We conclude with a listing of technology challenges and research areas, including system architecture, software design, mechanical design, imaging compatible systems, user interface, and safety issues.

  16. 达芬奇机器人手术系统在结直肠癌根治术的应用进展%Updates of Da Vinci robot assisted surgical system in radical resection of colorectal cancer

    Institute of Scientific and Technical Information of China (English)

    李太原; 江群广

    2016-01-01

    手术微创化一直是外科医师追求的目标之一.达芬奇机器人手术系统以其3D高清影像、灵活的高自由度机械臂、动作校正及颤抖过滤等腹腔镜所不具备的优势在结直肠手术中得到广泛应用.然而目前达芬奇机器人手术系统与传统腹腔镜手术比较的优势与不足,仍是目前争议和研究的焦点.笔者将全面阐述达芬奇机器人手术系统在结直肠癌手术的应用进展.%Minimally invasive has surgery become the target of the surgeons,Da Vinci robot assisted surgical system has been used generally for colorectal cancer,with the advantages of three-dimensional high-definition imaging,flexible and high degree of freedom robotic arms,functions of action correction and shake filtration compared with laparoscopic surgery.However,advantages and disadvantages between Da Vinci robot assisted surgical system and traditional laparoscopic surgery are still controversial.In this paper,the present situation and prospect of Da Vinci robot assisted surgical system for colorectal cancer surgery are explored.

  17. Surgical telepresence: the usability of a robotic communication platform

    Directory of Open Access Journals (Sweden)

    Marttos Antonio

    2012-08-01

    Full Text Available Abstract Introduction The benefits of telepresence in trauma and acute surgical care exist, yet its use in a live, operating room (OR setting with real surgical cases remains limited. Methods We tested the use of a robotic telepresence system in the OR of a busy, level 1 trauma center. After each case, both the local and remote physicians completed questionnaires regarding the use of the system using a five point Likert scale. For trauma cases, physicians were asked to grade injury severity according to the American Association for the Surgery of Trauma (AAST Scaling System. Results We collected prospective, observational data on 50 emergent and elective cases. 64% of cases were emergency surgery on trauma patients, almost evenly distributed between penetrating (49% and blunt injuries (51%. 40% of non-trauma cases were hernia-related. A varied distribution of injuries was observed to the abdomen, chest, extremities, small bowel, kidneys, spleen, and colon. Physicians gave the system high ratings for its audio and visual capabilities, but identified internet connectivity and crowding in the operating room as potential challenges. The loccal clinician classified injuries according to the AAST injury grading system in 63% (n=22 of trauma cases, compared to 54% (n=19 of cases by the remote physicians. The remote physician cited obstruction of view as the main reason for the discrepancy. 94% of remote physicians and 74% of local physicians felt comfortable communicating via the telepresence system. For 90% of cases, both the remote and local physicians strongly agreed that a telepresence system for consultations in the OR is more effective than a telephone conversation. Conclusions A telepresence system was tested on a variety of surgical cases and demonstrated that it can be an appropriate solution for use in the operating room. Future research should determine its impact on processes of care and surgical outcomes.

  18. Impact of Robotic Surgery on Decision Making: Perspectives of Surgical Teams.

    Science.gov (United States)

    Randell, Rebecca; Alvarado, Natasha; Honey, Stephanie; Greenhalgh, Joanne; Gardner, Peter; Gill, Arron; Jayne, David; Kotze, Alwyn; Pearman, Alan; Dowding, Dawn

    2015-01-01

    There has been rapid growth in the purchase of surgical robots in both North America and Europe in recent years. Whilst this technology promises many benefits for patients, the introduction of such a complex interactive system into healthcare practice often results in unintended consequences that are difficult to predict. Decision making by surgeons during an operation is affected by variables including tactile perception, visual perception, motor skill, and instrument complexity, all of which are changed by robotic surgery, yet the impact of robotic surgery on decision making has not been previously studied. Drawing on the approach of realist evaluation, we conducted a multi-site interview study across nine hospitals, interviewing 44 operating room personnel with experience of robotic surgery to gather their perspectives on how robotic surgery impacts surgeon decision making. The findings reveal both potential benefits and challenges of robotic surgery for decision making.

  19. Concept and design of a cooperative robotic assistant surgery system

    OpenAIRE

    Castillo Cruces, Raúl Armando

    2008-01-01

    The modular interactive computer-assisted surgery (modiCAS) project, settled in the Center for Sensor System (ZESS) at the University of Siegen, in Germany, is engaged to develop an integral solution for different surgical problems by the combination of a navigation system and a robot arm with hands-on capabilities. The robotic system may be thought of as a smart surgical tool that extends surgeon's ability to treat patients, giving him/her surgical assistant by working in cooperative fashion...

  20. Accessibility to surgical robot technology and prostate-cancer patient behavior for prostatectomy.

    Science.gov (United States)

    Sugihara, Toru; Yasunaga, Hideo; Matsui, Hiroki; Nagao, Go; Ishikawa, Akira; Fujimura, Tetsuya; Fukuhara, Hiroshi; Fushimi, Kiyohide; Ohori, Makoto; Homma, Yukio

    2017-07-01

    To examine how surgical robot emergence affects prostate-cancer patient behavior in seeking radical prostatectomy focusing on geographical accessibility. In Japan, robotic surgery was approved in April 2012. Based on data in the Japanese Diagnosis Procedure Combination database between April 2012 and March 2014, distance to nearest surgical robot and interval days to radical prostatectomy (divided by mean interval in 2011: % interval days to radical prostatectomy) were calculated for individual radical prostatectomy cases at non-robotic hospitals. Caseload changes regarding distance to nearest surgical robot and robot introduction were investigated. Change in % interval days to radical prostatectomy was evaluated by multivariate analysis including distance to nearest surgical robot, age, comorbidity, hospital volume, operation type, hospital academic status, bed volume and temporal progress. % Interval days to radical prostatectomy became wider for distance to nearest surgical robot robot emerged within 30 and 10 km, the prostatectomy caseload in non-robot hospitals reduced by 13 and 18% within 6 months, respectively, while the robot hospitals gained +101% caseload (P robotic minimally invasive radical prostatectomies in 483 non-robot hospitals revealed a significant inverse association between distance to nearest surgical robot and % interval days to radical prostatectomy (B = -17.3% for distance to nearest surgical robot ≥30 km and -11.7% for 10-30 km versus distance to nearest surgical robot Robotic surgery accessibility within 30 km would make patients less likely select conventional surgery. The nearer a robot was, the faster the caseload reduction was.

  1. [Objective surgery -- advanced robotic devices and simulators used for surgical skill assessment].

    Science.gov (United States)

    Suhánszki, Norbert; Haidegger, Tamás

    2014-12-01

    Robotic assistance became a leading trend in minimally invasive surgery, which is based on the global success of laparoscopic surgery. Manual laparoscopy requires advanced skills and capabilities, which is acquired through tedious learning procedure, while da Vinci type surgical systems offer intuitive control and advanced ergonomics. Nevertheless, in either case, the key issue is to be able to assess objectively the surgeons' skills and capabilities. Robotic devices offer radically new way to collect data during surgical procedures, opening the space for new ways of skill parameterization. This may be revolutionary in MIS training, given the new and objective surgical curriculum and examination methods. The article reviews currently developed skill assessment techniques for robotic surgery and simulators, thoroughly inspecting their validation procedure and utility. In the coming years, these methods will become the mainstream of Western surgical education.

  2. 成人型胆总管囊肿的机器人手术疗效分析%Resection of adult choledochal cysts using robotic surgical system

    Institute of Scientific and Technical Information of China (English)

    刘斐; 彭承宏; 吴志翀; 金佳斌; 邓侠兴; 詹茜; 陈皓; 沈柏用

    2015-01-01

    Objective To investigate the feasibility, security and efficacy of robot-assisted surgery in resection of adult choledochal cysts. Methods The clinical data of 4 patients with the resection of choledochal cysts and Roux-en-Y hepati-cojejunostomy using robotic surgical system from 2010 to 2014 were analyzed retrospectively. A comparative study was made with 12 patients who underwent open resection of choledochal cysts and Roux-en-Y hepaticojejunostomy. Results All the operations were performed successfully both in robotic group without the conversion to laparotomy and in open group. The operation time was (127.5±35.0) (90-170) min with blood loss (25.0±28.9) (0-50) mL. No transfusion was given during and after the operation. The postoperative hospital stay was (11.8±3.9)(8-16) days. The operation time was shorter and the blood loss less in the robotic group than in the open group (P<0.05). No complications was found during the period of follow-up 5-31 months. Conclusions The resection of adult choledochal cysts and Roux-en-Y hepaticojejunostomy with robot-assisted surgery is secure and feasible with the advantages of mini-invasive and quick recovery.%目的:探讨成人型胆总管囊肿机器人辅助手术治疗的有效性、安全性及临床疗效。方法:回顾分析2010~2014年间我院应用机器人手术系统治疗4例成人型胆总管囊肿病人,行“胆总管囊肿切除加Roux-en-Y胆肠吻合术”的临床资料,与同期12例开腹手术治疗资料进行对比分析。结果:机器人组手术均获成功,无一例中转开腹。机器人组手术时间(127.5±35.0)(90~170) min,术中出血量(25.0±28.9)(0~50) mL,术中、术后均未输血,术后住院时间(11.8±3.9)(8~16) d。机器人组手术时间及术中出血量均少于开腹组(P<0.05)。随访5~31个月,无特殊症状及其他并发症。结论:应用机器人手术系统行胆总管囊肿切除加Roux-en-Y胆肠吻合术安全、

  3. Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery.

    Science.gov (United States)

    Kobayashi, Yo; Sekiguchi, Yuta; Tomono, Yu; Watanabe, Hiroki; Toyoda, Kazutaka; Konishi, Kozo; Tomikawa, Morimasa; Ieiri, Satoshi; Tanoue, Kazuo; Hashizume, Makoto; Fujie, Masaktsu G

    2010-01-01

    Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.

  4. Estimating Tool-Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool.

    Science.gov (United States)

    Zhao, Baoliang; Nelson, Carl A

    2016-10-01

    Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool-tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool-tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-of-freedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool-tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool-tissue interaction forces in real time, thereby increasing surgical efficiency and safety.

  5. 达芬奇机器人手术系统在结直肠癌根治术中的应用%Application of da Vinci robotic surgical system in the radical resection of colorectal cancer

    Institute of Scientific and Technical Information of China (English)

    许剑民; 陈竟文

    2013-01-01

    The da Vinci robotic surgical system assisted colorectal radical resection has been widely applied in many countries and regions.The advantages of the da Vinci robotic surgical system include stable and distinct stereoscopic vision,short learning curve,convenient operation and feasibility of remote manipulation,while its disadvantages are expensive cost,lack of tremor and prolonged operation time.The advantage of da Vinci robotic surgical system is not distinct when compared with traditional laparoscope in radical resection of colorectal cancer.With the accumulation of clinical data and the update of the system,the prospect of da Vinci robotic surgical system assisted colorectal radical resection is promising.%达芬奇机器人手术系统行结直肠癌根治术在许多国家和地区已经得到了开展.该系统的优势在于:三维显示图像,具有高度稳定性和清晰度,医师学习曲线较短,操作便利,可远程操控等.其劣势在于:价格昂贵,尚无力反馈,手术时间长等.目前,达芬奇机器人手术系统与腹腔镜手术比较,在结直肠癌根治术中尚未体现出足够的优势,但随着临床数据的积累和达芬奇机器人手术系统的更新换代,运用该系统行结直肠癌根治术的未来令人期待.

  6. Industrial robot's vision systems

    Science.gov (United States)

    Iureva, Radda A.; Raskin, Evgeni O.; Komarov, Igor I.; Maltseva, Nadezhda K.; Fedosovsky, Michael E.

    2016-03-01

    Due to the improved economic situation in the high technology sectors, work on the creation of industrial robots and special mobile robotic systems are resumed. Despite this, the robotic control systems mostly remained unchanged. Hence one can see all advantages and disadvantages of these systems. This is due to lack of funds, which could greatly facilitate the work of the operator, and in some cases, completely replace it. The paper is concerned with the complex machine vision of robotic system for monitoring of underground pipelines, which collects and analyzes up to 90% of the necessary information. Vision Systems are used to identify obstacles to the process of movement on a trajectory to determine their origin, dimensions and character. The object is illuminated in a structured light, TV camera records projected structure. Distortions of the structure uniquely determine the shape of the object in view of the camera. The reference illumination is synchronized with the camera. The main parameters of the system are the basic distance between the generator and the lights and the camera parallax angle (the angle between the optical axes of the projection unit and camera).

  7. Robotics as a Support Tool for Experimental Optimisation of Surgical Strategies in Orthopaedic Surgery

    Directory of Open Access Journals (Sweden)

    Manel Frigola

    2010-01-01

    Full Text Available Robotics has shown its potential not only in assisting the surgeon during an intervention but also as a tool for training and for surgical procedure's evaluation. Thus, robotics can constitute an extension of simulators that are based on the high capabilities of computer graphics. In addition, haptics has taken a first step in increasing the performance of current virtual reality systems based uniquely on computer simulation and their corresponding interface devices. As a further step in the field of training and learning in surgery, this work describes a robotic experimental workstation composed of robots and specific measuring devices, together with their corresponding control and monitoring strategies for orthopaedic surgery. Through a case study, humerus arthroplasty, experimental evaluation shows the possibilities of having a test bed available for repetitive and quantifiable trials, which make a reliable scientific comparison between different surgical strategies possible.

  8. Basic Operational Robotics Instructional System

    Science.gov (United States)

    Todd, Brian Keith; Fischer, James; Falgout, Jane; Schweers, John

    2013-01-01

    The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

  9. A new application of the four-arm standard da Vinci® surgical system: totally robotic-assisted left-sided colon or rectal resection.

    Science.gov (United States)

    Koh, Dean Chi-Siong; Tsang, Charles Bih-Shou; Kim, Seon-Hahn

    2011-06-01

    The key to successful rectal cancer resection is to perform complete total mesorectal excision (TME). Laparoscopic TME can be challenging, especially in the narrow confines of the pelvis. Robotic-assisted surgery can overcome these limitations through superior three-dimensional (3-D) visualization and the increased range of movements provided by the endowrist function. To date, all totally robotic resections of the rectum have been described using da Vinci® S or Si systems. Due to the limitations of the standard system, only hybrid procedures have been described so far. To evaluate the feasibility and short-term outcomes of performing totally robotic-assisted laparoscopic colorectal resections using the standard da Vinci® system with a fourth arm extension. The standard system was docked from the patient's left hip. Four 8-mm robotic trocars were inserted. Upon completion of phase 1 (pedicle ligation, colonic mobilization, splenic flexure takedown), the two left-sided arms are repositioned to allow phase 2 (pelvic dissection), enabling the entire procedure except for the distal transection and anastomosis to be performed robotically. Twenty-one robotic procedures were performed from August 2008 to September 2009. The mean age of the patients was 61 years (13 males). The procedures performed included seven anterior resections, seven low anterior resections, five ultralow anterior resections, one abdominoperineal resection, and one resection rectopexy. The majority of the cases were performed in patients with colon or rectal cancer. Operative time ranged from 232 to 444 (mean 316) min. Postoperative morbidity occurred in three patients (14.3%) with no mortalities or conversions. Average hospital stay was 6.4 days. Mean lymph node yield for the cases with cancer was 17.8. The standard da Vinci® system with four arms can be used to perform totally robotic-assisted colorectal procedures for the left colon and rectum with short-term outcomes similar to those of

  10. Neurosurgical robotic arm drilling navigation system.

    Science.gov (United States)

    Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

    2017-09-01

    The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

  11. Peer Review and Surgical Innovation: Robotic Surgery and Its Hurdles.

    Science.gov (United States)

    Vyas, Dinesh; Cronin, Sean

    2015-12-01

    The peer review processes as outlined in the Health Care Quality Improvement Act (HCQIA) is meant ensure quality standard of care through a self-policing mechanism by the medical community. This process grants immunity for people filing a peer review, which is meant to protect whistleblowers. However, it also creates a loophole that can be used maliciously to hinder competition. This is accentuated when surgeons are integrating new technologies, such as robotic surgery, into their practice. With more than 2000 da Vinci robots in use and more than 300 new units being shipped each year, robotic surgery has become a mainstay in the surgical field. The applications for robots continue to expand as surgeons discover their expanding capability. We need a better peer review process. That ensures the peer review is void of competitive bias. Peer reviewers need to be familiar with the procedure and the technology. The current process could stymie innovation in the name of competition.

  12. Computer guidance system for single-incision bimanual robotic surgery.

    Science.gov (United States)

    Carbone, Marina; Turini, Giuseppe; Petroni, Gianluigi; Niccolini, Marta; Menciassi, Arianna; Ferrari, Mauro; Mosca, Franco; Ferrari, Vincenzo

    2012-01-01

    The evolution of surgical robotics is following the progress of developments in Minimally Invasive Surgery (MIS), which is moving towards Single-Incision Laparoscopic Surgery (SILS) procedures. The complexity of these techniques has favored the introduction of robotic surgical systems. New bimanual robots, which are completely inserted into the patient's body, have been proposed in order to enhance the surgical gesture in SILS procedures. However, the limited laparoscopic view and the focus on the end-effectors, together with the use of complex robotic devices inside the patient's abdomen, may lead to unexpected collisions, e.g., between the surrounding anatomical organs not involved in the intervention and the surgical robot. This paper describes a computer guidance system, based on patient-specific data, designed to provide intraoperative navigation and assistance in SILS robotic interventions. The navigator has been tested in simulations of some of the surgical tasks involved in a cholecystectomy, using a synthetic anthropomorphic mannequin. The results demonstrate the usability and efficacy of the navigation system, underlining the importance of avoiding unwanted collisions between the robot arms and critical organs. The proposed computer guidance software is able to integrate any bimanual surgical robot design.

  13. Application status of robotic surgical system resection for colorectal cancer%机器人手术系统在结直肠癌手术临床应用现状

    Institute of Scientific and Technical Information of China (English)

    许平平; 许剑民

    2016-01-01

    机器人手术系统的优点是三维图像清晰和操作稳定灵活,缺点是力反馈缺失、费用昂贵和手术时间延长。其可安全应用于结直肠癌手术,具有创伤小和术后恢复快的特点。机器人结肠癌手术的安全性和有效性已得到肯定,但关于长期生存的研究证据仍不够。目前,与腹腔镜手术比较,机器人直肠癌手术并未在肿瘤短期和长期结局方面显现出优势。机器人手术系统在结直肠癌手术中的合理应用还需进一步的前瞻性随机对照研究。随着第4代达芬奇Xi手术系统面世和外科技术的不断进步,机器人手术系统将在结直肠癌手术中发挥更重要的作用。%The outstanding advantages of robotic surgical system include the stable and three-dimension image and the convenience of surgery manipulation. The disadvantages include the lack of force feedback,high cost and prolonged surgery time. It was reported that robotic surgery for colorectal cancer was safe and feasible and it was associated with less trauma stress and faster recovery. Safety and efficacy of robotic colectomy was confirmed,but long-term survival benefit was still unclear. Currently, when compared to laparoscopic surgery, robotic rectal surgery has no short-term or long-term survival advantage. Above all, randomized controlled trials are necessarily conducted to convince the application of da Vinci surgical system resection for colorectal cancer. The latest da Vinci Xi surgical system may make up for the deficiencies through new technologies. With the advantage of more advanced surgical technique,robotic surgical system will play a more important role in the treatment of colorectal cancer.

  14. Multisensor robot navigation system

    Science.gov (United States)

    Persa, Stelian; Jonker, Pieter P.

    2002-02-01

    Almost all robot navigation systems work indoors. Outdoor robot navigation systems offer the potential for new application areas. The biggest single obstacle to building effective robot navigation systems is the lack of accurate wide-area sensors for trackers that report the locations and orientations of objects in an environment. Active (sensor-emitter) tracking technologies require powered-device installation, limiting their use to prepared areas that are relative free of natural or man-made interference sources. The hybrid tracker combines rate gyros and accelerometers with compass and tilt orientation sensor and DGPS system. Sensor distortions, delays and drift required compensation to achieve good results. The measurements from sensors are fused together to compensate for each other's limitations. Analysis and experimental results demonstrate the system effectiveness. The paper presents a field experiment for a low-cost strapdown-IMU (Inertial Measurement Unit)/DGPS combination, with data processing for the determination of 2-D components of position (trajectory), velocity and heading. In the present approach we have neglected earth rotation and gravity variations, because of the poor gyroscope sensitivities of our low-cost ISA (Inertial Sensor Assembly) and because of the relatively small area of the trajectory. The scope of this experiment was to test the feasibility of an integrated DGPS/IMU system of this type and to develop a field evaluation procedure for such a combination.

  15. [A comparative study of Da Vinci robot system with video-assisted thoracoscopy in the surgical treatment of mediastinal lesions].

    Science.gov (United States)

    Ding, Renquan; Tong, Xiangdong; Xu, Shiguang; Zhang, Dakun; Gao, Xin; Teng, Hong; Qu, Jiaqi; Wang, Shumin

    2014-07-20

    背景与目的 近年来达芬奇机器人手术系统(da Vinci robot system)应用于治疗胸内纵隔疾病日趋成熟。本研究通过总结沈阳军区总医院近3年来在纵隔疾病中行手术治疗的临床病例资料,探讨达芬奇机器人手术系统在手术中的疗效;并比较其与电视胸腔镜在纵隔手术中的优缺点,展望达芬奇机器人手术系统在纵隔手术中的应用前景。方法 选择2010年1月-2013年11月沈阳军区总医院行达芬奇机器人手术及电视胸腔镜下(含胸腔镜辅助小切口)手术的胸内纵隔疾病患者共203例。对两组的手术时间、术中失血量、术后3天内引流总量、术后拔管时间、术后住院时间、手术费用进行比较,结果应用SPSS 19.0进行相关分析。结果 两组共203例患者均顺利完成手术。术后恢复良好,无围手术期死亡病例。手术时间机器人组为82(20-320)min,电视胸腔镜组89(35-360)min,差异无统计学意义(P>0.05)。术中出血量:机器人组为10(1-100)mL,电视胸腔镜组50(3-1,500)mL;术后72 h引流量:机器人组215(0-2,220)mL,电视胸腔镜组350(50-1,810)mL;术后拔管时间:机器人组3(0-10)d,电视胸腔镜组5(1-18)d;术后住院天数:机器人组7(2-15)d,电视胸腔镜组9(2-50)d;手术费用:机器人组(18,983.6±4,461.2)元,电视胸腔镜组(9,351.9±2,076.3)元,以上指标两组比较差异均具有统计学意义(P<0.001)。结论 达芬奇机器人手术与电视胸腔镜手术在胸内纵隔疾病的手术时间相当,在手术安全性以及术后快速恢复上均优于胸腔镜手术,但手术费用也比胸腔镜手术明显增加。

  16. Tool handling robot system; Tool handling robot system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-10

    As an example of the delivery of industrial use automation equipment by Meidensha Corp., the paper introduced a tool handling robot system. The system is a tool handling robot of case processing use FMS (flexible manufacturing system). This is a system which exchanges tool automatically according to the From To order from the managing computer using the ceiling running robot between five horizontal type machining centers and more than 800 collective tool stockers. The structure of the system is as follows: tool handling robot (MHR-400), robot controller (meirocs-F), tool hand, robot running unit, tool stocker (for 844 tools), five life tool exchange trucks, tool truck lifting unit, system control panel. (NEDO)

  17. Justice and Surgical Innovation: The Case of Robotic Prostatectomy.

    Science.gov (United States)

    Hutchison, Katrina; Johnson, Jane; Carter, Drew

    2016-09-01

    Surgical innovation promises improvements in healthcare, but it also raises ethical issues including risks of harm to patients, conflicts of interest and increased injustice in access to health care. In this article, we focus on risks of injustice, and use a case study of robotic prostatectomy to identify features of surgical innovation that risk introducing or exacerbating injustices. Interpreting justice as encompassing matters of both efficiency and equity, we first examine questions relating to government decisions about whether to publicly fund access to innovative treatments. Here the case of robotic prostatectomy exemplifies the difficulty of accommodating healthcare priorities such as improving the health of marginalized groups. It also illustrates challenges with estimating the likely long-term costs and benefits of a new intervention, the difficulty of comparing outcomes of an innovative treatment to those of established treatments, and the further complexity associated with patient and surgeon preferences. Once the decision has been made to fund a new procedure, separate issues of justice arise at the level of providing care to individual patients. Here, the case of robotic prostatectomy exemplifies how features of surgical innovation, such as surgeon learning curves and the need for an adequate volume of cases at a treatment centre, can exacerbate injustices associated with treatment cost and the logistics of travelling for treatment. Drawing on our analysis, we conclude by making a number of recommendations for the just introduction of surgical innovations.

  18. A Raman spectroscopy bio-sensor for tissue discrimination in surgical robotics.

    Science.gov (United States)

    Ashok, Praveen C; Giardini, Mario E; Dholakia, Kishan; Sibbett, Wilson

    2014-01-01

    We report the development of a fiber-based Raman sensor to be used in tumour margin identification during endoluminal robotic surgery. Although this is a generic platform, the sensor we describe was adapted for the ARAKNES (Array of Robots Augmenting the KiNematics of Endoluminal Surgery) robotic platform. On such a platform, the Raman sensor is intended to identify ambiguous tissue margins during robot-assisted surgeries. To maintain sterility of the probe during surgical intervention, a disposable sleeve was specially designed. A straightforward user-compatible interface was implemented where a supervised multivariate classification algorithm was used to classify different tissue types based on specific Raman fingerprints so that it could be used without prior knowledge of spectroscopic data analysis. The protocol avoids inter-patient variability in data and the sensor system is not restricted for use in the classification of a particular tissue type. Representative tissue classification assessments were performed using this system on excised tissue.

  19. Resection of gastric stump cancer using da vinci robotic surgical system%达芬奇机器人手术系统施行残胃癌切除术

    Institute of Scientific and Technical Information of China (English)

    钱锋; 余佩武; 石彦; 罗华星; 赵永亮; 唐波; 郝迎学

    2013-01-01

    达芬奇机器人手术系统行胃癌根治术的路径、方法逐渐成熟,但是残胃癌手术难度大,切除率低,目前未见使用达芬奇机器人手术系统行残胃癌切除术的报道.2012年11月第三军医大学西南医院采用达芬奇机器人手术系统成功实施1例残胃癌切除术,随访12个月,近期疗效较好.达芬奇机器人手术系统行残胃癌手术在视野显露、腹壁粘连松解、狭窄空间操作等方面具有优势,其机动灵活的操作、稳固持久的牵引是开腹手术和腹腔镜手术不可比拟的.%Although the surgical procedure and approach of da Vinci robotic surgical system-assisted radical resection of gastric cancer are gradually mature,it is rarely used for the resection of gastric stump cancer because of the complexity and low resection rate.In November of 2012,resection of gastric stump cancer using da Vinci robotic surgical system was performed in the Southwest Hospital.The short-term efficacy was satisfactory after the follow-up for 12 months.Da vinci robotic surgical system has the advantages of clear vision,easy manipulation of abdominal adhesion detaching,flexible operation and stable traction during resection of gastric stump cancer.

  20. Utilizing Robot Operating System (ROS) in Robot Vision and Control

    Science.gov (United States)

    2015-09-01

    OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples...Master’s Thesis 4. TITLE AND SUBTITLE UTILIZING ROBOT OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL 5. FUNDING NUMBERS 6. AUTHOR(S) Lum, Joshua S...DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) The Robot Operating System (ROS) is an open-source framework that allows robot developers to create

  1. Da Vinci Robot-assisted surgical system in general surgery%达芬奇手术机器人在腹部外科的临床应用进展

    Institute of Scientific and Technical Information of China (English)

    李建平; 杨军; 顾元龙

    2012-01-01

    With the initiation of laparoscopic techniques in general surgery and a significant expansion of minimally invasive techniques in the last 20 years.However,some of the shortcomings of laparoscopic technology has limited it's surgical application.More recently,the da Vinci robotic surgical system further defined the ability of a roboticassist device to address limitations in laparoscopy.This in cludes a significant improvement in instrument dexterity,dampening of natural hand tremors,three dimensional visualization,ergonomics,and camera stability.As experiencewith robotic technology increased and its applications to advanced laparoscopic procedures have become more understood,more procedures have been performed with robotic assistance.We review the current status of da Vinci robotic technology and its applications in general surgical procedures.%最近20年来,随着腹腔镜技术在普外科的应用,微创手术已成为外科发展方向.然而,腹腔镜技术自身的局限性亦限制了其应用范围.近年研发的达芬奇(da Vinci)辅助手术系统克服了腹腔镜手术的不足.其优势包括:仪器灵敏性改善,手震颤降低,三维可视化(3D)以及人机工程学和相机稳定性提高等.随着经验的增加,随着机器人技术及其在先进的腹腔镜操作中的应用,更多的机器人辅助手术得到开展.本文综述达芬奇辅助手术系统的发展现状及其在普通外科手术应用.

  2. Multistep prediction of physiological tremor for surgical robotics applications.

    Science.gov (United States)

    Veluvolu, Kalyana C; Tatinati, Sivanagaraja; Hong, Sun-Mog; Ang, Wei Tech

    2013-11-01

    Accurate canceling of physiological tremor is extremely important in robotics-assisted surgical instruments/procedures. The performance of robotics-based hand-held surgical devices degrades in real time due to the presence of phase delay in sensors (hardware) and filtering (software) processes. Effective tremor compensation requires zero-phase lag in filtering process so that the filtered tremor signal can be used to regenerate an opposing motion in real time. Delay as small as 20 ms degrades the performance of human-machine interference. To overcome this phase delay, we employ multistep prediction in this paper. Combined with the existing tremor estimation methods, the procedure improves the overall accuracy by 60% for tremor estimation compared to single-step prediction methods in the presence of phase delay. Experimental results with developed methods for 1-DOF tremor estimation highlight the improvement.

  3. A Surgical Robot Teleoperation Framework for Providing Haptic Feedback Incorporating Virtual Envrioment-Based Guidance

    Directory of Open Access Journals (Sweden)

    Adnan Munawar

    2016-08-01

    Full Text Available In robot-assisted tele-operated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators that are controlled by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback would enhance the surgical procedures by enabling better coordination between the hand movements that are improved by the tactile sense of the operating environment. This research presents an overall control framework for a haptic feedback on existing robot platforms, and demonstrated on the daVinci Research Kit (dVRK system. The paper discusses the implementation of a flexible framework that incorporates a stiffness control with gravity compensation for the surgeons manipulator and a sensing and collision detection algorithm for calculating the interaction between the patients manipulators and the surgical area.

  4. Vision Systems for Mobile Robots

    Science.gov (United States)

    1983-08-31

    McNellis, T.J.Jr., "Evaluation of a Laser Triangulation Ranging System for Mobile Robots ", " Technical Report MP-80, Rensselaer Polytechnic Institute...Troy, New York, August, 1982. 7. Clement, T.J. , "A Detailed Evaluation of a Laser Triangulation Ranging System for Mobile Robots ", Technical Report MP...82, Rensselaer Polytechnic Institute, Troy, New York, August, 1983. 8. Hoogeveen, A.L., "A Laser Triangulation Ranging System for Mobile Robots ", Technical

  5. Evaluation of robotic minimally invasive surgical skills using motion studies.

    Science.gov (United States)

    Jun, Seung-Kook; Sathia Narayanan, Madusudanan; Singhal, Pankaj; Garimella, Sudha; Krovi, Venkat

    2013-09-01

    Robotic Minimally Invasive Surgery, and the engendered computer-integration, offers unique opportunities for quantitative computer-based surgical-performance evaluation. In this work, we examine extension of traditional manipulative skill assessment, having deep roots in performance evaluation in manufacturing industries, for applicability to robotic surgical skill evaluation. This method relies on: defining task-level segmentation of modular sub-tasks/micro-motions called 'Therbligs' that can be combined to perform a given task; and analyzing intra- and inter-user performance variance by studying surgeons' performance over each 'Therbligs'. Any of the performance metrics of macro-motions-from motion-economy, tool motion measurements to handed-symmetry-can now be extended over the micro-motion temporal segments. Evaluation studies were based on video recordings of surgical tasks in two settings: first, we examined performance of two representative manipulation exercises (peg board and pick-and-place) on a da Vinci surgical SKILLS simulator. This affords a relatively-controlled and standardized test-scenarios for surgeons with varied experience-levels. Second, task-sequences from real surgical videos were analyzed with a list of predefined 'Therbligs' in order to investigate its overall usefulness.

  6. Needle Path Planning for Autonomous Robotic Surgical Suturing.

    Science.gov (United States)

    Jackson, Russell C; Cavuşoğlu, M Cenk

    2013-12-31

    This paper develops a path plan for suture needles used with solid tissue volumes in endoscopic surgery. The path trajectory is based on the best practices that are used by surgeons. The path attempts to minimize the interaction forces between the tissue and the needle. Using surgical guides as a basis, two different techniques for driving a suture needle are developed. The two techniques are compared in hardware experiments by robotically driving the suture needle using both of the motion plans.

  7. Remote robotic countermine systems

    Science.gov (United States)

    Wells, Peter

    2010-04-01

    QinetiQ North America (QNA) has approximately 27 years experience in the mine/countermine mission area. Our expertise covers mine development, detection, and neutralization and has always been intertwined with deployment of remote robotic systems. Our countermine payload systems have been used to detect limpet mines on ship hulls, antiassault mines in shallow water and littoral zones and currently for clearance and render safe of land-based routes. In our talk, we will address the challenges encountered in addressing the ongoing countermine mission over a diverse range of operational scenarios, environmental conditions and strategic priorities.

  8. Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches.

    Science.gov (United States)

    Lum, Mitchell J H; Rosen, Jacob; Sinanan, Mika N; Hannaford, Blake

    2006-07-01

    With a focus on design methodology for developing a compact and lightweight minimally invasive surgery (MIS) robot manipulator, the goal of this study is progress toward a next-generation surgical robot system that will help surgeons deliver healthcare more effectively. Based on an extensive database of in-vivo surgical measurements, the workspace requirements were clearly defined. The pivot point constraint in MIS makes the spherical manipulator a natural candidate. An experimental evaluation process helped to more clearly understand the application and limitations of the spherical mechanism as an MIS robot manipulator. The best configuration consists of two serial manipulators in order to avoid collision problems. A complete kinematic analysis and optimization incorporating the requirements for MIS was performed to find the optimal link lengths of the manipulator. The results show that for the serial spherical 2-link manipulator used to guide the surgical tool, the optimal link lengths (angles) are (60 degrees, 50 degrees). A prototype 6-DOF surgical robot has been developed and will be the subject of further study.

  9. Endoluminal surgical triangulation 2.0: A new flexible surgical robot. Preliminary pre-clinical results with colonic submucosal dissection.

    Science.gov (United States)

    Légner, András; Diana, Michele; Halvax, Péter; Liu, Yu-Yin; Zorn, Lucile; Zanne, Philippe; Nageotte, Florent; De Mathelin, Michel; Dallemagne, Bernard; Marescaux, Jacques

    2017-05-03

    Complex intraluminal surgical interventions of the gastrointestinal tract are challenging due to the limitation of existing instruments. Our group has developed a master-slave robotic flexible endoscopic platform that provides instrument triangulation in an endoluminal environment. Colonic endoscopic submucosal dissections (ESD) were carried out in eight pigs. The robot was introduced transanally. A combination of adapted tele-operated instruments was used. Specimens were inspected and measured. Out of 18 ESDs in total, 12 were successfully completed. Among the completed procedures, two perforations and one system failure occurred and were managed intraoperatively. There was no major bleeding. Mean size of the removed specimens was 18.2 ± 9.8 cm(2) and mean total procedure time was 73 ± 35.5 min. Experimental colorectal ESDs using the flexible surgical robot were feasible and reflected a short learning curve. After some technical improvements the system might allow for a wider adoption of complex endoluminal surgical procedures. Copyright © 2017 John Wiley & Sons, Ltd.

  10. Intelligent robot systems in FMS

    Energy Technology Data Exchange (ETDEWEB)

    Doerr, A.R.J.

    1983-01-01

    The goal of Automatix is to provide industry with modular turn-key systems. They offer three product lines: the autovision-4 systems, artificial vision; the cybervision-III assembly systems; and the robovision-II welding systems. The modules consist of the vision module which may be autonomous or robot integrated; the robot control module (AI-32) which controls the various manipulators; and the various manipulators (aid-330, aid-600, aid-800 and aid-900). The paper describes the autovision 4 system which provides eyes, and the AI-32 universal robot controller which provides the brains for the systems. The vision system may be used with or without robots, as the robot systems may be used with or without the vision system.

  11. Robotics: Science and Systems IV

    OpenAIRE

    Brock, Oliver; Trinkle, Jeff; Ramos, Fabio

    2009-01-01

    The conference Robotics: Science and Systems was held at the Swiss Federal Institute of Technology (ETH) in Zurich Switzerland, from June 25 to June 28, 2008. More than 280 international researchers attended this single track conference to learn about the most exciting robotics research and most advanced robotic systems. The program committee, led by sixteen area chairs, selected 40 papers out of 163 submissions. The program also included seven invited talks and two early career spotlight pre...

  12. Robot computer problem solving system

    Science.gov (United States)

    Becker, J. D.; Merriam, E. W.

    1974-01-01

    The conceptual, experimental, and practical aspects of the development of a robot computer problem solving system were investigated. The distinctive characteristics were formulated of the approach taken in relation to various studies of cognition and robotics. Vehicle and eye control systems were structured, and the information to be generated by the visual system is defined.

  13. Implementation of a Robotic Surgical Program in Gynaecological Oncology and Comparison with Prior Laparoscopic Series

    Directory of Open Access Journals (Sweden)

    Natalia Povolotskaya

    2015-01-01

    Full Text Available Background. Robotic surgery in gynaecological oncology is a rapidly developing field as it offers several technical advantages over conventional laparoscopy. An audit was performed on the outcome of robotic surgery during our learning curve and compared with recent well-established laparoscopic procedure data. Method. Following acquisition of the da Vinci Surgical System (Intuitive Surgical, Inc., Sunnyvale, California, USA, we prospectively analysed all cases performed over the first six months by one experienced gynaecologist who had been appropriately trained and mentored. Data on age, BMI, pathology, surgery type, blood loss, morbidity, return to theatre, hospital stay, and readmission rate were collected and compared with a consecutive series over the preceding 6 months performed laparoscopically by the same team. Results. A comparison of two consecutive series was made. The mean age was somewhat different, 55 years in the robotic versus 69 years in the laparoscopic group, but obesity was a feature of both groups with a mean of BMI 29.3 versus 28.06, respectively. This difference was not statistically significant (P=0.54. Three subgroups of minimal access surgical procedures were performed: total hysterectomy and bilateral salpingooophorectomy (TH + BSO, total hysterectomy and bilateral salpingooophorectomy plus bilateral pelvic lymphadenectomy (TH + BSO + BPLND, and radical hysterectomy plus bilateral pelvic lymphadenectomy (RH + BPLND. The mean time taken to perform surgery for TH + BSO was longer in the robotic group, 151.2 min compared to 126.3 min in the laparoscopic group. TH + BSO + BPLND surgical time was similar to 178.3 min in robotic group and 176.5 min in laparoscopic group. RH + BPLND surgical time was similar, 263.6 min (robotic arm and 264.0 min (laparoscopic arm. However, the numbers in this initial analysis were small especially in the last two subgroups and do not allow for statistical analysis. The rate of

  14. Implementation of a robotic surgical program in gynaecological oncology and comparison with prior laparoscopic series.

    Science.gov (United States)

    Povolotskaya, Natalia; Woolas, Robert; Brinkmann, Dirk

    2015-01-01

    Robotic surgery in gynaecological oncology is a rapidly developing field as it offers several technical advantages over conventional laparoscopy. An audit was performed on the outcome of robotic surgery during our learning curve and compared with recent well-established laparoscopic procedure data. Following acquisition of the da Vinci Surgical System (Intuitive Surgical, Inc., Sunnyvale, California, USA), we prospectively analysed all cases performed over the first six months by one experienced gynaecologist who had been appropriately trained and mentored. Data on age, BMI, pathology, surgery type, blood loss, morbidity, return to theatre, hospital stay, and readmission rate were collected and compared with a consecutive series over the preceding 6 months performed laparoscopically by the same team. A comparison of two consecutive series was made. The mean age was somewhat different, 55 years in the robotic versus 69 years in the laparoscopic group, but obesity was a feature of both groups with a mean of BMI 29.3 versus 28.06, respectively. This difference was not statistically significant (P = 0.54). Three subgroups of minimal access surgical procedures were performed: total hysterectomy and bilateral salpingooophorectomy (TH + BSO), total hysterectomy and bilateral salpingooophorectomy plus bilateral pelvic lymphadenectomy (TH + BSO + BPLND), and radical hysterectomy plus bilateral pelvic lymphadenectomy (RH + BPLND). The mean time taken to perform surgery for TH + BSO was longer in the robotic group, 151.2 min compared to 126.3 min in the laparoscopic group. TH + BSO + BPLND surgical time was similar to 178.3 min in robotic group and 176.5 min in laparoscopic group. RH + BPLND surgical time was similar, 263.6 min (robotic arm) and 264.0 min (laparoscopic arm). However, the numbers in this initial analysis were small especially in the last two subgroups and do not allow for statistical analysis. The rate of complications necessitating intervention

  15. A surgical robot with a heart-surface-motion synchronization mechanism for myoblast cell sheet transplantation.

    Science.gov (United States)

    Xu, Kangyi; Nakamura, Ryoichi

    2013-01-01

    Myoblast cell sheets are employed in the clinical treatment of heart disorders. We propose a surgical robot system with two endoscopic cameras, characterized by a double remote center of motion (RCM) mechanism, to realize heart-surface-motion synchronization movement for myoblast cell sheet transplantation on a beating heart surface. A robot system with the double RCM mechanism was developed for which the linear and rotation motions are totally isolated, and an experiment was conducted to evaluate the tracking accuracy of the robot system when tracking a randomly moving target. The tracking data were updated with a Polaris system at 30 Hz. The experiment results showed linear and rotation tracking errors of 4.93 ± 5.92 mm and 2.54 ± 5.44°, respectively.

  16. Medical Robotic and Tele surgical Simulation Education Research

    Science.gov (United States)

    2017-05-01

    Baheti A, Chandrashekar R, Wilding G and Guru K. (2010). Can Image Based Virtual Reality Help Teach Anatomy? Journal of Endourology, 24(4):629-34. Seixas... virtual reality environment for training operating room staff in robotic surgery. Develop design for simulators in hard-tissue robotic surgery (spinal...Simulation in Training.” IEEE International Systems Conference, April 2016. 5. Julian, Tanaka, Smith, “A Side-by-Side Comparison of Virtual Reality

  17. 达芬奇机器人手术系统行胰腺手术消化道吻合的要点%Key points of digestive tract anastomosis in pancreatic surgery assisted by da Vinci robotic surgical system

    Institute of Scientific and Technical Information of China (English)

    沈柏用; 叶靳华; 詹茜

    2013-01-01

    达芬奇机器人手术系统具有三维立体视野、高度精确性、灵活性和可重复性等优点,特别是在完成胰腺消化道吻合操作时,有着明显的优势.本文详细介绍了达芬奇机器人手术系统在胰腺手术中完成消化道吻合的可行性、吻合原则以及胰肠吻合、胰胃吻合手术步骤,从中分析出达芬奇机器人手术系统在胰腺手术消化道吻合时的特点,旨在提高吻合质量,减少术后胰腺吻合口相关并发症的发生.与开腹手术比较,在达芬奇机器人手术系统下完成胰腺消化道吻合简化了操作,减轻了创伤,是安全可行的.其具体吻合方式的选择应综合考虑局部组织条件、手术方式与外科医师的手术经验.%The da Vinci robotic surgical system has the advantages of three-dimensional vision and high degree of accuracy,flexibility and repeatability,which makes surgical procedures such as digestive tract anastomosis easier to conduct under minimally invasive conditions.In this article,the feasibility and principle of digestive tract anastomosis and the procedures of pancreaticojejunostomy and pancreaticogastrostomy by the da Vinci robotic surgical system are introduced,so as to improve the quality of anastomosis and reduce the incidences of postoperative complications.Compared with traditional laparotomy,da Vinci robotic surgical system simplified the surgical procedures and reduced the trauma,which is suitable for digestive tract anastomosis in pancreatic surgery.The method of pancreatic anastomosis should be selected in consideration of the condition of patients,surgical procedure and the experience of surgeons.

  18. Design of the Compound Operating Room with da Vinic Robotic Surgical System%达芬奇手术机器人复合手术室布局设计

    Institute of Scientific and Technical Information of China (English)

    曾建

    2016-01-01

    随着机器人手术系统的不断发展与普及,其对手术室的布局要求也越来越高。合理、有效的空间布局设计不仅可以减轻护理工作量,提高相关人员的工作效率,还能够提高医师、麻醉师和护士之间的配合水平。结合本院新建达芬奇手术机器人复合手术室的要求,本文从基础配置布局、移动设备位置布局、信号接口位置布局等方面详细介绍了达芬奇手术机器人复合手术室的布局设计,旨在为相关人员提供参考。%With the development and popularization of robotic surgical system and integrated operating room, there is higher requirement for the layout of operating room. A reasonable and effective spatial layout design can reduce the nursing workload, improve work efifciency of related personnel, and greatly improve the level of cooperation among physicians, anesthesiologists, and nurses. Combined with the requirements of our new compound operating room with da Vinic Robotic Surgical System, this paper introduced in details the layout design of da Vinci robotic surgical operating room from aspects of basic configuration layout, mobile device localization layout, and signal interface layout, andetc, so as to provide reference for related personnel.

  19. Spacecraft surgical scrub system

    Science.gov (United States)

    Abbate, M.

    1980-01-01

    Ease of handling and control in zero gravity and minimizing the quantity of water required were prime considerations. The program tasks include the selection of biocidal agent from among the variety used for surgical scrub, formulation of a dispensing system, test, and delivery of flight dispensers. The choice of an iodophore was based on effectiveness on single applications, general familiarity among surgeons, and previous qualification for space use. The delivery system was a choice between the squeeze foamer system and impregnated polyurethane foam pads. The impregnated foam pad was recommended because it is a simpler system since the squeeze foamer requires some applicator to effectively clean the skin surfaces, whereas the form pad is the applicator and agent combined. Testing demonstrated that both systems are effective for use as surgical scrubs.

  20. Lapabot: a compact telesurgical robot system for minimally invasive surgery: part I. System description.

    Science.gov (United States)

    Choi, Jaesoon; Park, Jun Woo; Kim, Dong Jun; Shin, Jungwook; Park, Chan Young; Lee, Jung Chan; Jo, Yung Ho

    2012-05-01

    The applications of robotic minimally invasive surgery (MIS) have widened, providing new advantages such as augmented dexterity and telesurgery. However, current commercial robotic laparoscopic surgical systems still have aspects to be improved such as heavy and bulky systems not suitable for agile operations, large rotational radii of robot manipulator arms, limited remote control capacity, and absence of force feedback. We have developed a robotic laparoscopic surgical system that features compact slave manipulators. The system can simultaneously operate one laparoscope arm and up to four instrument arms. The slave robot is controlled remotely through an Ethernet network and is ready for telesurgery. The developed surgical robot has sufficient workspace to perform general MIS and has been shown to provide acceptable motion tracking control performance.

  1. A pilot study of surgical training using a virtual robotic surgery simulator.

    Science.gov (United States)

    Tergas, Ana I; Sheth, Sangini B; Green, Isabel C; Giuntoli, Robert L; Winder, Abigail D; Fader, Amanda N

    2013-01-01

    Our objectives were to compare the utility of learning a suturing task on the virtual reality da Vinci Skills Simulator versus the da Vinci Surgical System dry laboratory platform and to assess user satisfaction among novice robotic surgeons. Medical trainees were enrolled prospectively; one group trained on the virtual reality simulator, and the other group trained on the da Vinci dry laboratory platform. Trainees received pretesting and post-testing on the dry laboratory platform. Participants then completed an anonymous online user experience and satisfaction survey. We enrolled 20 participants. Mean pretest completion times did not significantly differ between the 2 groups. Training with either platform was associated with a similar decrease in mean time to completion (simulator platform group, 64.9 seconds [P = .04]; dry laboratory platform group, 63.9 seconds [P virtual reality platform. The majority found the training "definitely useful" in improving robotic surgical skills (mean, 4.6) and would attend future training sessions (mean, 4.5). Training on the virtual reality robotic simulator or the dry laboratory robotic surgery platform resulted in significant improvements in time to completion and economy of motion for novice robotic surgeons. Although there was a perception that both simulators improved performance, there was a preference for the virtual reality simulator. Benefits unique to the simulator platform include autonomy of use, computerized performance feedback, and ease of setup. These features may facilitate more efficient and sophisticated simulation training above that of the conventional dry laboratory platform, without loss of efficacy.

  2. Spherical mechanism analysis of a surgical robot for minimally invasive surgery -- analytical and experimental approaches.

    Science.gov (United States)

    Rosen, Jacob; Lum, Mitch; Trimble, Denny; Hannaford, Blake; Sinanan, Mika

    2005-01-01

    Recent advances in technology have led to the fusion of MIS techniques and robot devices. However, current systems are large and cumbersome. Optimizing the surgical robot mechanism will eventually lead to its integration into the operating room (OR) of the future becoming the extended presence of the surgeon and nurses in a room occupied by the patient alone. By optimizing a spherical mechanism using data collected in-vivo during MIS procedures, this study is focused on a bottom-up approach to developing a new class of surgical robotic arms while maximizing their performance and minimizing their size. The spherical mechanism is a rotational manipulator with all axes intersecting at the center of the sphere. Locating the rotation center of the mechanism at the MIS port makes this class of mechanism a suitable candidate for the first two links of a surgical robot for MIS. The required dexterous workspace (DWS) is defined as the region in which 95% of the tool motions are contained based on in-vivo measurements. The extended dexterous workspace (EDWS) is defined as the entire abdominal cavity reachable by a MIS instruments. The DWS is defined by a right circular cone with a vertex angle of 60 degrees and the EDWS is defined by a cone with an elliptical cross section created by two orthogonal vertex angles of 60 degrees and 90 degrees. A compound function based on the mechanism's isotropy and the mechanism stiffness was considered as the performance metric cost function. Optimization across both the DWS and the EDWS lead to a serial mechanism configuration with link length angles of 74 degrees and 60 degrees for a serial configuration. This mechanism configuration maximized the kinematic performance in the DWS while keeping the EDWS as its reachable workspace. Surgeons, using a mockup of two mechanisms in a MIS setup, validated these results experimentally. From these experiments the serial configuration was deemed most applicable for MIS robotic applications compared

  3. Robotic-assisted laparoscopic radical cystectomy: surgical and oncological outcomes

    Directory of Open Access Journals (Sweden)

    Adrian Treiyer

    2012-06-01

    Full Text Available PURPOSE:Our first 91 consecutive cases undergoing a robotic assisted cystectomy were analyzed regarding perioperative outcomes, pathological stages and surgical complications. MATERIALS AND METHODS: Between 2007 and 2010 a total of 91 patients (76 male and 15 female, 86 with clinically localized bladder cancer and 5 with non-urothelial tumors underwent a radical robotic assisted cystectomy. We analyzed the perioperative factors, length of hospital stay, pathological outcomes and complication rates. RESULTS: Mean age was 65.6 years (range 28 to 82. Among the 91 patients, 68 were submitted to an ileal conduit and 23 to a neobladder procedure for urinary diversion. Mean operating time was 412 min (range: 243-618 min. and mean blood loss was 294 mL (range: 50-2000 mL. In 29% of the cases with urothelial carcinoma the T-stage was pT1 or less, 38% were pT2; 26% and 7% were classified as pT3 and pT4, respectively. 14% of cases had lymph node positive disease. Mean number of lymph nodes removed was 15 (range 4 to 33. Positive surgical margins occurred in 2 cases (2.1%. Mean days to flatus were 2.13, bowel movement 2.88 and inpatient stay 18.8 (range: 10-33. There were 45 postoperative complications with 11% major (Clavien grade 3 or higher. At a mean follow-up of 15 months 10 patients had disease recurrence and 6 died of the disease. CONCLUSIONS: Our experience demonstrates that robotic assisted radical cystectomies for the treatment of bladder cancers seems to be very promising regarding surgical and oncological outcomes.

  4. Utilizing Robot Operating System (ROS) in robot vision and control

    OpenAIRE

    Lum, Joshua S.

    2015-01-01

    Approved for public release; distribution is unlimited The Robot Operating System (ROS) is an open-source framework that allows robot developers to create robust software for a wide variety of robot platforms, sensors, and effectors. The study in this thesis encompassed the integration of ROS and the Microsoft Kinect for simultaneous localization and mapping and autonomous navigation on a mobile robot platform in an unknown and dynamic environment. The Microsoft Kinect was utilized for thi...

  5. Clinical Application of the da Vinci Robotic Surgical System for Endometrial Carcinoma%达芬奇机器人手术系统在子宫内膜癌手术中的应用

    Institute of Scientific and Technical Information of China (English)

    王楠(综述); 孟元光(审校)

    2016-01-01

    [Summary] Endometrial carcinoma is one of the most common malignant tumors in female reproductive system .The treatment is given priority to with surgery .As a kind of minimally invasive surgery , the da Vinci robot surgical technique has become more and more mature in the past ten years and played an increasingly important role in gynecological oncology .As compared with the traditional laparoscopic surgery , the main advantages of the da Vinci robotic surgery system are as follows: improved three-dimensional surgical field, improved operation dexterity by mechanical wrist , and improved accuracy of operation by tremor filtering system .These innovations can help gynecological oncologists complete difficult surgery , especially for patients diagnosed of endometrial cancer with severe obesity.This article summarized the application of the da Vinci robotic surgery system in the treatment of endometrial carcinoma and compared it with the open surgery and traditional laparoscopic surgery .The new robot surgery system , innovation, applicable people and the learning curve were also involved .%子宫内膜癌的治疗原则以外科手术为主。达芬奇机器人手术作为一种微创手术,在过去10年的发展中技术日臻成熟,在妇科肿瘤微创手术领域正扮演越来越重要的角色。相比传统腹腔镜手术,达芬奇机器人手术系统的主要优势有:改进的三维立体术野,机械腕提高了手术灵巧度,震颤过滤系统提高了操作精准度。这些技术上的改进可以帮助妇科肿瘤医生为病情更加复杂的患者完成高难手术,尤其对于子宫内膜癌合并重度肥胖者。本文总结达芬奇机器人手术系统在子宫内膜癌治疗中的应用进展,与开腹手术和传统腹腔镜手术进行对比,有关新型机器人手术系统、创新、适用人群和学习曲线方面的内容也有涉及。

  6. Technical modifications in the robotic-assisted surgical approach for gynaecologic operations.

    Science.gov (United States)

    Peeters, Frederik; Vaknin, Zvi; Lau, Susie; Deland, Claire; Brin, Sonya; Gotlieb, Walter H

    2010-12-01

    To investigate the development of new technical approaches for improving the implementation of robotics in gynaecologic surgery, we conducted a prospective evaluation of five technical modifications developed during the implementation of a robotics program that included 171 robotic endometrial staging procedures from December 2007 until May 2010. Modification of the use of a Hohl uterine manipulator by applying only the intravaginal component minimizes the theoretical risk of spillage of endometrial cancer cells, without losing the capability of delineating the vaginal fornices. Entry to the peritoneal cavity under visual control using a left upper quadrant approach and a 5-mm endoscope through a 5-mm Endopath(®) trocar is quick and decreases the risk of bowel or vessel injury. Use of 12-mm Endopath(®) trocars with blunt tips without closure of the fascia was not associated with post-operative hernias. Positioning the Da Vinci(®) Surgical System at a 30° angle at the side of the patient allows easy access to the vagina for removal of large surgical specimens and does not interfere with proper movements of the robotic arms. Use of a tissue specimen bag introduced via the vagina at completion of surgery allows removal of large uteri vaginally to avoid (mini-)laparotomy and its morbidities. Finally, suturing of the vault using interrupted delayed absorbable monofilament sutures was not associated with vaginal cuff dehiscence. Early evaluation of evolving minor technical and surgical approaches was associated with low morbidity, and appears to benefit patients undergoing robotic surgery for gynaecologic cancers.

  7. Robot operating system

    Energy Technology Data Exchange (ETDEWEB)

    Ozawa, Fusaaki; Sugiyama, Kengo

    1988-10-15

    From the viewpoint of electric motor, and hydraulic and pneumatic drivings mainly for the industrial robot operation, the present conditions and themes of engineering were explained. The actuators to be adopted to the electric robots initially were mainly stepping or DC servo motors and have recently been becoming mainly brushless DC motors. The reduction gear driving is problematic in back lash, rigidity and resonance, against which different countermeasures are studied. The direct driving, though having completely overcome those points of problem, has many other points of problem to be contrariwise overcome, eg., high accuracy resolution detecor, high torque break, rigidity maintaining method by savo alone, etc., which are advisable to be solved and developed. Because the hydraulic robots are problematic in hydraulic compressibility and change in characteristics due to oil temperature, and that the pneumatic robots are also problematic in respondability and high accuracy controllability, the research is now active in the controlling engineering. (7 figs, 20 refs)

  8. 腹腔镜和达芬奇机器人系统在胃肠外科中的应用%The application of laparoscopy and Da Vinci robotics surgical system in gastrointestinal surgery

    Institute of Scientific and Technical Information of China (English)

    杜晓辉

    2014-01-01

    Laparoscopy was ifrst applied in 1990 and Da Vinci robotics surgical system emerged in 2002 in the ifeld of gastrointestinal surgery. Taking a wide view of the development of minimally invasive techniques in more than 20 years, surgeons have been grown up from the blindest pursuit of technological reform to standard application and objective evaluation, and constantly advanced to the update of technology, the consummate standards and the improvement of the efifcacy. Although laparoscopy and Da Vinci robotics surgical system possess the advantages of minimal invasiveness, less bleeding and rapid recovery, it is dififcult to be applied and spread. However, the three-dimensional laparoscopy has brought a brand new revolution. It has not only the technical characteristics of laparoscopy and robotic surgical system, but also obvious advantage in popularity and learning. Thus, we believe that the prospect of three-dimensional laparoscopy will be broader.%1990年,腹腔镜技术首次应用于胃肠外科;2002年,达芬奇机器人手术系统开始在胃肠外科领域崭露头角。纵观微创技术发展的20多年历程,外科医师已从盲目追求技术改革逐渐发展至规范应用和客观评价,并不断向技术更新、标准完善和疗效肯定的高标准迈进。此外,外科医师在看到腹腔镜和达芬奇机器人手术系统创伤小、术中出血少、术后恢复快等优势的同时,也在不断思考它们在应用和推广方面难以避免的劣势。3D腹腔镜的问世为微创外科带来了新的革命,其不仅同时具有腹腔镜和机器人手术系统的技术特点,而且在推广和学习曲线方面也占据明显优势。因此,我们相信3D腹腔镜技术的应用前景将更为广阔。

  9. Bagged material palletizing robot system; Fukuromono paretaizu robot system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-10

    This paper introduces a case of delivery of an industrial automation machinery fabricated by Meidensha, Inc. A robot was delivered as a robot system to automate the work of palletizing craft paper bags containing cement. While bags filled with cement and sewn on the openings with a sewing machine in the previous process are transported to the robot, a shaping machine makes the bag height aligned, and a bleeder machine pushes out unnecessary air in the bags. The robot stacks the bags on a pallet sequentially one by one. A pallet magazine supplies automatically a next pallet when stacking by the robot has been completed. Introduction of this system has achieved such effects as elimination of labor shortage, release from simple muscle work, and stabilization of palletizing accuracy. Major constituting devices include: a palletizing robot (VTR-1000Y), a bag transporting equipment (comprising a conveyer, a shaping machine, and a bleeding device), and a pallet transporting equipment (comprising a conveyer and an empty pallet magazine). (NEDO)

  10. Survey on Robot-Assisted Surgical Techniques Utilization in US Pediatric Surgery Fellowships.

    Science.gov (United States)

    Maizlin, Ilan I; Shroyer, Michelle C; Yu, David C; Martin, Colin A; Chen, Mike K; Russell, Robert T

    2017-02-01

    Robotic technology has transformed both practice and education in many adult surgical specialties; no standardized training guidelines in pediatric surgery currently exist. The purpose of our study was to assess the prevalence of robotic procedures and extent of robotic surgery education in US pediatric surgery fellowships. A deidentified survey measured utilization of the robot, perception on the utility of the robot, and its incorporation in training among the program directors of Accreditation Council for Graduate Medical Education (ACGME) pediatric surgery fellowships in the United States. Forty-one of the 47 fellowship programs (87%) responded to the survey. While 67% of respondents indicated the presence of a robot in their facility, only 26% reported its utilizing in their surgical practice. Among programs not utilizing the robot, most common reasons provided were lack of clear supportive evidence, increased intraoperative time, and incompatibility of instrument size to pediatric patients. While 58% of program directors believe that there is a future role for robotic surgery in children, only 18% indicated that robotic training should play a part in pediatric surgery education. Consequently, while over 66% of survey respondents received training in robot-assisted surgical technique, only 29% of fellows receive robot-assisted training during their fellowship. A majority of fellowships have access to a robot, but few utilize the technology in their current practice or as part of training. Further investigation is required into both the technology's potential benefits in the pediatric population and its role in pediatric surgery training.

  11. Multibody systems and robot dynamics

    OpenAIRE

    Schiehlen, Werner

    1990-01-01

    The method of multibody system has been developed during the last two decades with application to various engineering topics, including robotics and walking machines. On the other hand, special algorithms for robot dynamics are available featuring the high computational efficiency required for control purposes. This paper shows the close relation between both approaches. Essential criteria for the effeciency of dynamics software are the numbers of coordinates used, which should be minimal. Fo...

  12. Endoscopic vision-based tracking of multiple surgical instruments during robot-assisted surgery.

    Science.gov (United States)

    Ryu, Jiwon; Choi, Jaesoon; Kim, Hee Chan

    2013-01-01

    Robot-assisted minimally invasive surgery is effective for operations in limited space. Enhancing safety based on automatic tracking of surgical instrument position to prevent inadvertent harmful events such as tissue perforation or instrument collisions could be a meaningful augmentation to current robotic surgical systems. A vision-based instrument tracking scheme as a core algorithm to implement such functions was developed in this study. An automatic tracking scheme is proposed as a chain of computer vision techniques, including classification of metallic properties using k-means clustering and instrument movement tracking using similarity measures, Euclidean distance calculations, and a Kalman filter algorithm. The implemented system showed satisfactory performance in tests using actual robot-assisted surgery videos. Trajectory comparisons of automatically detected data and ground truth data obtained by manually locating the center of mass of each instrument were used to quantitatively validate the system. Instruments and collisions could be well tracked through the proposed methods. The developed collision warning system could provide valuable information to clinicians for safer procedures.

  13. Training Surgical Residents With a Haptic Robotic Central Venous Catheterization Simulator.

    Science.gov (United States)

    Pepley, David F; Gordon, Adam B; Yovanoff, Mary A; Mirkin, Katelin A; Miller, Scarlett R; Han, David C; Moore, Jason Z

    2017-06-20

    Ultrasound guided central venous catheterization (CVC) is a common surgical procedure with complication rates ranging from 5 to 21 percent. Training is typically performed using manikins that do not simulate anatomical variations such as obesity and abnormal vessel positioning. The goal of this study was to develop and validate the effectiveness of a new virtual reality and force haptic based simulation platform for CVC of the right internal jugular vein. A CVC simulation platform was developed using a haptic robotic arm, 3D position tracker, and computer visualization. The haptic robotic arm simulated needle insertion force that was based on cadaver experiments. The 3D position tracker was used as a mock ultrasound device with realistic visualization on a computer screen. Upon completion of a practice simulation, performance feedback is given to the user through a graphical user interface including scoring factors based on good CVC practice. The effectiveness of the system was evaluated by training 13 first year surgical residents using the virtual reality haptic based training system over a 3 month period. The participants' performance increased from 52% to 96% on the baseline training scenario, approaching the average score of an expert surgeon: 98%. This also resulted in improvement in positive CVC practices including a 61% decrease between final needle tip position and vein center, a decrease in mean insertion attempts from 1.92 to 1.23, and a 12% increase in time spent aspirating the syringe throughout the procedure. A virtual reality haptic robotic simulator for CVC was successfully developed. Surgical residents training on the simulation improved to near expert levels after three robotic training sessions. This suggests that this system could act as an effective training device for CVC. Copyright © 2017 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  14. Surgical anatomy of oropharynx and supraglottic larynx for transoral robotic surgery.

    Science.gov (United States)

    Gun, Ramazan; Ozer, Enver

    2015-12-01

    Traditional external surgical approaches have been used for the surgical management of the oropharyngeal and laryngeal tumors. Trans-oral robotic surgery allows surgeon to operate oropharyngeal and supraglottic tumors through the mouth with preservation of functions. The surgeons must be knowledgeable about the anatomy of the oral cavity and oropharynx medial to lateral perspective. In this article, we will describe the relevant inside out surgical anatomy and its clinical implications for trans-oral robotic surgery.

  15. In Silico Investigation of a Surgical Interface for Remote Control of Modular Miniature Robots in Minimally Invasive Surgery

    Directory of Open Access Journals (Sweden)

    Apollon Zygomalas

    2014-01-01

    Full Text Available Aim. Modular mini-robots can be used in novel minimally invasive surgery techniques like natural orifice transluminal endoscopic surgery (NOTES and laparoendoscopic single site (LESS surgery. The control of these miniature assistants is complicated. The aim of this study is the in silico investigation of a remote controlling interface for modular miniature robots which can be used in minimally invasive surgery. Methods. The conceptual controlling system was developed, programmed, and simulated using professional robotics simulation software. Three different modes of control were programmed. The remote controlling surgical interface was virtually designed as a high scale representation of the respective modular mini-robot, therefore a modular controlling system itself. Results. With the proposed modular controlling system the user could easily identify the conformation of the modular mini-robot and adequately modify it as needed. The arrangement of each module was always known. The in silico investigation gave useful information regarding the controlling mode, the adequate speed of rearrangements, and the number of modules needed for efficient working tasks. Conclusions. The proposed conceptual model may promote the research and development of more sophisticated modular controlling systems. Modular surgical interfaces may improve the handling and the dexterity of modular miniature robots during minimally invasive procedures.

  16. The Human-Robot Interaction Operating System

    Science.gov (United States)

    Fong, Terrence; Kunz, Clayton; Hiatt, Laura M.; Bugajska, Magda

    2006-01-01

    In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API.

  17. Development of the SAIT single-port surgical access robot--slave arm based on RCM mechanism.

    Science.gov (United States)

    Roh, Se-gon; Lee, Younbaek; Lee, Jongwon; Ha, Taesin; Sang, Taejun; Moon, Kyung-Won; Lee, Minhyong; Choi, Jung-yun

    2015-01-01

    An innovative single-port surgical robot has recently been developed by the Samsung Advanced Institute of Technology (SAIT). The robot can reach various surgical sites inside the abdominal cavity from a single incision on the body. It has two 7-DOF surgical tools, a 3-DOF endoscope, a flexible hyper-redundant 6-DOF guide tube, and a 6-DOF manipulator. This paper primarily focuses on the manipulator, called a slave arm, which is capable of setting the location of a Remote Center Motion (RCM) point. Because the surgical tools can explore the abdominal area through a small incision point when the RCM point is aligned with the incision area, the RCM mechanism is an integral part of the manipulator for single-port surgery. The mechanical feature, operational principle, control method, and the system architecture of the slave arm are introduced in this paper. In addition, manipulation experiments conducted validate its efficacy.

  18. da Vinci 外科手术系统在胰腺肿瘤外科应用的优势及现状%The Current Status and Advantages of the da Vinci Robotic Surgical System in Pancreatic Tumor Surgery

    Institute of Scientific and Technical Information of China (English)

    曹月敏; 王春城; 暴雷; 王泽普

    2016-01-01

    [Summary] The laparoscopic pancreatic surgery develops slowly because of the complexity of pancreatic anatomy , which is close to several large vessels.The 3D vision of the da Vinci surgical system (DVSS) provides open surgical field of exposure same as open surgery .The surgeon can even perform microsurgery as the robot can magnify the surgical field by 10-15 times.The Endo-wrist with 7 degrees of freedom makes the operations of separation , dissection, suture and anastomosis more accurate , which promotes the complex pancreatic surgery developing rapidly .Clinical studies at China and abroad show that the DVSS can be used safely in all pancreatic surgery , and the clinical effect is similar to laparoscopy and laparotomy .As the DVSS brings the minimally invasive surgery into a new height , there would be expected to further development for robot assisted pancreatic surgery in the treatment of pancreatic cancer.%由于胰腺的解剖复杂,比邻重要的大血管,腹腔镜胰腺手术发展缓慢。 da Vinci 外科手术系统( da Vinci surgical system,DVSS)的3D视野,使术者视野恢复到开放手术,放大10~15倍使术者进入显微手术,7个自由度的Endo-wrist使术者分离、解剖、缝合、吻合极为精准,因而在以复杂著称的胰腺手术中迅速开展。国内外的临床研究显示:DVSS可安全地应用于所有胰腺手术,技术上可行,临床效果与腹腔镜和开腹手术相似。本文对DVSS在胰腺肿瘤外科应用的优势及其现状进行文献总结,相信机器人辅助胰腺手术治疗胰腺肿瘤会有广阔的发展前景。

  19. Medical Robots: Current Systems and Research Directions

    Directory of Open Access Journals (Sweden)

    Ryan A. Beasley

    2012-01-01

    Full Text Available First used medically in 1985, robots now make an impact in laparoscopy, neurosurgery, orthopedic surgery, emergency response, and various other medical disciplines. This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent research projects. By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.

  20. Multibody system dynamics, robotics and control

    CERN Document Server

    Gerstmayr, Johannes

    2013-01-01

    The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

  1. [Efficiency, risks, and advantages of using robotic support systems in interventional medicine].

    Science.gov (United States)

    Feussner, H; Can, S; Fiolka, A; Schneider, A; Wilhelm, D

    2010-08-01

    During the past decade, robotic systems were evaluated for the first time in practically all surgical disciplines. With only a few exceptions (radical prostatectomy), mechatronic systems did not achieve a breakthrough in any field of application. Second generation robotic devices with better integration of complementary technologies (preoperative therapy planning, intraoperative diagnostic work-up, navigation, etc.) and augmented functionality are now ready to be introduced into clinical practice. It is hoped that the specific advantages of robotics will result in increased use compared to previous systems. Robotics is a key technology if new surgical strategies ("scarless surgery") are to succeed.

  2. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

    Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

  3. Computer-enhanced thoracoscopic thymectomy with the Zeus telemanipulation surgical system.

    Science.gov (United States)

    Berman, Marius; Stamler, Alon; Vidne, Bernardo A; Saute, Milton

    2003-09-01

    Recent years have witnessed important progress in the use of minimally invasive robotic-enhanced surgical systems in cardiac and general thoracic interventions. We report the first-ever successful use of the Zeus robotic surgical system (Computer Motion, Inc, Goleta, CA) for the excision of an anterior mediastinal mass. Proper positioning of the thoracic ports for the robotic arms to permit a wide range of movement, is the key to the application of the system for intrathoracic cage operations. Other advantages of the system include three-dimensional voice controlled imaging, low-heat surgical field, and good exposure of the structures.

  4. Hybrid robot climbing system design

    Science.gov (United States)

    Purna Irawan, Agustinus; Halim, Agus; Kurniawan, Hengky

    2017-09-01

    This research aims to develop a climbing hybrid robot, especially to design the structure of robot that quite strong and how to build an optimal mechanism for transmitting the motor’s rotation and torque to generate movement up the pole. In this research we use analytical methods using analysis software, simulation, a prototype, and robot trial. The result showed that robot could climb a pole by with maximum velocity 0.33m/s with a 20 kg load. Based on a weight diversity trial between 10 kg and 20 kg we obtained climb up load factor with value 0.970 ± 0.0223 and climb down load factor with value 0.910 ± 0.0163. Displacement of the frame structure was 7.58 mm. To minimize this displacement, the gate system was used so as to optimize the gripper while gripping the pole. The von Misses stress in the roller was 48.49 MPa, with 0.12 mm of displacement. This result could be a reference for robot development in further research.

  5. 达芬奇机器人胰十二指肠手术患者围手术期的管理%Perioperative Management of Pancreaticoduodenectomy by Using Da Vinci Robotic Surgical System

    Institute of Scientific and Technical Information of China (English)

    韦琳; 刘诗光

    2014-01-01

    Objective:To discuss the key points of perioperative management in pancreaticoduodenectomy by using Da Vinci ro-botic surgical system .Methods :The perioperative management of 46 patients who received pancreaticoduodenectomy by using Da Vinci robotic surgical system at Ruijin Hospital ,Shanghai Jiaotong University School of Medicine were retrospectively sum-marized and analyzed .The perioperative management included selection of appropriate patients ,preoperative psychological care , preoperative preparation ,right body-position and right intraabdominal pressure ,postoperative monitoring of vital signs ,and prevention and nursing of the complications .Results:The mean postoperative hospital-stay of these patients were 23 .8 days , with no death .Complications were found in 13 patients ,including 10 pancreatic fistula ,2 biliary fistula and 1 hemorrhage .All of them recovered after receiving relevant treatments and nursing .Conclusions :To promote the postoperative recovery and reduce the occurence rate of the postoperative complications and mortality ,the perioperative management is as important as mastering advanced surgical techniques .%目的:探讨达芬奇机器人胰十二指肠手术患者围手术期的管理要点。方法:对46例采用达芬奇机器人手术系统行胰十二指肠手术的患者的围手术期管理进行回顾分析。围手术期管理内容包括:手术患者的选择,术前心理护理,术前准备,术中正确摆放体位及选择气腹压力,术后监测生命体征、做好并发症的预防及护理等。结果:46例患者恢复良好,平均住院23.8 d ,无病死患者;13例患者出现并发症,其中胰漏10例、胆漏2例、出血1例,予以对症治疗和相应的护理后痊愈。结论:掌握达芬奇机器人胰十二指肠手术技术的同时,做好围手术期管理工作也是促进患者康复和减少患者术后并发症、降低病死率的重要措施。

  6. Housing design and testing of a surgical robot developed for orthopaedic surgery

    Directory of Open Access Journals (Sweden)

    Lai-Yin Qin

    2016-04-01

    Conclusion: This project demonstrated a good model of multidisciplinary R&D of surgical robotics led by orthopaedic surgeons, in collaboration with mechanical and electronic engineers and industrial designers.

  7. Medical Robots: Current Systems and Research Directions

    OpenAIRE

    Beasley, Ryan A.

    2012-01-01

    First used medically in 1985, robots now make an impact in laparoscopy, neurosurgery, orthopedic surgery, emergency response, and various other medical disciplines. This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent research projects. By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities ...

  8. An Ultrasound Robotic System Using the Commercial Robot UR5

    Directory of Open Access Journals (Sweden)

    Kim eMathiassen

    2016-02-01

    Full Text Available The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

  9. Automatic control system generation for robot design validation

    Science.gov (United States)

    Bacon, James A. (Inventor); English, James D. (Inventor)

    2012-01-01

    The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

  10. A Motion Planning System for Mobile Robots

    Directory of Open Access Journals (Sweden)

    TUNCER, A.

    2012-02-01

    Full Text Available In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by means of camera and image processing. A graphical user interface (GUI is designed for the motion planning system that allows the user to interact with the robot system and to observe the robot environment. All the software components of the system are written in MATLAB that provides to use non-predefined accessories rather than the robot firmware has, to avoid confusing in C++ libraries of robot's proprietary software, to control the robot in detail and not to re-compile the programs frequently in real-time dynamic operations.

  11. Robotic Assisted Colorectal Surgery

    OpenAIRE

    Baik, Seung Hyuk; M.D&#

    2010-01-01

    Improvements of the robotic surgical system are continuously being made to overcome the technical limitations and disadvantages found during the surgeries. So detailed operation methods are newly designed to adapt to the upgraded model of the robotic surgical system. The major core technologies of the robotic surgical system are a three dimensional image of the surgical field and a function of articulation of the instruments tips compared to conventional laparoscopic instruments. With the hel...

  12. [Lobectomy for lung cancer using the Da Vinci surgical system].

    Science.gov (United States)

    Nakamura, Hiroshige

    2014-05-01

    Robot-assisted surgery using the da Vinci surgical system has attracted attention because of excellent operability without shaking by joint forceps under the clear vision of a three-dimensional high-definition camera in lung cancer surgery. Although this form of advanced medical care is not yet approved for insurance coverage, it is at the stage of clinical research and expected to be useful in hilar exposure, lymph node dissection, and suturing of the lung parenchyma or bronchus. Lung cancer surgery with the da Vinci system has the advantage of combining thoracotomy and minimally invasive surgery in video-assisted thoracic surgery. However, safety management, education, and significant cost are problems to be resolved. Several important issues such as sharing knowledge and technology of robotic surgery, education, training, development of new instruments, and acquisition of advanced medical insurance are discussed for the future development of robotic surgical systems.

  13. Communications Systems for Mobile Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Futterman, J A; Pao, H

    2003-12-08

    Performance Confirmation is the activity by which the Yucca Mountain Project confirms that the engineered and natural containment barriers of this national nuclear waste repository are performing as predicted, so that an eventual decision to close the repository can be made. This activity involves systems that must be inspected and, in some cases, serviced by mobile robots. This paper discusses systems for underground mobile robot communications, including requirements, environments, options, issues, and down-select criteria. We reviewed a variety of systems, including Slotted Waveguide, Powerline Carrier, Leaky Feeder, Photonic Bandgap Fiber, Free-Space Optics, Millimeter Waves, Terahertz Systems, and RF Systems (including IEEE 802.11 a,b, and g, and Ultra-Wideband radio).

  14. A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery.

    Science.gov (United States)

    Berkelman, Peter; Ma, Ji

    2009-09-01

    Compared with traditional open surgery, minimally invasive surgical procedures reduce patient trauma and recovery time, but the dexterity of the surgeon in laparoscopic surgery is reduced owing to the small incisions, long instruments and limited indirect visibility of the operative site inside the patient. Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice may be limited owing to their size, complexity, cost and time-consuming setup, maintenance and sterilization procedures. The goal of our research is to improve the effectiveness of robot-assisted surgery by developing much smaller, simpler, modular, teleoperated robotic manipulator systems for minimally invasive surgery.

  15. A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery

    Science.gov (United States)

    Berkelman, Peter; Ma, Ji

    2011-01-01

    Compared with traditional open surgery, minimally invasive surgical procedures reduce patient trauma and recovery time, but the dexterity of the surgeon in laparoscopic surgery is reduced owing to the small incisions, long instruments and limited indirect visibility of the operative site inside the patient. Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice may be limited owing to their size, complexity, cost and time-consuming setup, maintenance and sterilization procedures. The goal of our research is to improve the effectiveness of robot-assisted surgery by developing much smaller, simpler, modular, teleoperated robotic manipulator systems for minimally invasive surgery. PMID:21743765

  16. Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the use of Hydraulics

    OpenAIRE

    Berg, Devin

    2013-01-01

    Existing robotic surgical platforms face limitations which include the balance between the scale of the robot and its capability in terms of range of motion, load capacity, and tool manipulation. These limitations can be overcome by taking advantage of fluid power as an enabling technology with its inherent power density and controllability. As a proof-of-concept for this approach, we are pursuing the design of a novel, dexterous robotic surgical tool targeted towards transgastric natural orifi...

  17. Trauma Pod: A Semi-Automated Robotic Surgery System

    Energy Technology Data Exchange (ETDEWEB)

    Noakes, Mark W [ORNL; Garcia, Pablo [SRI International; Rosen, Jacob [University of Washington; Kapoor, Chetan [University of Texas; Elbert, Greg [GDRS

    2009-01-01

    The Trauma Pod (TP) vision is to develop a rapidly deployable robotic system to perform critical acute stabilization and/or surgical procedures autonomously or in a teleoperative mode on wounded soldiers in the battlefield who might otherwise die before treatment in a combat hospital can be provided. In the first phase of a project pursuing this vision, a robotic TP system was developed and its capability demonstrated by performing select surgical procedures on a patient phantom. The system demonstrates the feasibility of performing acute stabilization procedures with the patient being the only human in the surgical cell. The teleoperated surgical robot is supported by autonomous arms that carry out scrub-nurse and circulating-nurse functions. Tool change and supply delivery are performed automatically and at least as fast as those performed manually by nurses. The TP system also includes tomographic X-ray facility for patient diagnosis and 2-D fluoroscopic data to support interventions. The vast amount of clinical protocols generated in the TP system are recorded automatically. These capabilities form the basis for a more comprehensive acute diagnostic and management platform that will provide life-saving care in environments where surgical personnel are not present.

  18. The application of Da Vinci robotic surgical system in anus preserving operation of ultra low rectal ;cancers%达芬奇机器人在超低位直肠癌保肛手术中的应用

    Institute of Scientific and Technical Information of China (English)

    曾冬竹; 张超; 唐波; 甘露; 陈华; 雷晓; 罗华星; 兰远志; 余佩武

    2015-01-01

    Objective To explore the application of Da Vinci robotic surgical system in anus preserving operation of ultra low rectal cancers.Methods Systematically review the 52 patients who underwent the ultra low APR with the Da Vinci robotic surgical system.The general situation, operations, complications,recovery and pathological feature were analyzed.Results All the 52 patients went through the operation successfully with no conversion, and their anus were preserved.The average operation time was 193.7 ±43.2 mins.The blood loss wsa 65.5 ±29.3 ml.The average number of harvested lymph nodes was 18.2 ±5.6.The average distance to tumor is 2.4 ±0.2cm without cancer cell residuing.The post operation complication ratio is 13.5%(7 in 52),in which 5 cases developed anomostosis leakage,1 case pulmonary infection and 1 case urine retention.Conclusion The Da Vinci robotic surgical system in anus preserving operation of ultra low rectal cancers is convenient,safe,with fast recover and small trauma.%目的:探讨达芬奇机器人手术系统在超低位直肠癌保肛手术中的作用。方法回顾分析第三军医大学西南医院于2010年3月至2014年6月应用达芬奇机器人手术系统完成52例超低位直肠癌前切除手术患者的临床资料。对患者的一般资料、手术情况、并发症的发生、术后恢复及病理性资料进行分析评估。结果52例患者均顺利完成前切除保肛手术,无中转开腹;手术时间193.7±43.2 min,术中出血量65.5±29.3 ml。淋巴结清扫18.2±5.6枚。远切缘距肿瘤2.4±0.2 cm、无癌细胞残留。术后并发症发生率为13.5%(7/52),其中吻合口瘘5例、肺部感染1例,尿潴留1例,无死亡病例。结论达芬奇机器人手术系统在超低位直肠癌的前切除保肛手术中操作简便安全、创伤小、术后恢复快。

  19. Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

    Science.gov (United States)

    Zornetzer, Steve; Gage, Douglas

    2005-01-01

    Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

  20. Human Robotic Systems (HRS): Robotic ISRU Acquisition Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Robotic ISRU Resource Acquisition project element will develop two technologies:Exploration Ground Data Systems (xGDS)Sample Acquisition on...

  1. Development and application of surgical operation robots%外科手术机器人发展及其应用

    Institute of Scientific and Technical Information of China (English)

    龚朱; 杨爱华; 赵惠康

    2014-01-01

    文章介绍了国外三款外科手术机器人(达芬奇、宙斯及伊索机器人)和国内手术机器人黎元、妙手A等的发展及应用现状。其中,详细介绍了目前外科领域应用最广泛的达芬奇手术机器人系统的构造、性能特点和核心技术,以及其在国内外的应用情况。同时,还介绍了世界上第一例横跨大西洋的机器人辅助远程手术和其技术实现过程,最后对外科手术机器人的发展及应用前景进行了展望。%This paper introduces the development and current application status of three types of surgical operation robots (de Vinci Robot, Zeus Robot, and Aesop Robot) abroad as well as robots Li Yuan and Miao Shou A in China .It focuses on the structure , performance features and core technology of the de Vinci Robot system , which is most widely applied in surgery , and its application at home and abroad .Meanwhile , it introduces the first cross-Atlantic robot-assisted distance operation in the world and the process of its technological realization .Last, the paper discusses the prospect of development and application of surgical operation robots .

  2. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  3. High precision detector robot arm system

    Science.gov (United States)

    Shu, Deming; Chu, Yong

    2017-01-31

    A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

  4. Mechatronics Design of a Mobile Robot System

    Directory of Open Access Journals (Sweden)

    Ahmad A. Mahfouz

    2013-02-01

    Full Text Available Mobile robot motion control is simplified to a DC motor motion control that may include gear system. The simplest and widespread approach to control the mobile robot motion is the differential drive style, it consists of two in-lines with each a DC motor. Both DC motors are independently powered so the desired movements will rely on how these two DC motors are commanded. Thedevelop design, model and control of Mechatronics mobile robotic system is presented in this paper. The developed robotic system is intended for research purposes as well as for educational process. The model of proposed mobile robot was created and verified using MATLAB-Simulink software.

  5. High precision detector robot arm system

    Energy Technology Data Exchange (ETDEWEB)

    Shu, Deming; Chu, Yong

    2017-01-31

    A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

  6. Robotic thymectomy in patients with myasthenia gravis : neurological and surgical outcomes

    NARCIS (Netherlands)

    Keijzers, Marlies; de Baets, Marc; Hochstenbag, Monique; Abdul-Hamid, Myrurgia; zur Hausen, Axel; van der Linden, Marcel; Kuks, Jan; Verschuuren, Jan; Kessels, Fons; Dingemans, Anne-Marie C.; Maessen, Jos

    2015-01-01

    Thymectomy is frequently used in the treatment of myasthenia gravis (MG). But indication, timing or surgical approach remain controversial. This study reports our experiences with robotic thymectomy and surgical and neurological outcomes in a large cohort of patients with MG. We retrospectively anal

  7. Multiagent robotic systems' ambient light sensor

    Science.gov (United States)

    Iureva, Radda A.; Maslennikov, Oleg S.; Komarov, Igor I.

    2017-05-01

    Swarm robotics is one of the fastest growing areas of modern technology. Being subclass of multi-agent systems it inherits the main part of scientific-methodological apparatus of construction and functioning of practically useful complexes, which consist of rather autonomous independent agents. Ambient light sensors (ALS) are widely used in robotics. But speaking about swarm robotics, the technology which has great number of specific features and is developing, we can't help mentioning that its important to use sensors on each robot not only in order to help it to get directionally oriented, but also to follow light emitted by robot-chief or to help to find the goal easier. Key words: ambient light sensor, swarm system, multiagent system, robotic system, robotic complexes, simulation modelling

  8. Robotic Surgery in Women With Ovarian Cancer: Surgical Technique and Evidence of Clinical Outcomes.

    Science.gov (United States)

    Minig, Lucas; Padilla Iserte, Pablo; Zorrero, Cristina; Zanagnolo, Vanna

    2016-01-01

    Robotic surgery is a new technology that has been progressively implemented to treat endometrial and cervical cancer. However, the use of robotic surgery for ovarian cancer is limited to a few series of cases and comparative studies with laparoscopy or laparotomy. The technical issues concerning robotic surgery, as well as clinical evidence, are described in this review. Robotic surgery in early stage, advanced stage, and relapsed ovarian cancer is discussed separately. In conclusion, evidence regarding the use of robotic-assisted surgical treatment for women with ovarian cancer is still scarce, but its use is progressively growing. Robotic-assisted staging in selected patients with early stage disease has an important role in referral institutions when well-trained gynecologists perform surgeries. However, minimally invasive surgery in patients with advanced stage or relapsed ovarian cancer requires further investigation, even in selected cases.

  9. Measuring the Latency of an Augmented Reality System for Robot-Assisted Minimally Invasive Surgery

    DEFF Research Database (Denmark)

    Jørgensen, Martin Kibsgaard; Kraus, Martin

    2017-01-01

    visual communication in training for robot-assisted minimally invasive surgery with da Vinci surgical systems. To make sure that our augmented reality system provides the best possible user experience, we investigated the video latency of the da Vinci surgical system and how the components of our system...

  10. Robot Skills for Transformable Manufacturing Systems

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath

    Efficient, transformable production systems need robots that are flexible and effortlessly repurposed or reconfigured. The present dissertation argues that this can be achieved through the implementation and use of general, object-centered robot skills. In this dissertation, we focus on the design......, implementation and uses of a robot programming paradigm, focused on robot skills, that facilitates intuitive and explicit task-level programming by laymen, such as factory workers, as well as ad-hoc task planning in the skill domain. We show how these robot skills can be modeled and implemented, even...... on different robot systems. Furthermore, we show how laymen can intuitively program tasks on an advanced mobile manipulator, using the skills as the fundamental building blocks. Finally, we demonstrate how the same skills can be used for ad-hoc task planning, where the robot system instead constructs the task...

  11. 骨科手术机器人的协同控制方法%Collaborative Control Method for Cranio-maxillofacial Surgical Robot System

    Institute of Scientific and Technical Information of China (English)

    王内; 栾楠; 张诗雷; 桂海军; 吴锦阳

    2013-01-01

    基于力反馈设备,通过引入虚拟约束和力反馈,介绍了能满足颅颌面整复手术需求的人机协同操作控制策略.在机器人可达工作空间内,基于模糊控制算法实现了反馈力的规划.通过对手术操作进行合理的过程规划,在模拟手术实验中实现了所提出的骨科手术机器人的人机协同操作控制策略.最后,设计了一组对比试验,验证了这种协同控制策略有效性和合理性.%This paper proposes a collaborative control method of a 7-DOF navigated robot designed for cranio-maxillofacial surgery. This method is based on virtual fixtures, force feedback and also tele-operation. Working inside the safe working space of the robot, the virtual feedback force is assigned through the fuzzy control algorithm and transformed to the tele-operation side through network. Meanwhile, we also proposed a reasonable process planning method to optimally realize the collaborative control method. Performance of our method was validated by designed experiments.

  12. 达芬奇机器人系统在外科手术中的应用及护理管理%Application and Nursing Management of DaVinci Robot System in the Sur-gical Operation

    Institute of Scientific and Technical Information of China (English)

    邱德叶; 黄静波; 朱玉玲

    2016-01-01

    目的:分析达芬奇机器人系统在外科手术中的应用及效果。方法该院外科于2010年开始落实使用达芬奇机器人系统,选择2010年1月-2015年12月期间实施的达芬奇手术1818例作为观察组,另选择2003年1月-2009年12月期间外科常规手术1818例作为对照组。对比分析术中出血量、手术时间、住院时间、术后并发症率情况,并统计手术满意度,观察两组患者手术延误、拖台等不良事件情况,评估达芬奇机器人系统应用效果。结果观察组术中出血量、手术时间、住院时间、术后并发症率均显著少于对照组,组间差异有统计学意义(P<0.05)。观察组手术满意度(78.71%)显著高于对照组(68.70%),组间差异有统计学意义(P<0.05)。观察组不良事件发生率(0%)显著低于对照组(2.59%),组间差异有统计学意义(P<0.05)。结论达芬奇机器人在外科手术中,提高了手术的精细度、使患者快速恢复、住院时间缩短,且患者对其接受度良好,优势性明显,临床应用价值较高,值得推广使用。%Objective To analyze the application and effect of DaVinci robot system in the surgical operation. Methods The DaVinci robot system had begun to be applied in the surgical department since 2010, 1818 cases with DaVinci operation from January 2010 to December 2015 were selected as the observation group, 1818 cases of patients with routine surgical operation from January 2003 to December 2009 were selected as the control group, and the intraoperative blooding amount, operation time, length of stay and postoperative complication rate were compared and analyzed, and the operation satisfacto-ry degree was counted, and the adverse events including operation delay of the two groups were observed, and the applica-tion effect of the DaVinci robot system was assessed. Results The intraoperative blooding amount, operation time, length of stay and postoperative complication rate

  13. A new robot-assisted orthopedic surgery simulation system

    Institute of Scientific and Technical Information of China (English)

    WU Dong-mei; DU Zhi-jiang; JIA Zhi-heng; YANG Donghai; SUN Li-ning

    2006-01-01

    The paper proposes a novel desktop virtual surgical simulation system capable of not only surgical training but also operative planning, surgery rehearsal and telesurgery, which is mainly used on the robot-assisted orthopedic surgery system, HIT-RAOS. The paper first introduces the hardware system: HIT-RAOS. Then presents several major characters of the virtual system: developing tools, building schemes and collision detection algorithm. Additionally, virtual reality based telesurgery is implemented. Based on these works, experiments of locking of intramedullary nails are conducted, and results are content.

  14. Application of da Vinci robotic surgical system in radical resection of rectal cancer%达芬奇机器人手术系统在直肠癌根治术中的应用

    Institute of Scientific and Technical Information of China (English)

    曾冬竹; 余佩武; 雷晓; 石彦; 唐波; 郝迎学; 罗华星

    2011-01-01

    目的 总结达芬奇机器人手术系统在直肠癌根治术中的初步应用经验,探讨Trocar位置选择及手术操作技巧.方法 回顾性分析2010年2月至2011年2月第三军医大学西南医院收治的13例应用达芬奇机器人手术系统行直肠癌根治术患者的临床资料.患者采用截石位,静脉复合麻醉.采用五孔法(比四孔法多用第Ⅲ臂)或四孔法戳孔.肿瘤位置过低者选用Miles术式,其余选用Dixon术式.结果13例患者均顺利施行达芬奇机器人手术系统直肠癌根治术,前3例患者采用五孔法,后10例采用四孔法.其中Dixon术式9例,Miles术式4例.平均手术时间为217.3 min( 160 ~260 min);Dixon术式术中平均出血量为53.3 ml(40~70 ml),Miles术式术中平均出血量为120.0 ml(90~130ml),均未输血;平均清扫淋巴结13.9枚(8~21枚);术后平均肛门排气时间为3.2 d(2~5 d).术后2例患者发生肺部感染,1例发生泌尿系统感染,均经积极抗感染治疗后治愈.无肠瘘、肠梗阻及下肢深静脉血栓形成,无死亡病例.术后病理检查:切缘均未见癌细胞残留,远切缘距肿瘤平均距离为6.3 cra(3~10 cm);pTNM分期:Ⅰ期(T1N0M0)1例,Ⅱ期5例,Ⅲ期7例.平均随访时间为5.9个月(3~12个月),随访期间未发现肿瘤复发与转移.结论 应用达芬奇机器人手术系统行直肠癌根治术创伤小、恢复快,四孔法戳孔操作更容易.%Objective To summarize the experience in application of da Vinci robotic surgical system in radical resection of rectal cancer,and investigate the proper position of trocars and operative techniques.Methods The clinical data of 13 patients who received radical resection of rectal cancer accomplished by the da Vinci robotic surgical system at the Southwest Hospital from February 2010 to February 2011 were retrospectively analyzed.The patients were in lithotomy position and received combined intravenous anesthesia.Five or 4 trocars were used

  15. A surgical robot with augmented reality visualization for stereoelectroencephalography electrode implantation.

    Science.gov (United States)

    Zeng, Bowei; Meng, Fanle; Ding, Hui; Wang, Guangzhi

    2017-08-01

    Using existing stereoelectroencephalography (SEEG) electrode implantation surgical robot systems, it is difficult to intuitively validate registration accuracy and display the electrode entry points (EPs) and the anatomical structure around the electrode trajectories in the patient space to the surgeon. This paper proposes a prototype system that can realize video see-through augmented reality (VAR) and spatial augmented reality (SAR) for SEEG implantation. The system helps the surgeon quickly and intuitively confirm the registration accuracy, locate EPs and visualize the internal anatomical structure in the image space and patient space. We designed and developed a projector-camera system (PCS) attached to the distal flange of a robot arm. First, system calibration is performed. Second, the PCS is used to obtain the point clouds of the surface of the patient's head, which are utilized for patient-to-image registration. Finally, VAR is produced by merging the real-time video of the patient and the preoperative three-dimensional (3D) operational planning model. In addition, SAR is implemented by projecting the planning electrode trajectories and local anatomical structure onto the patient's scalp. The error of registration, the electrode EPs and the target points are evaluated on a phantom. The fiducial registration error is [Formula: see text] mm (max 1.22 mm), and the target registration error is [Formula: see text] mm (max 1.18 mm). The projection overlay error is [Formula: see text] mm, and the TP error after the pre-warped projection is [Formula: see text] mm. The TP error caused by a surgeon's viewpoint deviation is also evaluated. The presented system can help surgeons quickly verify registration accuracy during SEEG procedures and can provide accurate EP locations and internal structural information to the surgeon. With more intuitive surgical information, the surgeon may have more confidence and be able to perform surgeries with better outcomes.

  16. Pedagogic approach in the surgical learning: The first period of “assistant surgeon” may improve the learning curve for laparoscopic robotic-assisted hysterectomy.

    Directory of Open Access Journals (Sweden)

    Angeline Favre

    2016-11-01

    Full Text Available Background: Hysterectomy is the most frequently surgery done with robotic assistance in the world and has been widely studied since its emergence. The surgical outcomes of the robotic hysterectomy are similar to those obtained with other minimally invasive hysterectomy techniques (laparoscopic and vaginal and appear as a promising surgical technique in gynaecology surgery. The aim of this study was to observe the learning curve of robot-assisted hysterectomy in a French surgical center, and was to evaluate the impact of the surgical mentoring.Methods: We retrospectively collected the data from the files of the robot-assisted hysterectomies with the Da Vinci® Surgical System performed between March 2010 and June 2014 at the Foch hospital in Suresnes (France. We first studied the operative time according to the number of cases, independently of the surgeon to determine two periods: the initial learning phase (Phase 1 and the control of surgical skills phase (Phase 2. The phase was defined by mastering the basic surgical tasks. Secondarily we compared these two periods for operative time, blood losses, Body Mass Index (BMI, days of hospitalisations and uterine weight. We finally studied the difference of the learning curve between an experimented surgeon (S1 who practised the first the robot-assisted hysterectomies and a less experimented surgeon (S2 who first assisted S1 and then operated on his own patients.Results: 154 robot-assisted hysterectomies were analysed. 20 procedures were necessary to access to the control of surgical skills phase. There was a significant decrease of the operative time between the learning phase (156.8 minutes compared to the control of surgical skills phase (125.8 minutes, p=0.003. No difference between these two periods for blood losses, BMI, days of hospitalisations and uterine weight were demonstrated. The learning curve of S1 showed 20 procedures to master the robot-assisted hysterectomies with a significant

  17. Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy.

    Science.gov (United States)

    Su, Hao; Shang, Weijian; Cole, Gregory; Li, Gang; Harrington, Kevin; Camilo, Alexander; Tokuda, Junichi; Tempany, Clare M; Hata, Nobuhiko; Fischer, Gregory S

    2015-08-01

    This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The developed modular robot control interface software performs image-based registration, kinematics calculation, and exchanges robot commands and coordinates between the navigation software and the robot controller with a new implementation of the open network communication protocol OpenIGTLink. Comprehensive compatibility of the robot is evaluated inside a 3-Tesla MRI scanner using standard imaging sequences and the signal-to-noise ratio (SNR) loss is limited to 15%. The image deterioration due to the present and motion of robot demonstrates unobservable image interference. Twenty-five targeted needle placements inside gelatin phantoms utilizing an 18-gauge ceramic needle demonstrated 0.87 mm root mean square (RMS) error in 3D Euclidean distance based on MRI volume segmentation of the image-guided robotic needle placement procedure.

  18. Robotic surgical skill acquisition: What one needs to know?

    Directory of Open Access Journals (Sweden)

    Akshay Sood

    2015-01-01

    Full Text Available Robotic surgery has been eagerly adopted by patients and surgeons alike in the field of urology, over the last decade. However, there is a lack of standardization in training curricula and accreditation guidelines to ensure surgeon competence and patient safety. Accordingly, in this review, we aim to highlight ′who′ needs to learn ′what′ and ′how′, to become competent in robotic surgery. We demonstrate that both novice and experienced open surgeons require supervision and mentoring during the initial phases of robotic surgery skill acquisition. The experienced open surgeons possess domain knowledge, however, need to acquire technical knowledge under supervision (either in simulated or clinical environment to successfully transition to robotic surgery, whereas, novice surgeons need to acquire both domain as well as technical knowledge to become competent in robotic surgery. With regard to training curricula, a variety of training programs such as academic fellowships, mini-fellowships, and mentored skill courses exist, and cater to the needs and expectations of postgraduate surgeons adequately. Fellowships provide the most comprehensive training, however, may not be suitable to all surgeon-learners secondary to the long-term time commitment. For these surgeon-learners short-term courses such as the mini-fellowships or mentored skill courses might be more apt. Lastly, with regards to credentialing uniformity in criteria regarding accreditation is lacking but earnest efforts are underway. Currently, accreditation for competence in robotic surgery is institutional specific.

  19. Study of prostate biopsy robot system

    Institute of Scientific and Technical Information of China (English)

    ZHANG Yong-de; ZHANG Long; ZHAO Yan-jiang; ZHANG Yan-hua

    2009-01-01

    A system for prostate biopsy with robot assistance was proposed. The system consists of Motoman robot, needle insertion mechanism, and control software. A experiment was held with this software, and it proved that the whole system is simple, reliable and good application.

  20. Modeling human operator involvement in robotic systems

    NARCIS (Netherlands)

    Wewerinke, P.H.

    1991-01-01

    A modeling approach is presented to describe complex manned robotic systems. The robotic system is modeled as a (highly) nonlinear, possibly time-varying dynamic system including any time delays in terms of optimal estimation, control and decision theory. The role of the human operator(s) is modeled

  1. Perioperative surgical outcome of conventional and robot-assisted total laparoscopic hysterectomy.

    Science.gov (United States)

    van Weelden, W J; Gordon, B B M; Roovers, E A; Kraayenbrink, A A; Aalders, C I M; Hartog, F; Dijkhuizen, F P H L J

    2017-01-01

    To evaluate surgical outcome in a consecutive series of patients with conventional and robot assisted total laparoscopic hysterectomy. A retrospective cohort study was performed among patients with benign and malignant indications for a laparoscopic hysterectomy. Main surgical outcomes were operation room time and skin to skin operating time, complications, conversions, rehospitalisation and reoperation, estimated blood loss and length of hospital stay. A total of 294 patients were evaluated: 123 in the conventional total laparoscopic hysterectomy (TLH) group and 171 in the robot TLH group. After correction for differences in basic demographics with a multivariate linear regression analysis, the skin to skin operating time was a significant 18 minutes shorter in robot assisted TLH compared to conventional TLH (robot assisted TLH 92m, conventional TLH 110m, p0.001). The presence or absence of previous abdominal surgery had a significant influence on the skin to skin operating time as did the body mass index and the weight of the uterus. Complications were not significantly different. The robot TLH group had significantly less blood loss and lower rehospitalisation and reoperation rates. This study compares conventional TLH with robot assisted TLH and shows shorter operating times, less blood loss and lower rehospitalisation and reoperation rates in the robot TLH group.

  2. Totally robotic atrial septal defect closure using da vinci S surgical system on beating heart%全机器人心脏不停跳下房间隔缺损修补术

    Institute of Scientific and Technical Information of China (English)

    杨明; 高长青; 肖苍松; 王刚; 王加利

    2011-01-01

    目的 总结使用"达芬奇S"(da Vinci S)机器人手术系统,心脏不停跳下房间隔缺损修补或房间隔缺损修补+三尖瓣成形术的经验体会.方法 2009年3月至2010年12月,使用da Vinic S机器人系统,心脏不停跳下完成继发孔型房间隔缺损修补或房间隔缺损修补+三尖瓣成形术40例.患者女23例,男17例;年龄平均(38±13)岁.房间隔缺损直径为1.5~3.5 cm,平均(2.8±1.3)cm,无右向左分流,伴有或不伴有三尖瓣重度关闭不全.手术经股动、静脉及右侧颈内静脉插管建立体外循环.于右侧胸壁打直径为0.8 cm的器械臂孔3个,直径为2 cm工作孔1个,术中不阻断升主动脉,经内窥镜套管持续给予二氧化碳,心脏跳动下,术者于操作台前遥控机器人进行房间隔缺损修补,三尖瓣重度关闭不全患者同期行三尖瓣成形术.其中直接缝合房间隔缺损22例,心包补片修补房间隔缺损18例,同期三尖瓣成形9例.术中食管超声评估修补及三尖瓣成形效果.对比不停跳与心脏停跳下全机器人房间隔缺损修补术的手术时间及体外循环时间.结果 所有患者均成功接受全机器人心脏不停跳下房间隔缺损修补术或房间隔缺损修补+三尖瓣成形术,无体循环气体栓子及残余分流等并发症.不停跳组的手术时间、机器人使用时间或体外循环时间少于停跳组.结论 机器人心脏不停跳下房间隔缺损修补术无需阻断升主动脉,简化了全机器人手术过程,手术效果安全可靠.%Objective To Summary the first 40 cases underwent robotic atrial septal defect (ASD) closure or atrial septal defect closure combined bicuspid valve plasty (TVP) using "da Vinci S" surgical System on beating heart. Methods 40 cases of atrial septal defect or combined sever tricuspid valve regurgitation were repaired using "da Vinic S" surgical system on beating heart from March 2009 to December 2010 in cardiovascular department of PLA general

  3. A robotic assistant system for cardiac interventions under MRI guidance

    Science.gov (United States)

    Li, Ming; Mazilu, Dumitru; Wood, Bradford J.; Horvath, Keith A.; Kapoor, Ankur

    2010-02-01

    In this paper we present a surgical assistant system for implanting prosthetic aortic valve transapically under MRI guidance, in a beating heart. The system integrates an MR imaging system, a robotic system, as well as user interfaces for a surgeon to plan the procedure and manipulate the robot. A compact robotic delivery module mounted on a robotic arm is used for delivering both balloon-expandable and self-expanding prosthesis. The system provides different user interfaces at different stages of the procedure. A compact fiducial pattern close to the volume of interest is proposed for robot registration. The image processing and the transformation recovery methods using this fiducial in MRI are presented. The registration accuracy obtained by using this compact fiducial is comparable to the larger multi-spherical marker registration method. The registration accuracy using these two methods is less than 0.62+/-0.50 deg (mean +/- std. dev.) and 0.63+/-0.72 deg (mean +/- std. dev.), respectively. We evaluated each of the components and show that they can work together to form a complete system for transapical aortic valve replacement.

  4. Accuracy of a novel photoacoustic-based approach to surgical guidance performed with and without a da Vinci robot

    Science.gov (United States)

    Gandhi, Neeraj; Kim, Sungmin; Kazanzides, Peter; Lediju Bell, Muyinatu A.

    2017-03-01

    Minimally invasive surgery carries the deadly risk of rupturing major blood vessels, such as the internal carotid arteries hidden by bone in endonasal transsphenoidal surgery. We propose a novel approach to surgical guidance that relies on photoacoustic-based vessel separation measurements to assess the extent of safety zones during these type of surgical procedures. This approach can be implemented with or without a robot or navigation system. To determine the accuracy of this approach, a custom phantom was designed and manufactured for modular placement of two 3.18-mm diameter vessel-mimicking targets separated by 10-20 mm. Photoacoustic images were acquired as the optical fiber was swept across the vessels in the absence and presence of teleoperation with a research da Vinci Surgical System. When the da Vinci was used, vessel positions were recorded based on the fiber position (calculated from the robot kinematics) that corresponded to an observed photoacoustic signal. In all cases, compounded photoacoustic data from a single sweep displayed the four vessel boundaries in one image. Amplitude- and coherence-based photoacoustic images were used to estimate vessel separations, resulting in 0.52-0.56 mm mean absolute errors, 0.66-0.71 mm root mean square errors, and 65-68% more accuracy compared to fiber position measurements obtained through the da Vinci robot kinematics. Results indicate that with further development, photoacoustic image-based measurements of anatomical landmarks could be a viable method for real-time path planning in multiple interventional photoacoustic applications.

  5. Impact of robotic assistance on precision of vitreoretinal surgical procedures.

    Directory of Open Access Journals (Sweden)

    Yasuo Noda

    Full Text Available PURPOSE: To elucidate the merits of robotic application for vitreoretinal maneuver in comparison to conventional manual performance using an in-vitro eye model constructed for the present study. METHODS: Capability to accurately approach the target on the fundus, to stabilize the manipulator tip just above the fundus, and to perceive the contact of the manipulator tip with the fundus were tested. The accuracies were compared between the robotic and manual control, as well as between ophthalmologists and engineering students. RESULTS: In case of manual control, ophthalmologists were superior to engineering students in all the 3 test procedures. Robotic assistance significantly improved accuracy of all the test procedures performed by engineering students. For the ophthalmologists including a specialist of vitreoretinal surgery, robotic assistance enhanced the accuracy in the stabilization of manipulator tip (from 90.9 µm to 14.9 µm, P = 0.0006 and the perception of contact with the fundus (from 20.0 mN to 7.84 mN, P = 0.046, while robotic assistance did not improve pointing accuracy. CONCLUSIONS: It was confirmed that telerobotic assistance has a potential to significantly improve precision in vitreoretinal procedures in both experienced and inexperienced hands.

  6. Augmented Robotics Dialog System for Enhancing Human-Robot Interaction.

    Science.gov (United States)

    Alonso-Martín, Fernando; Castro-González, Aĺvaro; Luengo, Francisco Javier Fernandez de Gorostiza; Salichs, Miguel Ángel

    2015-07-03

    Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human-robot interaction (HRI), to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS), which uses natural language understanding mechanisms to provide two features: (i) a non-grammar multimodal input (verbal and/or written) text; and (ii) a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper) offers many possibilities in terms of HRI. For instance, it can enhance the robot's pro-activeness during a human-robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction). Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications.

  7. Surgical treatment of parietal defects with “da Vinci” surgical robot

    OpenAIRE

    Vasilescu, D.; Paun, S.

    2012-01-01

    The robotic surgery has come through the development of telemedicine and minimally invasive surgery concepts, being developed in the military medicine by NASA during the years 1970-1980. The purpose of this paper is to briefly present our experience in the new field of the robotic surgery, by analyzing the results obtained over a lot of 20 patients operated with the “da Vinci” robot within the last 5 years in the Clinical Emergency Hospital Bucharest for various abdominal defects

  8. Robotic system for glovebox size reduction

    Energy Technology Data Exchange (ETDEWEB)

    KWOK,KWAN S.; MCDONALD,MICHAEL J.

    2000-03-02

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories (SNL) is developing technologies for glovebox size reduction in the DOE nuclear complex. A study was performed for Kaiser-Hill (KH) at the Rocky Flats Environmental Technology Site (RFETS) on the available technologies for size reducing the glovebox lines that require size reduction in place. Currently, the baseline approach to these glovebox lines is manual operations using conventional mechanical cutting methods. The study has been completed and resulted in a concept of the robotic system for in-situ size reduction. The concept makes use of commercially available robots that are used in the automotive industry. The commercially available industrial robots provide high reliability and availability that are required for environmental remediation in the DOE complex. Additionally, the costs of commercial robots are about one-fourth that of the custom made robots for environmental remediation. The reason for the lower costs and the higher reliability is that there are thousands of commercial robots made annually, whereas there are only a few custom robots made for environmental remediation every year. This paper will describe the engineering analysis approach used in the design of the robotic system for glovebox size reduction.

  9. A user-friendly automated port placement planning system for laparoscopic robotic surgery

    Science.gov (United States)

    Torres, Luis G.; Azimian, Hamidreza; Enquobahrie, Andinet

    2014-03-01

    Laparoscopic surgery is a minimally invasive surgical approach in which surgical instruments are passed through ports placed at small incisions. This approach can benefit patients by reducing recovery times and scars. Surgeons have gained greater dexterity, accuracy, and vision through adoption of robotic surgical systems. However, in some cases a preselected set of ports cannot be accommodated by the robot; the robot's arms may cause collisions during the procedure, or the surgical targets may not be reachable through the selected ports. In this case, the surgeon must either make more incisions for more ports, or even abandon the laparoscopic approach entirely. To assist in this, we are building an easytouse system which, given a surgical task and preoperative medical images of the patient, will recommend a suitable port placement plan for the robotic surgery. This work bears two main contributions: 1) a high level user interface that assists the surgeon in operating the complicated underlying planning algorithm; and 2) an interface to assist the surgical team in implementation of the recommended plan in the operating room. We believe that such an automated port placement system would reduce setup time for robotic surgery and reduce the morbidity to patients caused by unsuitable surgical port placement.

  10. Mechatronics design of a robotic systems

    OpenAIRE

    Buonocore, Luca Rosario

    2015-01-01

    The same coordination aspects are the key-points of the last proposed method about comunication: now, the robotic device have to cooperate in order to manage the object in the desired way with a good sensitivity and this can be done exploiting the torque end force sensor of the new system. A general introduction underlining the need to make a robot autonomous or at least able to operate in unstructured scenarios to cope with human end other robotic device. Project of ultralight robot ar...

  11. Robotic thymus resection with da Vinci surgical system:a report of 31 cases%达芬奇机器人胸腺切除术31例分析

    Institute of Scientific and Technical Information of China (English)

    董国华; 易俊; 李好; 许飚; 姚圣; 刘灿辉; 李德闽; 申翼; 景华

    2012-01-01

    Objective To summarize the basic experience of robotic thymus resection using da Vinci surgical system,and to evaluate its value in clinical application. Methods From Jun 2010 to Nov 2011,31 patients with thymus di6ease(including 23 cases of thymoma,4 cases of thymic hyperplasia,3 cases of thymic cysts and 1 case of tuberculous granuloma in anterior mediastinum), among whom 21 patients suffered from myasthenia gravis, underwent thymus resection and dissection of fat tissue outside the pericardium with da Vinci S surgical robot. Results All patients were successfully operated, and no conversion to thoracotomy occurred. 27 patients used right side route and 4 used left side route. The operative time was 42-132 min, mean (62. 6 ± 23.7 ) min, the estimated blood loss was 20-1S0 ml, mean (53.9 ± 29. 3) ml, and the post-operative 24 h drainage was 50-220 ml, mean (122. 6 ±46. 5) ml. All patients were extubated at 2-36 h, mean (14. 6 ± 8.6) h after surgery. One patient with Osserman E B type myasthenia gravis got myasthenic crisis 4 d post operation, and recovered by reintubation and medical therapy. No other major complications were experienced; no peri-operative mortality occurred. The mean hospital slay was 5-19 d, mean (11.3 ±3. 3) d. All the patients were followed up, and all the patient with myasthenia gravis achieved symptomatic relief. Conclusions With da Vinci robotic system, the thymic tissue and perithymic fatty tissue in the mediastinum can be dissected completely. The robotic thymection is feasible and safe, and the results are satisfactory.%目的 总结应用达芬奇机器人行胸腺切除术的基本经验,评价其手术效果及应用价值.方法 选择2010年6月至2011年11月31例胸腺疾病患者(胸腺瘤23例,胸腺增生4例,胸腺囊肿3例,前纵隔结核性肉芽肿1例),其中21例伴有重症肌无力,应用da Vinci S机器人经胸径路实施胸腺切除+纵隔脂肪组织清扫术.结果 所有患者均成功手术,无

  12. A new AS-display as part of the MIRO lightweight robot for surgical applications

    Science.gov (United States)

    Grossmann, Christoph M.

    2010-02-01

    The DLR MIRO is the second generation of versatile robot arms for surgical applications, developed at the Institute for Robotics and Mechatronics at Deutsche Zentrum für Luft- und Raumfahrt (DLR) in Oberpfaffenhofen, Germany. With its low weight of 10 kg and dimensions similar to those of the human arm, the MIRO robot can assist the surgeon directly at the operating table where space is scarce. The planned scope of applications of this robot arm ranges from guiding a laser unit for the precise separation of bone tissue in orthopedics to positioning holes for bone screws, robot assisted endoscope guidance and on to the multi-robot concept for endoscopic minimally invasive surgery. A stereo-endoscope delivers two full HD video streams that can even be augmented with information, e.g vectors indicating the forces that act on the surgical tool at any given moment. SeeFront's new autostereoscopic 3D display SF 2223, being a part of the MIRO assembly, will let the surgeon view the stereo video stream in excellent quality, in real time and without the need for any viewing aids. The presentation is meant to provide an insight into the principles at the basis of the SeeFront 3D technology and how they allow the creation of autostereoscopic display solutions ranging from smallest "stamp-sized" displays to 30" desktop versions, which all provide comfortable freedom of movement for the viewer along with excellent 3D image quality.

  13. Tandem robot control system and method for controlling mobile robots in tandem

    Energy Technology Data Exchange (ETDEWEB)

    Hayward, David R. (Albuquerque, NM); Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM)

    2002-01-01

    A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

  14. Integration of a Robotic Arm with the Surgical Assistant Workstation Software Framework

    NARCIS (Netherlands)

    Young, J.; Elhawary, H.; Popovic, A.

    2012-01-01

    We have integrated the Philips Research robot arm with the Johns Hopkins University cisst library, an open-source platform for computerassisted surgical intervention. The development of a Matlab to C++ wrapper to abstract away servo-level details facilitates the rapid development of a component-base

  15. Integration of a Robotic Arm with the Surgical Assistant Workstation Software Framework

    NARCIS (Netherlands)

    Young, J.; Elhawary, H.; Popovic, A.

    2012-01-01

    We have integrated the Philips Research robot arm with the Johns Hopkins University cisst library, an open-source platform for computerassisted surgical intervention. The development of a Matlab to C++ wrapper to abstract away servo-level details facilitates the rapid development of a

  16. Walking Robot Locomotion System Conception

    Directory of Open Access Journals (Sweden)

    Ignatova D.

    2014-09-01

    Full Text Available This work is a brief analysis on the application and perspective of using the walking robots in different areas in practice. The most common characteristics of walking four legs robots are presented here. The specific features of the applied actuators in walking mechanisms are also shown in the article. The experience of Institute of Mechanics - BAS is illustrated in creation of Spiroid and Helicon1 gears and their assembly in actuation of studied robots. Loading on joints reductors of robot legs is modelled, when the geometrical and the walking parameters of the studied robot are preliminary defined. The obtained results are purposed for designing the control of the loading of reductor type Helicon in the legs of the robot, when it is experimentally tested.

  17. Medical capsule robots: A renaissance for diagnostics, drug delivery and surgical treatment.

    Science.gov (United States)

    Mapara, Sanyat S; Patravale, Vandana B

    2017-09-10

    The advancements in electronics and the progress in nanotechnology have resulted in path breaking development that will transform the way diagnosis and treatment are carried out currently. This development is Medical Capsule Robots, which has emerged from the science fiction idea of robots travelling inside the body to diagnose and cure disorders. The first marketed capsule robot was a capsule endoscope developed to capture images of the gastrointestinal tract. Today, varieties of capsule endoscopes are available in the market. They are slightly larger than regular oral capsules, made up of a biocompatible case and have electronic circuitry and mechanisms to capture and transmit images. In addition, robots with diagnostic features such as in vivo body temperature detection and pH monitoring have also been launched in the market. However, a multi-functional unit that will diagnose and cure diseases inside the body has not yet been realized. A remote controlled capsule that will undertake drug delivery and surgical treatment has not been successfully launched in the market. High cost, inadequate power supply, lack of control over drug release, limited space for drug storage on the capsule, inadequate safety and no mechanisms for active locomotion and anchoring have prevented their entry in the market. The capsule robots can revolutionize the current way of diagnosis and treatment. This paper discusses in detail the applications of medical capsule robots in diagnostics, drug delivery and surgical treatment. In diagnostics, detailed analysis has been presented on wireless capsule endoscopes, issues associated with the marketed versions and their corresponding solutions in literature. Moreover, an assessment has been made of the existing state of remote controlled capsules for targeted drug delivery and surgical treatment and their future impact is predicted. Besides the need for multi-functional capsule robots and the areas for further research have also been

  18. Abdominal Hysterectomy: Reduced Risk of Surgical Site Infection Associated with Robotic and Laparoscopic Technique.

    Science.gov (United States)

    Colling, Kristin P; Glover, James K; Statz, Catherine A; Geller, Melissa A; Beilman, Greg J

    2015-10-01

    Hysterectomy is one of the most common procedures performed in the United States. New techniques utilizing laparoscopic and robotic technology are becoming increasingly common. It is unknown if these minimally invasive surgical techniques alter the risk of surgical site infections (SSI). We performed a retrospective review of all patients undergoing abdominal hysterectomy at our institution between January 2011 and June 2013. International Classification of Diseases, Ninth edition (ICD-9) codes and chart review were used to identify patients undergoing hysterectomy by open, laparoscopic, or robotic approach and to identify patients who developed SSI subsequently. Chi-square and analysis of variance (ANOVA) tests were used to identify univariate risk factors and logistic regression was used to perform multivariable analysis. During this time period, 986 patients were identified who had undergone abdominal hysterectomy, with 433 receiving open technique (44%), 116 laparoscopic (12%), 407 robotic (41%), and 30 cases that were converted from minimally invasive to open (3%). Patients undergoing laparoscopic-assisted hysterectomy were significantly younger and had lower body mass index (BMI) and American Society of Anesthesiologists (ASA) scores than those undergoing open or robotic hysterectomy. There were no significant differences between patients undergoing open versus robotic hysterectomy. The post-operative hospital stay was significantly longer for open procedures compared with those using laparoscopic or robotic techniques (5.1, 1.7, and 1.6 d, respectively; physterectomy procedures was 4.2%. More SSI occurred in open cases (6.5%) than laparoscopic (0%) or robotic (2.2%) (pobesity were all associated with increased risk of SSI. Laparoscopic and robotic hysterectomies were associated with a significantly lower risk of SSI and shorter hospital stays. Body mass index, advanced age, and wound class were also independent risk factors for SSI.

  19. Integrated Robotic Systems for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    J-C Habumuremyi

    2008-11-01

    Full Text Available This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typical data acquisition results obtained during trial campaigns with robots and data acquisition systems are reported. Lessons learned during the project and future work conclude this paper.

  20. Electromyographic correlates of learning during robotic surgical training in virtual reality.

    Science.gov (United States)

    Suh, Irene H; Mukherjee, Mukul; Schrack, Ryan; Park, Shi-Hyun; Chien, Jung-Hung; Oleynikov, Dmitry; Siu, Ka-Chun

    2011-01-01

    The purpose of this study was to investigate the muscle activation and the muscle frequency response of the dominant arm muscles (flexor carpi radialis and extensor digitorum) and hand muscles (abductor pollicis and first dorsal interosseous) during robotic surgical skills training in a virtual environment. The virtual surgical training tasks consisted of bimanual carrying, needle passing and mesh alignment. The experimental group (n=5) was trained by performing four blocks of the virtual surgical tasks using the da Vinci™ surgical robot. During the pre- and post-training tests, all subjects were tested by performing a suturing task on a "life-like" suture pad. The control group (n=5) performed only the suturing task without any virtual task training. Differences between pre- and post-training tests were significantly greater in the virtual reality group, as compared to the control group in the muscle activation of the hand muscle (abductor pollicis) for both the suture tying and the suture running (pvirtual reality leads to specific changes in neuromotor control of robotic surgical tasks.

  1. Robotic surgery in gynecologic oncology: evolution of a new surgical paradigm.

    Science.gov (United States)

    Boggess, John F

    2007-01-01

    Robotic surgical platforms were first developed with telesurgery in mind. Conceptualized by NASA and the military to provide surgical expertise to remote locations, some telesurgical success has been documented, but progress has been held back by communication bandwidth limitations. Telepresence surgery, where the surgeon is in proximity to the patient but is provided with an ergonomic console equipped with three-dimensional vision and autonomous control of wristed laparoscopic surgical instruments and energy sources, has shown efficacy first in cardiac and then urologic cancer surgery. Interest is currently focused on the application of this technology in the field of gynecology, with techniques being described to perform simple hysterectomy, myomectomy, tubal anastomosis, and pelvic reconstruction procedures. This article will review the application of robotic- and computer-assisted surgery in the specialty of gynecologic oncology.

  2. Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

    OpenAIRE

    Addythia Saphala; Prianggada Indra Tanaya

    2015-01-01

    Robotic Operation System (ROS) is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR), which  can  be  considered  as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM).

  3. Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

    Directory of Open Access Journals (Sweden)

    Addythia Saphala

    2015-10-01

    Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which  can  be  considered  as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.

  4. Augmented Robotics Dialog System for Enhancing Human–Robot Interaction

    Science.gov (United States)

    Alonso-Martín, Fernando; Castro-González, Aívaro; de Gorostiza Luengo, Francisco Javier Fernandez; Salichs, Miguel Ángel

    2015-01-01

    Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human–robot interaction (HRI), to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS), which uses natural language understanding mechanisms to provide two features: (i) a non-grammar multimodal input (verbal and/or written) text; and (ii) a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper) offers many possibilities in terms of HRI. For instance, it can enhance the robot's pro-activeness during a human–robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction). Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications. PMID:26151202

  5. Robotic systems for homeland security

    Science.gov (United States)

    Esser, Brian; Miller, Jon; Huston, Dryver R.; Bourn, Phil

    2004-07-01

    This paper will present the concept of utilizing various mobile robotic platforms for homeland security. Highly specialized mobile robots equipped with the proper sensors and data processing capabilities have the ability to provide security and surveillance for a wide variety of applications. Large infrastructure components, such as bridges, pipelines, dams, and electrical power grids pose severe challenges for monitoring, surveillance, and protection against man-made and natural hazards. The structures are enormous, often with awkward and dangerous configurations that make it difficult, if not impossible, for continuous human surveillance. Properly outfitted robots have the potential to provide long-term surveillance without requiring continuous human supervision. Furthermore, these robotic platforms can have disaster mitigation capabilities such as evaluation of infrastructure integrity at the disaster site. The results presented will include proof-of-concept robotic platforms equipped with various sensor arrays, as well as discussion of design criteria for numerous homeland security applications.

  6. A System for Complex Robotic Welding

    DEFF Research Database (Denmark)

    Madsen, Ole; Sørensen, Carsten Bro; Olsen, Birger

    2002-01-01

    This paper presents the architecture of a system for robotic welding of complex tasks. The system integrates off-line programming, control of redundant robots, collision-free motion planning and sensor-based control. An implementation for pipe structure welding made at Odense Steel Shipyard Ltd......., Denmark, demonstrates the system can be used for automatic welding of complex products in one-of-a-kind production....

  7. Integrated Robotic Systems for Humanitarian Demining

    OpenAIRE

    2007-01-01

    This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typica...

  8. Virtual reality robotic surgical simulation: an analysis of gynecology trainees.

    Science.gov (United States)

    Sheth, Sangini S; Fader, Amanda N; Tergas, Ana I; Kushnir, Christina L; Green, Isabel C

    2014-01-01

    To analyze the learning curves of gynecology trainees on several virtual reality da Vinci Skills Simulator exercises. Prospective cohort pilot study. Academic hospital-based gynecology training program. Novice robotic surgeons from a gynecology training program. Novice robotic surgeons from an academic gynecology training program completed 10 repetitions of 4 exercises on the da Vinci Skills Simulator: matchboard, ring and rail, suture sponge, and energy switching. Performance metrics measured included time to completion, economy of instrument movement, excessive force, collisions, master workspace range, missed targets, misapplied energy, critical errors, and overall score. Statistical analyses were conducted to define the learning curve for trainees and the optimal number of repetitions for each exercise. A total of 34 participants were enrolled, of which 9 were medical students, 22 were residents, and 3 were fellows. There was a significant improvement in performance between the 1st and 10th repetitions across multiple metrics for all exercises. Senior trainees performed the suture exercise significantly faster than the junior trainees during the first and last repetitions (p = 0.004 and p = 0.003, respectively). However, the performance gap between seniors and juniors narrowed significantly by the 10th repetition. The mean number of repetitions required to achieve performance plateau ranged from 6.4 to 9.3. Virtual reality robotic simulation improves ability through repetition at all levels of training. Further, a performance plateau may exist during a single training session. Larger studies are needed to further define the most high-yield simulator exercises, the ideal number of repetitions, and recommended intervals between training sessions to improve operative performance. Copyright © 2014 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  9. Safety in Numbers: Progressive Implementation of a Robotics Program in an Academic Surgical Oncology Practice.

    Science.gov (United States)

    King, Jonathan C; Zeh, Herbert J; Zureikat, Amer H; Celebrezze, James; Holtzman, Matthew P; Stang, Michael L; Tsung, Allan; Bartlett, David L; Hogg, Melissa E

    2016-08-01

    Background Robotic-assisted surgery has potential benefits over laparoscopy yet little has been published on the integration of this platform into complex surgical oncology. We describe the outcomes associated with integration of robotics into a large surgical oncology program, focusing on metrics of safety and efficiency. Methods A retrospective review of a prospectively maintained database of robotic procedures from July 2009 to October 2014 identifying trends in volume, operative time, complications, conversion to open, and 90-day mortality. Results Fourteen surgeons performed 1236 cases during the study period: thyroid (246), pancreas/duodenum (458), liver (157), stomach (56), colorectal (129), adrenal (38), cholecystectomy (102), and other (48). There were 38 conversions to open (3.1%), 230 complications (18.6%), and 13 mortalities (1.1%). From 2009 to 2014, operative volume increased (7 cases/month vs 24 cases/month; P robotic surgical oncology program utilizing multiple surgeons is safe and feasible. As operative volume increased, operative time, complications, and conversions to open decreased and plateaued at approximately 3 years. No unanticipated adverse events attributable to the introduction of this platform were observed.

  10. Pneumatic robotic systems for upper limb rehabilitation.

    Science.gov (United States)

    Morales, Ricardo; Badesa, Francisco Javier; García-Aracil, Nicolás; Sabater, José María; Pérez-Vidal, Carlos

    2011-10-01

    The aim of rehabilitation robotic area is to research on the application of robotic devices to therapeutic procedures. The goal is to achieve the best possible motor, cognitive and functional recovery for people with impairments following various diseases. Pneumatic actuators are attractive for robotic rehabilitation applications because they are lightweight, powerful, and compliant, but their control has historically been difficult, limiting their use. This article first reviews the current state-of-art in rehabilitation robotic devices with pneumatic actuation systems reporting main features and control issues of each therapeutic device. Then, a new pneumatic rehabilitation robot for proprioceptive neuromuscular facilitation therapies and for relearning daily living skills: like taking a glass, drinking, and placing object on shelves is described as a case study and compared with the current pneumatic rehabilitation devices.

  11. A flexure-based wrist for needle-sized surgical robots

    Science.gov (United States)

    Losey, Dylan P.; York, Peter A.; Swaney, Philip J.; Burgner, Jessica; Webster, Robert J.

    2013-03-01

    We present a novel flexure-based wrist design intended for use with needle-sized robotic manipulators. It is designed to be mounted at the tip of a traditional surgical needle, deployed through an endoscope working channel, or attached to the tip of a concentric tube robot. In all these applications, the wrist enables dexterity in small spaces. The wrist consists of two stacked flexure joints that are actuated by thin pull wires. In this paper we present the design of the wrist, its kinematics, and an experimental evaluation of the relationship between actuation force and tip displacement conducted using a scale model.

  12. 达芬奇机器人手术系统在宫颈癌手术中应用概述%Clinical application of Da Vinci Robotic-assisted surgical system in cervical cancer operation

    Institute of Scientific and Technical Information of China (English)

    刘高伟(综述); 陈必良(审校)

    2016-01-01

    Da Vinci robotic surgery system is a new technology platform; compared with conventional laparoscopic surgery, this system has three-dimensional function with High-deifnition; the robotic arms have a activity area with seven degree of freedom, which is more applicable to the operation of ifne surgery. As this system has such advantages, this system is gradually used in cervical cancer radical prostatectomy; and its safety and uperiority are showed.This article summarized from the below aspects: introduction of Da Vinci robotic surgery system and its advantages,clinical development of Da Vinci robotic surgery system in cervical cancer treatment and so on.%达芬奇机器人手术系统是一个新的技术平台,与腹腔镜相比,这一系统具有三维立体、高清放大的功能,而且机器手臂具有7个自由度的活动范围,更加适用于精细手术的操作。近年来已逐渐应用于宫颈癌根治术,并显示出其安全性及优越性。本文总结了达芬奇机器人手术系统优势,对该系统应用于宫颈癌手术的手术时间、出血量、并发症、住院时间、预后等方面进行综述。

  13. Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks

    Science.gov (United States)

    Fellmann, Carolin; Kashi, Daryoush; Burgner-Kahrs, Jessica

    2015-03-01

    For those minimally invasive surgery where conventional surgical instruments cannot reach the surgical site due to their straight structure and rigidity, concentric tube continuum robots are a promising technology because of their small size (comparable to a needle) and maneuverability. These flexible, compliant manipulators can easily access hard to reach anatomical structures, e.g. by turning around corners. By teleoperating the robot the surgeon stays in direct control at any time. In this paper, three off-the-shelf input devices are considered for teleoperation of a concentric tube continuum robot: a 3D mouse, a gamepad, and a 3 degrees of freedom haptic input device. Three tasks which mimic relevant surgical maneuvers are performed by 12 subjects using each input device: reaching specific locations, picking and placing objects from one location to another, and approaching the surgical site through a restricted pathway. We present quantitative results (task completion time, accuracy, etc.), a statistical analysis, and empirical results (questionnaires). Overall, the performance of subjects using the 3D mouse was superior to the performance using the other input devices. The subjective ranking of the 3D mouse by the subjects confirms this result.

  14. The effect of robotic telerounding in the surgical intensive care units impact on medical education.

    Science.gov (United States)

    Marini, Corrado Paolo; Ritter, Garry; Sharma, Cordelia; McNelis, John; Goldberg, Michael; Barrera, Rafael

    2015-03-01

    Robotic telerounding is effective from the standpoint of patients' satisfaction and patients' care in teaching and community hospitals. However, the impact of robotic telerounding by the intensivist rounding remotely in the surgical intensive care unit (SICU), on patients' outcome and on the education of medical students physician assistants and surgical residents, as well as on nurses' satisfaction has not been studied. Prospective evaluation of robotic telerounding (RT) using a Likert Scale measuring tool to assess whether it can replace conventional rounding (CR) from the standpoint of patients' care and outcome, nursing satisfaction, and educational effectiveness. RT did not have a negative impact on patients' outcome during the study interval: mortality 5/42 (12 %) versus 6/37 (16 %), RT versus CR, respectively, p = 0.747. The intensivists rounding in the SICU were satisfied with their ability to deliver the same patients' care remotely (Likert score 4.4 ± 0.2). The educational experience of medical students, physicia assistants, and surgical residents was not affected by RT (average Likert score 4.5 ± 0.2, 3.9 ± 0.4, and 4.4 ± 0.4 for surgical residents, medical students and PAs, respectively, p > 0.05). However, as shown by a Likert score of 3.5 ± 1.0, RT did not meet nurses' expectations from several standpoints. Intensivists regard robotic telerounding as an effective alternative to conventional rounding from the standpoint of patients' care and teaching. Medical students, physician assistants (PA's), and surgical residents do not believe that RT compromises their education. Despite similar patients' outcome, nurses have a less favorable opinion of RT; they believe that the physical presence of the intensivist is favorable at all times.

  15. Prototype Optical Correlator For Robotic Vision System

    Science.gov (United States)

    Scholl, Marija S.

    1993-01-01

    Known and unknown images fed in electronically at high speed. Optical correlator and associated electronic circuitry developed for vision system of robotic vehicle. System recognizes features of landscape by optical correlation between input image of scene viewed by video camera on robot and stored reference image. Optical configuration is Vander Lugt correlator, in which Fourier transform of scene formed in coherent light and spatially modulated by hologram of reference image to obtain correlation.

  16. Automatic Battery Swap System for Home Robots

    Directory of Open Access Journals (Sweden)

    Juan Wu

    2012-12-01

    Full Text Available This paper presents the design and implementation of an automatic battery swap system for the prolonged activities of home robots. A battery swap station is proposed to implement battery off‐line recharging and on‐line exchanging functions. It consists of a loading and unloading mechanism, a shifting mechanism, a locking device and a shell. The home robot is a palm‐sized wheeled robot with an onboard camera and a removable battery case in the front. It communicates with the battery swap station wirelessly through ZigBee. The influences of battery case deflection and robot docking deflection on the battery swap operations have been investigated. The experimental results show that it takes an average time of 84.2s to complete the battery swap operations. The home robot does not have to wait several hours for the batteries to be fully charged. The proposed battery swap system is proved to be efficient in home robot applications that need the robots to work continuously over a long period.

  17. Safety assessment of high consequence robotics system

    Energy Technology Data Exchange (ETDEWEB)

    Robinson, D.G.; Atcitty, C.B.

    1996-08-01

    This paper outlines the use of a failure modes and effects analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, the weigh and leak check system, is to replace a manual process for weight and leakage of nuclear materials at the DOE Pantex facility. Failure modes and effects analyses were completed for the robotics process to ensure that safety goals for the systems have been met. Due to the flexible nature of the robot configuration, traditional failure modes and effects analysis (FMEA) were not applicable. In addition, the primary focus of safety assessments of robotics systems has been the protection of personnel in the immediate area. In this application, the safety analysis must account for the sensitivities of the payload as well as traditional issues. A unique variation on the classical FMEA was developed that permits an organized and quite effective tool to be used to assure that safety was adequately considered during the development of the robotic system. The fundamental aspects of the approach are outlined in the paper.

  18. An automated miniature robotic vehicle inspection system

    Science.gov (United States)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter

    2014-02-01

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  19. Ubiquitous Robotic Technology for Smart Manufacturing System.

    Science.gov (United States)

    Wang, Wenshan; Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

    2016-01-01

    As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

  20. Ubiquitous Robotic Technology for Smart Manufacturing System

    Directory of Open Access Journals (Sweden)

    Wenshan Wang

    2016-01-01

    Full Text Available As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

  1. Current opinion on computer-aided surgical navigation and robotics: role in the treatment of sports-related injuries.

    Science.gov (United States)

    Musahl, Volker; Plakseychuk, Anton; Fu, Freddie H

    2002-01-01

    Computer-assisted surgery (CAS) may allow surgeons to be more precise and minimally invasive, in addition to being an excellent research tool. Medical imaging, such as magnetic resonance and computed tomography is not only an important diagnostic tool, but also a necessary planning tool. In orthopaedic sports medicine, precision is needed when placing tunnels for soft tissue fixation of replacement grafts. Two types of CAS systems -- passive and active -- have been developed. Passive systems, or surgical navigation systems, provide the surgeon with additional information prior to and during the surgical procedure (in real time). Active systems have the ability of performing certain surgical steps autonomously. Both active and passive CAS systems are currently a subject of basic science and clinical investigations and will be discussed and commented on in this article. In summary, passive navigation systems can provide additional information to the surgeon and can therefore lead to more precise tunnel placement. Active robotic technology seems to be accurate and feasible with promising initial results from Europe. However, active and passive CAS can only be as precise as the surgeon who plans the procedure. Therefore, future studies have to focus on integrating, arthroscopy, 3-D image-enhanced computer navigation, and virtual kinematics, as well as to increase precision in surgical techniques.

  2. Augmented Robotics Dialog System for Enhancing Human–Robot Interaction

    Directory of Open Access Journals (Sweden)

    Fernando Alonso-Martín

    2015-07-01

    Full Text Available Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human–robot interaction (HRI, to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS, which uses natural language understanding mechanisms to provide two features: (i a non-grammar multimodal input (verbal and/or written text; and (ii a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper offers many possibilities in terms of HRI. For instance, it can enhance the robot’s pro-activeness during a human–robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction. Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications.

  3. Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments.

    Science.gov (United States)

    Song, Shuang; Zhang, Changchun; Liu, Li; Meng, Max Q-H

    2017-10-05

    Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation. We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved. Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is [Formula: see text] mm, while the maximum error is 3.2 mm. The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method.

  4. A networked modular hardware and software system for MRI-guided robotic prostate interventions

    Science.gov (United States)

    Su, Hao; Shang, Weijian; Harrington, Kevin; Camilo, Alex; Cole, Gregory; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare; Fischer, Gregory S.

    2012-02-01

    Magnetic resonance imaging (MRI) provides high resolution multi-parametric imaging, large soft tissue contrast, and interactive image updates making it an ideal modality for diagnosing prostate cancer and guiding surgical tools. Despite a substantial armamentarium of apparatuses and systems has been developed to assist surgical diagnosis and therapy for MRI-guided procedures over last decade, the unified method to develop high fidelity robotic systems in terms of accuracy, dynamic performance, size, robustness and modularity, to work inside close-bore MRI scanner still remains a challenge. In this work, we develop and evaluate an integrated modular hardware and software system to support the surgical workflow of intra-operative MRI, with percutaneous prostate intervention as an illustrative case. Specifically, the distinct apparatuses and methods include: 1) a robot controller system for precision closed loop control of piezoelectric motors, 2) a robot control interface software that connects the 3D Slicer navigation software and the robot controller to exchange robot commands and coordinates using the OpenIGTLink open network communication protocol, and 3) MRI scan plane alignment to the planned path and imaging of the needle as it is inserted into the target location. A preliminary experiment with ex-vivo phantom validates the system workflow, MRI-compatibility and shows that the robotic system has a better than 0.01mm positioning accuracy.

  5. A Fast Vision System for Soccer Robot

    Directory of Open Access Journals (Sweden)

    Tianwu Yang

    2012-01-01

    Full Text Available This paper proposes a fast colour-based object recognition and localization for soccer robots. The traditional HSL colour model is modified for better colour segmentation and edge detection in a colour coded environment. The object recognition is based on only the edge pixels to speed up the computation. The edge pixels are detected by intelligently scanning a small part of whole image pixels which is distributed over the image. A fast method for line and circle centre detection is also discussed. For object localization, 26 key points are defined on the soccer field. While two or more key points can be seen from the robot camera view, the three rotation angles are adjusted to achieve a precise localization of robots and other objects. If no key point is detected, the robot position is estimated according to the history of robot movement and the feedback from the motors and sensors. The experiments on NAO and RoboErectus teen-size humanoid robots show that the proposed vision system is robust and accurate under different lighting conditions and can effectively and precisely locate robots and other objects.

  6. A framework for robust mobile robot systems

    Science.gov (United States)

    Melchior, Nik A.; Smart, William D.

    2004-12-01

    Fielded mobile robot systems will inevitably suffer hardware and software failures. Failures in a single subsystem can often disable the entire robot, especially if the controlling application does not consider such failures. Often simple measures, such as a software restart or the use of a secondary sensor, can solve the problem. However, these fixes must generally be applied by a human expert, who might not be present in the field. In this paper, we describe a recovery-oriented framework for mobile robot applications which addresses this problem in two ways. First, fault isolation automatically provides graceful degradation of the overall system as individual software and hardware components fail. In addition, subsystems are monitored for known failure modes or aberrant behavior. The framework responds to detected or immanent failures by restarting or replacing the suspect component in a manner transparent to the application programmer and the robot's operator.

  7. Robotic surgical staging for endometrial and cervical cancers in medically ill patients.

    Science.gov (United States)

    Siesto, Gabriele; Ornaghi, Sara; Iedà, Nicoletta; Vitobello, Domenico

    2013-06-01

    Patients with high anesthesiological risk due to old age, obesity and severe co-morbidities alone or in combination are considered as poor candidates for extensive surgical staging procedures, especially if through minimally invasive approach. We aimed to evaluate the feasibility and safety of robotic surgical staging of endometrial and cervical cancers in the medically ill patient. Between 07-2007 and 12-2012, consecutive patients scheduled for staging for endometrial or cervical cancer were directed towards robotic staging and divided into two groups according to their starting score in the American Society for Anaesthesiologists (ASA): Group 1 (ASA 1-2) and Group 2 (ASA ≥3). Overall, 169 (71.9%) patients had ASA 1-2 whereas 66 (28.1%) had ASA ≥3. ASA ≥3 were older (pobesity (2.4% vs 31.8%; pcervical cancers also in this more vulnerable group of patients. Copyright © 2013 Elsevier Inc. All rights reserved.

  8. An RTM based Distributed Simulation System for Guide Robot

    Directory of Open Access Journals (Sweden)

    Chen Peihua

    2013-10-01

    Full Text Available In order to enhance the robot system integration and development for guide robot, a distributed simulation system was developed in this study using RTM (Robot Technology Middleware technology, which is an open software platform for robot systems. The RT (robot technology system of an adapter, a controller and the robot, together with other CORBA objects, was developed to connect the graphical programing interface with 3D simulator to set up an RTM based distributed simulation system. Simultaneously, the application of the distributed simulation system also confirms the controlling of the real robot utilizing the RT system. The proposed distributed simulation system based on RTM can obviously accelerate the software component development as well as the system integration for guide robot, which will certainly lower the cost of the development of new robot application systems.

  9. Parametric uncertain identification of a robotic system

    Science.gov (United States)

    Angel, L.; Viola, J.; Hernández, C.

    2016-07-01

    This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS / MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.

  10. Real-time stereo generation for surgical vision during minimal invasive robotic surgery

    Science.gov (United States)

    Laddi, Amit; Bhardwaj, Vijay; Mahapatra, Prasant; Pankaj, Dinesh; Kumar, Amod

    2016-03-01

    This paper proposes a framework for 3D surgical vision for minimal invasive robotic surgery. It presents an approach for generating the three dimensional view of the in-vivo live surgical procedures from two images captured by very small sized, full resolution camera sensor rig. A pre-processing scheme is employed to enhance the image quality and equalizing the color profile of two images. Polarized Projection using interlacing two images give a smooth and strain free three dimensional view. The algorithm runs in real time with good speed at full HD resolution.

  11. Optimal design of a novel remote center-of-motion mechanism for minimally invasive surgical robot

    Science.gov (United States)

    Sun, Jingyuan; Yan, Zhiyuan; Du, Zhijiang

    2017-06-01

    Surgical robot with a remote center-of-motion (RCM) plays an important role in minimally invasive surgery (MIS) field. To make the mechanism has high flexibility and meet the demand of movements during processing of operation, an optimized RCM mechanism is proposed in this paper. Then, the kinematic performance and workspace are analyzed. Finally, a new optimization objective function is built by using the condition number index and the workspace index.

  12. Robots testing robots: ALAN-Arm, a humanoid arm for the testing of robotic rehabilitation systems.

    Science.gov (United States)

    Brookes, Jack; Kuznecovs, Maksims; Kanakis, Menelaos; Grigals, Arturs; Narvidas, Mazvydas; Gallagher, Justin; Levesley, Martin

    2017-07-01

    Robotics is increasing in popularity as a method of providing rich, personalized and cost-effective physiotherapy to individuals with some degree of upper limb paralysis, such as those who have suffered a stroke. These robotic rehabilitation systems are often high powered, and exoskeletal systems can attach to the person in a restrictive manner. Therefore, ensuring the mechanical safety of these devices before they come in contact with individuals is a priority. Additionally, rehabilitation systems may use novel sensor systems to measure current arm position. Used to capture and assess patient movements, these first need to be verified for accuracy by an external system. We present the ALAN-Arm, a humanoid robotic arm designed to be used for both accuracy benchmarking and safety testing of robotic rehabilitation systems. The system can be attached to a rehabilitation device and then replay generated or human movement trajectories, as well as autonomously play rehabilitation games or activities. Tests of the ALAN-Arm indicated it could recreate the path of a generated slow movement path with a maximum error of 14.2mm (mean = 5.8mm) and perform cyclic movements up to 0.6Hz with low gain (<1.5dB). Replaying human data trajectories showed the ability to largely preserve human movement characteristics with slightly higher path length and lower normalised jerk.

  13. Smart tissue anastomosis robot (STAR): a vision-guided robotics system for laparoscopic suturing.

    Science.gov (United States)

    Leonard, Simon; Wu, Kyle L; Kim, Yonjae; Krieger, Axel; Kim, Peter C W

    2014-04-01

    This paper introduces the smart tissue anastomosis robot (STAR). Currently, the STAR is a proof-of-concept for a vision-guided robotic system featuring an actuated laparoscopic suturing tool capable of executing running sutures from image-based commands. The STAR tool is designed around a commercially available laparoscopic suturing tool that is attached to a custom-made motor stage and the STAR supervisory control architecture that enables a surgeon to select and track incisions and the placement of stitches. The STAR supervisory-control interface provides two modes: A manual mode that enables a surgeon to specify the placement of each stitch and an automatic mode that automatically computes equally-spaced stitches based on an incision contour. Our experiments on planar phantoms demonstrate that the STAR in either mode is more accurate, up to four times more consistent and five times faster than surgeons using state-of-the-art robotic surgical system, four times faster than surgeons using manual Endo360(°)®, and nine times faster than surgeons using manual laparoscopic tools.

  14. Dual arm robotic system with sensory input

    Science.gov (United States)

    Ozguner, U.

    1987-01-01

    The need for dual arm robots in space station assembly and satellite maintainance is of increasing significance. Such robots will be in greater demand in the future when numerous tasks will be assigned to them to relieve the direct intervention of humans in space. Technological demands from these robots will be high. They will be expected to perform high speed tasks with a certain degree of autonomy. Various levels of sensing will have to be used in a sophisticated control scheme. Ongoing research in control, sensing and real-time software to produce a two-arm robotic system than can accomplish generic assembly tasks is discussed. The control hierarchy and the specific control approach are discussed. A decentralized implementation of model-reference adaptive control using Variable Structure controllers and the incorporation of tactile feedback is considered.

  15. Associated Da Vinci and magellan robotic systems for successful treatment of nutcracker syndrome.

    Science.gov (United States)

    Thaveau, Fabien; Nicolini, Philippe; Lucereau, Benoit; Georg, Yannick; Lejay, Anne; Chakfe, Nabil

    2015-01-01

    Here, we report the case of a 26-year-old woman suffering from nutcracker syndrome with concurrent disabling pelvic congestion syndrome. She was given the minimally invasive treatment of left renal vein transposition with the Da Vinci(®) robotic system (Intuitive Surgical, Sunnyvale, CA), followed the next day by a gonadal vein and pelvic varicose embolization using a robotic intraluminal navigation with the Magellan™ robotic system (Hansen Medical, Mountain View, CA). The procedure was uneventful, and the patient had good results at 6 months of follow-up, including a patent left renal vein and complete relief of symptoms.

  16. Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.

    Science.gov (United States)

    Hu, Zhenkai; Yoon, Chae-Hyun; Park, Samuel Byeongjun; Jo, Yung-Ho

    2016-07-01

    We propose a portable haptic device providing grasp (kinesthetic) and push-pull (cutaneous) sensations for optical-motion-capture master interfaces. Although optical-motion-capture master interfaces for surgical robot systems can overcome the stiffness, friction, and coupling problems of mechanical master interfaces, it is difficult to add haptic feedback to an optical-motion-capture master interface without constraining the free motion of the operator's hands. Therefore, we utilized a Bowden cable-driven mechanism to provide the grasp and push-pull sensation while retaining the free hand motion of the optical-motion capture master interface. To evaluate the haptic device, we construct a 2-DOF force sensing/force feedback system. We compare the sensed force and the reproduced force of the haptic device. Finally, a needle insertion test was done to evaluate the performance of the haptic interface in the master-slave system. The results demonstrate that both the grasp force feedback and the push-pull force feedback provided by the haptic interface closely matched with the sensed forces of the slave robot. We successfully apply our haptic interface in the optical-motion-capture master-slave system. The results of the needle insertion test showed that our haptic feedback can provide more safety than merely visual observation. We develop a suitable haptic device to produce both kinesthetic grasp force feedback and cutaneous push-pull force feedback. Our future research will include further objective performance evaluations of the optical-motion-capture master-slave robot system with our haptic interface in surgical scenarios.

  17. A Miniature Robotic Plane Meteorological Sounding System

    Institute of Scientific and Technical Information of China (English)

    马舒庆; 陈洪滨; 汪改; 潘毅; 李强

    2004-01-01

    This article presents a miniature robotic plane meteorological sounding system RPMSS), which consists of three major subsystems: a miniature robotic plane, an air-borne meteorological sounding and flight control system, and a ground-based system. Take-off and landing of the miniature aircraft are guided by radio control, and the flight of the robotic plane along a pre-designed trajectory is automatically piloted by an onboard navigation system. The observed meteorological data as well as all flight information are sent back in real time to the ground, then displayed and recorded by the ground-based computer. The ground-based subsystem can also transmit instructions to the air-borne control subsystem. Good system performance has been demonstrated by more than 300 hours of flight for atmospheric sounding.

  18. Robust tuning of robot control systems

    Science.gov (United States)

    Minis, I.; Uebel, M.

    1992-01-01

    The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller.

  19. Development of AR Surgical Navigation Systems for Multiple Surgical Regions.

    Science.gov (United States)

    Suzuki, Naoki; Hattori, Asaki; Iimura, Jiro; Otori, Nobuyoshi; Onda, Shinji; Okamoto, Tomoyoshi; Yanaga, Katsuhiko

    2014-01-01

    The purpose of our research is to develop surgical navigation systems to enhance surgical safety. Our systems make use of augmented reality technology to superimpose, on the surgery screen on a real time basis, patients' organ models reconstructed in 3D from their X-ray CT data taken before surgery. By doing so, the systems display anatomical risk materials, tumors and blood vessels which surgeons cannot see with their naked eyes. This will in turn lead to surgeons intuitively grasping the inner structures of the operational fields. We so far have been developing navigation systems that can conduct surgeries in various fields. The basic structure of the navigation systems are the same. The navigation systems uses different peripheral equipment and different methods to display navigation images which best meet the demands of each type of surgery. In this thesis, we report on our navigation systems for 2 types of surgery - endoscopic sinus surgery and hepatobilialy-pancreatic surgery.

  20. Human Robotic Systems (HRS): Space Robotics Challenge Project

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2013 and 2015, the DARPA Robotics Challenge explored through a competition the tasks and technologies for robots to operate in a natural and man-made...

  1. Human Robotic Systems (HRS): Controlling Robots over Time Delay Element

    Data.gov (United States)

    National Aeronautics and Space Administration — This element involves the development of software that enables easier commanding of a wide range of NASA relevant robots through the Robot Application Programming...

  2. Robotic vision system for random bin picking with dual-arm robots

    Directory of Open Access Journals (Sweden)

    Kang Sangseung

    2016-01-01

    Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

  3. Informed Design to Robotic Production Systems; Developing Robotic 3D Printing System for Informed Material Deposition

    NARCIS (Netherlands)

    Mostafavi, S.; Bier, H.; Bodea, S.; Anton, A.M.

    2015-01-01

    This paper discusses the development of an informed Design-to-Robotic-Production (D2RP) system for additive manufacturing to achieve performative porosity in architecture at various scales. An extended series of experiments on materiality, fabrication and robotics were designed and carried out resul

  4. Informed Design to Robotic Production Systems; Developing Robotic 3D Printing System for Informed Material Deposition

    NARCIS (Netherlands)

    Mostafavi, S.; Bier, H.; Bodea, S.; Anton, A.M.

    2015-01-01

    This paper discusses the development of an informed Design-to-Robotic-Production (D2RP) system for additive manufacturing to achieve performative porosity in architecture at various scales. An extended series of experiments on materiality, fabrication and robotics were designed and carried out resul

  5. Informed Design to Robotic Production Systems; Developing Robotic 3D Printing System for Informed Material Deposition

    NARCIS (Netherlands)

    Mostafavi, S.; Bier, H.; Bodea, S.; Anton, A.M.

    2015-01-01

    This paper discusses the development of an informed Design-to-Robotic-Production (D2RP) system for additive manufacturing to achieve performative porosity in architecture at various scales. An extended series of experiments on materiality, fabrication and robotics were designed and carried out

  6. Developing stereo image based robot control system

    Science.gov (United States)

    Suprijadi, Pambudi, I. R.; Woran, M.; Naa, C. F.; Srigutomo, W.

    2015-04-01

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.

  7. Developing stereo image based robot control system

    Energy Technology Data Exchange (ETDEWEB)

    Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W. [Department of Physics, FMIPA, InstitutTeknologi Bandung Jl. Ganesha No. 10. Bandung 40132, Indonesia supri@fi.itb.ac.id (Indonesia)

    2015-04-16

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.

  8. Robot operating system (ROS) the complete reference

    CERN Document Server

    The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.   ...

  9. The ROTSE-III Robotic Telescope System

    CERN Document Server

    Akerlof, Carl W; Casperson, D E; Epps, H W; Kehoe, R; Marshall, S L; McGowan, K E; McKay, T A; Phillips, M A; Rykoff, E S; Schier, J A; Smith, D A; Vestrand, W T; Wozniak, P R; Wren, J A

    2002-01-01

    The observation of a prompt optical flash from GRB990123 convincingly demonstrated the value of autonomous robotic telescope systems. Pursuing a program of rapid follow-up observations of gamma-ray bursts, the Robotic Optical Transient Search Experiment (ROTSE) has developed a next-generation instrument, ROTSE-III, that will continue the search for fast optical transients. The entire system was designed as an economical robotic facility to be installed at remote sites throughout the world. There are seven major system components: optics, optical tube assembly, CCD camera, telescope mount, enclosure, environmental sensing & protection and data acquisition. Each is described in turn in the hope that the techniques developed here will be useful in similar contexts elsewhere.

  10. Visual-tracking-based robot vision system

    Science.gov (United States)

    Deng, Keqiang; Wilson, Joseph N.; Ritter, Gerhard X.

    1992-11-01

    There are two kinds of depth perception for robot vision systems: quantitative and qualitative. The first one can be used to reconstruct the visible surfaces numerically while the second to describe the visible surfaces qualitatively. In this paper, we present a qualitative vision system suitable for intelligent robots. The goal of such a system is to perceive depth information qualitatively using monocular 2-D images. We first establish a set of propositions relating depth information, such as 3-D orientation and distance, to the changes of image region caused by camera motion. We then introduce an approximation-based visual tracking system. Given an object, the tracking system tracks its image while moving the camera in a way dependent upon the particular depth property to be perceived. Checking the data generated by the tracking system with our propositions provides us the depth information about the object. The visual tracking system can track image regions in real-time even as implemented on a PC AT clone machine, and mobile robots can naturally provide the inputs to our visual tracking system, therefore, we are able to construct a real-time, cost effective, monocular, qualitative and 3-dimensional robot vision system. To verify our idea, we present examples of perception of planar surface orientation, distance, size, dimensionality and convexity/concavity.

  11. Vision and task assistance using modular wireless in vivo surgical robots.

    Science.gov (United States)

    Platt, Stephen R; Hawks, Jeff A; Rentschler, Mark E

    2009-06-01

    Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work demonstrated that miniature mobile and fixed-based in vivo robots using tethers for power and data transmission can successfully operate within the abdominal cavity. This paper describes the development of a modular wireless mobile platform for in vivo sensing and manipulation applications. Design details and results of ex vivo and in vivo tests of robots with biopsy grasper, staple/clamp, video, and physiological sensor payloads are presented. These types of self-contained surgical devices are significantly more transportable and lower in cost than current robotic surgical assistants. They could ultimately be carried and deployed by nonmedical personnel at the site of an injury to allow a remotely located surgeon to provide critical first response medical intervention irrespective of the location of the patient.

  12. Usability Assessment of Two Different Control Modes for the Master Console of a Laparoscopic Surgical Robot

    Directory of Open Access Journals (Sweden)

    Xiaoli Zhang

    2012-01-01

    Full Text Available The objective of this study is to evaluate potential interface control modes for a compact four-degree-of-freedom (4-DOF surgical robot. The goal is to improve robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1 a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation, and (2 an unconstrained Cartesian input interface mapping more directly to the surgical tool tip motions. Subjects (n = 5 successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with speed roughly equal to that achieved in similar manual procedures, and without a steep learning curve. The robot control was evaluated through bench-top tests and a subsequent qualitative questionnaire (n = 15. The results suggest that the unconstrained control mode was preferred for both camera guidance and tool manipulations.

  13. Network analysis of surgical innovation: Measuring value and the virality of diffusion in robotic surgery.

    Science.gov (United States)

    Garas, George; Cingolani, Isabella; Panzarasa, Pietro; Darzi, Ara; Athanasiou, Thanos

    2017-01-01

    Existing surgical innovation frameworks suffer from a unifying limitation, their qualitative nature. A rigorous approach to measuring surgical innovation is needed that extends beyond detecting simply publication, citation, and patent counts and instead uncovers an implementation-based value from the structure of the entire adoption cascades produced over time by diffusion processes. Based on the principles of evidence-based medicine and existing surgical regulatory frameworks, the surgical innovation funnel is described. This illustrates the different stages through which innovation in surgery typically progresses. The aim is to propose a novel and quantitative network-based framework that will permit modeling and visualizing innovation diffusion cascades in surgery and measuring virality and value of innovations. Network analysis of constructed citation networks of all articles concerned with robotic surgery (n = 13,240, Scopus®) was performed (1974-2014). The virality of each cascade was measured as was innovation value (measured by the innovation index) derived from the evidence-based stage occupied by the corresponding seed article in the surgical innovation funnel. The network-based surgical innovation metrics were also validated against real world big data (National Inpatient Sample-NIS®). Rankings of surgical innovation across specialties by cascade size and structural virality (structural depth and width) were found to correlate closely with the ranking by innovation value (Spearman's rank correlation coefficient = 0.758 (p = 0.01), 0.782 (p = 0.008), 0.624 (p = 0.05), respectively) which in turn matches the ranking based on real world big data from the NIS® (Spearman's coefficient = 0.673;p = 0.033). Network analysis offers unique new opportunities for understanding, modeling and measuring surgical innovation, and ultimately for assessing and comparing generative value between different specialties. The novel surgical innovation metrics developed may

  14. Mearsurement and control system for agricultural robot

    Science.gov (United States)

    Sun, Tong; Zhang, Fangming; Ying, Yibin

    2006-10-01

    Automation of agricultural equipments in the near term appears both economically viable and technically feasible. This paper describes measurement and control system for agriculture robot. It consists of a computer, a pair of NIR cameras, one inclinometer, one potentionmeter and two encoders. Inclinometer, potentionmeter and encoders are used to measure obliquity of camera, turning angle of front-wheel and velocity of rear wheel, respectively. These sensor data are filtered before sending to PC. The test shows that the system can measure turning angle of front-wheel and velocity of rear wheel accurately whether robot is at stillness state or at motion state.

  15. Application of robotics to distribution systems

    Energy Technology Data Exchange (ETDEWEB)

    Ramsbottom, W.

    1986-06-01

    Robotic technology has been recognized as having potential application in lifeline maintenance and repair. A study was conducted to investigate the feasibility of utilizing robotics for this purpose, and to prepare a general design of appropriate equipment. Four lifeline tasks were selected as representative of the majority of work. Based on a detailed task decomposition, subtasks were rated on amenability to robot completion. All tasks are feasible, but in some cases special tooling is required. Based on today's robotics, it is concluded that a force reflecting master/slave telemanipulator, augmented by automatic robot tasks under a supervisory control system, provides the optimal approach. No commercially available products are currently adequate for lifeline work. A general design of the telemanipulator, which has been named the SKYARM has been developed, addressing all subsystems such as the manipulator, video, control power and insulation. The baseline system is attainable using today's technology. Improved performance and lower cost will be achieved through developments in artificial intelligence, machine vision, supervisory control and dielectrics. Immediate benefits to utilities include increased safety, better service and savings on a subset of maintenance tasks. In 3-5 years, the SKYARM will prove cost effective as a general purpose lifeline tool. 7 refs., 26 figs., 3 tabs.

  16. A Novel Teaching System for Industrial Robots

    Directory of Open Access Journals (Sweden)

    Hsien-I Lin

    2014-03-01

    Full Text Available The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts’ Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.

  17. Biological Immune System Applications on Mobile Robot for Disabled People

    Directory of Open Access Journals (Sweden)

    Songmin Jia

    2014-01-01

    Full Text Available To improve the service quality of service robots for the disabled, immune system is applied on robot for its advantages such as diversity, dynamic, parallel management, self-organization, and self-adaptation. According to the immune system theory, local environment condition sensed by robot is considered an antigen while robot is regarded as B-cell and possible node as antibody, respectively. Antibody-antigen affinity is employed to choose the optimal possible node to ensure the service robot can pass through the optimal path. The paper details the immune system applications on service robot and gives experimental results.

  18. Methods and tasks of simulation modeling of mine robot systems

    Energy Technology Data Exchange (ETDEWEB)

    Tailakov, O.V. (Institut Uglya SO RAN (Russian Federation))

    1992-11-01

    Discusses a procedure for computerized simulation of operation of a robot longwall mining system. The following aspects are analyzed: selecting a variant from among a number of structural schemes of the robot mining systems (using six types of robots for coal cutting, powered support advance, support installation, drilling, haulage and other auxiliary operations), assessment of robot loading during haulage of mine stones or coal from development workings (from mine drivage), assessment of losses caused by equipment failures, verification of algorithms used for robot control, comparative evaluations of economic efficiency of the robot mining systems. 2 refs.

  19. Surgical approach to right colon cancer: From open technique to robot. State of art.

    Science.gov (United States)

    Fabozzi, Massimiliano; Cirillo, Pia; Corcione, Francesco

    2016-08-27

    This work is a topic highlight on the surgical treatment of the right colon pathologies, focusing on the literature state of art and comparing the open surgery to the different laparoscopic and robotic procedures. Different laparoscopic procedures have been described for the treatment of right colon tumors: Totally laparoscopic right colectomy, laparoscopic assisted right colectomy, laparoscopic facilitated right colectomy, hand-assisted right colectomy, single incision laparoscopic surgery colectomy, robotic right colectomy. Two main characteristics of these techniques are the different type of anastomosis: Intracorporeal (for totally laparoscopic right colectomy, single incision laparoscopic surgery colectomy, laparoscopic assisted right colectomy and robotic technique) or extracorporeal (for laparoscopic assisted right colectomy, laparoscopic facilitated right colectomy, hand-assisted right colectomy and open right colectomy) and the different incision (suprapubic, median or transverse on the right side of abdomen). The different laparoscopic techniques meet the same oncological criteria of radicalism as the open surgery for the right colon. The totally laparoscopic right colectomy with intracorporeal anastomosis and even more the single incision laparoscopic surgery colectomy, remain a technical challenge due to the complexity of procedures (especially for the single incision laparoscopic surgery colectomy) and the particular right colon vascular anatomy but they seem to have some theoretical advantages compared to the other laparoscopic and open procedures. Data reported in literature while confirming the advantages of laparoscopic approach, do not allow to solve controversies about which is the best laparoscopic technique (Intracorporeal vs Extracorporeal Anastomosis) to treat the right colon cancer. However, the laparoscopic techniques with intracorporeal anastomosis for the right colon seem to show some theoretical advantages (functional, technical

  20. Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

    CERN Document Server

    Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

    2012-01-01

    Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

  1. Anatomy-based registration of CT-scan and intraoperative X-ray images for guiding a surgical robot.

    Science.gov (United States)

    Guéziec, A; Kazanzides, P; Williamson, B; Taylor, R H

    1998-10-01

    We describe new methods for rigid registration of a preoperative computed tomography (CT)-scan image to a set of intraoperative X-ray fluoroscopic images, for guiding a surgical robot to its trajectory planned from CT. Our goal is to perform the registration, i.e., compute a rotation and translation of one data set with respect to the other to within a prescribed accuracy, based upon bony anatomy only, without external fiducial markers. With respect to previous approaches, the following aspects are new: 1) we correct the geometric distortion in fluoroscopic images and calibrate them directly with respect to the robot by affixing to it a new calibration device designed as a radiolucent rod with embedded metallic markers, and by moving the device along two planes, while radiographs are being acquired at regular intervals; 2) the registration uses an algorithm for computing the best transformation between a set of lines in three space, the (intraoperative) X-ray paths, and a set of points on the surface of the bone (imaged preoperatively), in a statistically robust fashion, using the Cayley parameterization of a rotation; and 3) to find corresponding sets of points to the X-ray paths on the surfaces, our new approach consists of extracting the surface apparent contours for a given viewpoint, as a set of closed three-dimensional nonplanar curves, before registering the apparent contours to X-ray paths. Aside from algorithms, there are a number of major technical difficulties associated with engineering a clinically viable system using anatomy and image-based registration. To detect and solve them, we have so far conducted two experiments with the surgical robot in an operating room (OR), using CT and fluoroscopic image data of a cadaver bone, and attempting to faithfully simulate clinical conditions. Such experiments indicate that intraoperative X-ray-based registration is a promising alternative to marker-based registration for clinical use with our proposed method.

  2. Design and Realization of Surgical Robot and Joystick Control Device%手术机器人及操纵杆控制装置的设计与实现

    Institute of Scientific and Technical Information of China (English)

    张晓明; 栾楠; 桂海军

    2011-01-01

    This paper mainly studies a multi-DOF surgical robot-assisted system, and focuses on a new type of teaching method for multi-DOF articulated robot, namely joystick control system. The system can control the spatial position and posture of robotic end-actuator and provide a more direct and secure control for doctors. Experiments verified that the joystick control system is suitable for a "hands-on" teaching device of surgical robot.%主要研究一种多自由度手术辅助机器人系统,并重点阐述了一个新型的多自由度关节型机器人示教方式,即操纵杆控制系统.该控制系统可以完全控制机器人末端执行器的空间位置和姿态,方便医生进行更直接、安全的操纵.通过试验验证,操纵杆控制系统适合作为手术辅助机器人的“手把手”示教装置.

  3. Reality of nerve sparing and surgical margins in surgeons' early experience with robot-assisted radical prostatectomy in Japan.

    Science.gov (United States)

    Tatsugami, Katsunori; Yoshioka, Kunihiko; Shiroki, Ryoichi; Eto, Masatoshi; Yoshino, Yasushi; Tozawa, Keiichi; Fukasawa, Satoshi; Fujisawa, Masato; Takenaka, Atsushi; Nasu, Yasutomo; Kashiwagi, Akira; Gotoh, Momokazu; Terachi, Toshiro

    2017-03-01

    To analyze nerve sparing performance at an early stage of robot-assisted radical prostatectomy, and the correlation between the surgeons' experience and the risk of a positive surgical margin in patients treated with robot-assisted radical prostatectomy. Patients' records from January 2009 to March 2013 were retrospectively reviewed, and 3469 patients with localized prostate cancer were identified at 45 institutions. Individual surgeon's experience with nerve sparing was recorded as the number of nerve sparing cases among total robot-assisted radical prostatectomies beginning with the first case during which nerve sparing was carried out. Patients were selected by propensity score matching for nerve sparing, and predictive factors of positive surgical margins were analyzed in patients with and without positive surgical margins. A total of 152 surgeons were studied, and the median number of robot-assisted radical prostatectomy cases for all surgeons was 21 (range 1-511). In all, 54 surgeons (35.5%) undertook nerve sparing during their first robot-assisted radical prostatectomy case. For 2388 patients selected with (1194) and without (1194) nerve sparing, predictive factors for positive surgical margin were high initial prostate-specific antigen level (P 100 cases (P = 0.0058). Thus, nerve sparing was not associated with positive surgical margins. The surgeon's experience influences the occurrence of positive surgical margins, although a considerable number of surgeons carried out nerve sparing during their early robot-assisted radical prostatectomy cases. Surgeons should consider their own experience and prostate cancer characteristics before carrying out a nerve sparing robot-assisted radical prostatectomy. © 2017 The Japanese Urological Association.

  4. Research on Human-Robot Joint System for Lunar Exploration

    Science.gov (United States)

    Zhang, Wei

    The lunar exploration in China is in progress. In order to reduce human workload and costs, and conduct researches more effectively and efficiently, human-robot joint systems are necessary for lunar exploration. The concept of human-robot joint system for lunar exploration is studied in this paper. The possible collaborative ways between human and robots and the collaborative activities which can be conducted for lunar exploration are discussed. Moreover, the preliminary configuration of a human-robot joint system is presented.

  5. Robotics virtual rail system and method

    Science.gov (United States)

    Bruemmer, David J.; Few, Douglas A.; Walton, Miles C.

    2011-07-05

    A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

  6. Treatment of Glioma Using neuroArm Surgical System

    Directory of Open Access Journals (Sweden)

    Yaser Maddahi

    2016-01-01

    Full Text Available The use of robotic technology in the surgical treatment of brain tumour promises increased precision and accuracy in the performance of surgery. Robotic manipulators may allow superior access to narrow surgical corridors compared to freehand or conventional neurosurgery. This paper reports values and ranges of tool-tissue interaction forces during the performance of glioma surgery using an MR compatible, image-guided neurosurgical robot called neuroArm. The system, capable of microsurgery and stereotaxy, was used in the surgical resection of glioma in seven cases. neuroArm is equipped with force sensors at the end-effector allowing quantification of tool-tissue interaction forces and transmits force of dissection to the surgeon sited at a remote workstation that includes a haptic interface. Interaction forces between the tool tips and the brain tissue were measured for each procedure, and the peak forces were quantified. Results showed maximum and minimum peak force values of 2.89 N (anaplastic astrocytoma, WHO grade III and 0.50 N (anaplastic oligodendroglioma, WHO grade III, respectively, with the mean of peak forces varying from case to case, depending on type of the glioma. Mean values of the peak forces varied in range of 1.27 N (anaplastic astrocytoma, WHO grade III to 1.89 N (glioblastoma with oligodendroglial component, WHO grade IV. In some cases, ANOVA test failed to reject the null hypothesis of equality in means of the peak forces measured. However, we could not find a relationship between forces exerted to the pathological tissue and its size, type, or location.

  7. Hybrid Battery Ultracapacitor System For Human Robotic Systems Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this proposal is to develop a hybrid battery-ultra capacitor storage system that powers human-robotic systems in space missions. Space missions...

  8. Robotic Pancreatoduodenectomy Biotissue Curriculum has Validity and Improves Technical Performance for Surgical Oncology Fellows.

    Science.gov (United States)

    Tam, Vernissia; Zenati, Mazen; Novak, Stephanie; Chen, Yong; Zureikat, Amer H; Zeh, Herbert J; Hogg, Melissa E

    2017-06-01

    Obtaining the proficiency on the robotic platform necessary to safely perform a robotic pancreatoduodenectomy is particularly challenging. We hypothesize that by instituting a proficiency-based robotic training curriculum we can enhance novice surgeons' skills outside of the operating room, leading to a shorter learning curve. A biotissue curriculum was designed consisting of sewing artificial organs to simulate a hepaticojejunostomy (HJ), gastrojejunostomy (GJ), and pancreaticojejunostomy (PJ). Three master robotic surgeons performed each biotissue anastomosis to assess validity. Using video review, trainee performance on biotissue drills was evaluated for time, errors and objective structured assessment of technical skills (OSATS) by 2 blinded graders. This study is conducted at the University of Pittsburgh Medical Center (Pittsburgh, PA), a tertiary care academic teaching hospital. In total, 14 surgical oncology fellows completed the biotissue curriculum. Fourteen fellows performed 196 anastomotic drills during the first year: 66 (HJ), 64 (GJ), and 66 (PJ). The fellows' performances were analyzed as a group by attempt. The attendings' first attempt outperformed the fellows' first attempt in all metrics for every drill (all p < 0.05). More than 5 analyzed attempts of the HJ, there was improvement in time, errors, and OSATS (all p < 0.01); however, no metric reached attending performance. For the GJ, time, errors, and OSATS all improved more than 5 attempts (all p < 0.01), whereas only errors and OSATS reached proficiency. For the PJ, errors and OSATS both improved over attempts (p < 0.01) and reached proficiency; however, time did not statistically improve nor reach proficiency. The graders scoring correlated for errors and OSATS (p < 0.0001). A pancreatoduodenectomy biotissue curriculum has face and construct validity. The curriculum is feasible and improves errors and technical performance. Time is the most difficult technical parameter to improve. This

  9. Design and Development of Robot Hand System

    Directory of Open Access Journals (Sweden)

    Panchumarthy Seetharamaiah

    2011-01-01

    Full Text Available Research on robot hand design is being carried out to accommodate a variety of tasks such as grasping and manipulation of objects in the field of industrial applications, service robots and rehabilitation robots. Problem statement: To design and develop a microcontroller-based four fingered robotic hand with a simple and minimal control strategy to pick and place application with object detection by simple IR sensor logic. Approach: The methodology is based on anthropomorphic design with three fingers and an opposing thumb. Each finger has three links and three double revolute joints. Each finger is actuated by a single opposing pair of tendons. The robot hand system is interfaced to microcontroller with software control by means of 14 independent commands for the motion of joints: close and open for fore finger, middle finger, ring finger and thumb finger and wrist up and down, base clockwise and counter clockwise, pick and place and home position. The tendoning system and wireless feedback logic provide the hand with the ability to confirm to object topology and therefore providing the advantage of using a simple control structure. Results: Reliable grasping and releasing is achieved with simple control mechanisms and IR sensors/push-button switches. The hand can pick a variety of objects with different surface characteristics and shapes without having to reconstruct its surface description. Picking of the object is successfully completed as long as the object is within the workspace of the hand and placed the object at the desired position within the workspace by relevant software control using keyboard commands. Conclusion: Hardware and software development of microcontroller-based four-fingered robotic hand is addressed. Details of hand control software for mainly pick and place applications are presented. Results of the experimental work for pick and place application of different objects is enumerated.

  10. Automatic Positioning System of Small Agricultural Robot

    Science.gov (United States)

    Momot, M. V.; Proskokov, A. V.; Natalchenko, A. S.; Biktimirov, A. S.

    2016-08-01

    The present article discusses automatic positioning systems of agricultural robots used in field works. The existing solutions in this area have been analyzed. The article proposes an original solution, which is easy to implement and is characterized by high- accuracy positioning.

  11. Robotized Warehouse Systems: Developments and Research Opportunities

    NARCIS (Netherlands)

    K. Azadeh (Kaveh); M.B.M. de Koster (René); D. Roy (Debjit)

    2017-01-01

    textabstractRobotized handling systems are increasingly applied in distribution centers. They require little space, provide flexibility in managing varying demand requirements, and are able to work 24/7. This makes them particularly fit for e-commerce operations. This paper reviews new categories of

  12. Extending the body to virtual tools using a robotic surgical interface: evidence from the crossmodal congruency task.

    Directory of Open Access Journals (Sweden)

    Ali Sengül

    Full Text Available The effects of real-world tool use on body or space representations are relatively well established in cognitive neuroscience. Several studies have shown, for example, that active tool use results in a facilitated integration of multisensory information in peripersonal space, i.e. the space directly surrounding the body. However, it remains unknown to what extent similar mechanisms apply to the use of virtual-robotic tools, such as those used in the field of surgical robotics, in which a surgeon may use bimanual haptic interfaces to control a surgery robot at a remote location. This paper presents two experiments in which participants used a haptic handle, originally designed for a commercial surgery robot, to control a virtual tool. The integration of multisensory information related to the virtual-robotic tool was assessed by means of the crossmodal congruency task, in which subjects responded to tactile vibrations applied to their fingers while ignoring visual distractors superimposed on the tip of the virtual-robotic tool. Our results show that active virtual-robotic tool use changes the spatial modulation of the crossmodal congruency effects, comparable to changes in the representation of peripersonal space observed during real-world tool use. Moreover, when the virtual-robotic tools were held in a crossed position, the visual distractors interfered strongly with tactile stimuli that was connected with the hand via the tool, reflecting a remapping of peripersonal space. Such remapping was not only observed when the virtual-robotic tools were actively used (Experiment 1, but also when passively held the tools (Experiment 2. The present study extends earlier findings on the extension of peripersonal space from physical and pointing tools to virtual-robotic tools using techniques from haptics and virtual reality. We discuss our data with respect to learning and human factors in the field of surgical robotics and discuss the use of new

  13. Intelligent monitoring-based safety system of massage robot

    Institute of Scientific and Technical Information of China (English)

    胡宁; 李长胜; 王利峰; 胡磊; 徐晓军; 邹雲鹏; 胡玥; 沈晨

    2016-01-01

    As an important attribute of robots, safety is involved in each link of the full life cycle of robots, including the design, manufacturing, operation and maintenance. The present study on robot safety is a systematic project. Traditionally, robot safety is defined as follows: robots should not collide with humans, or robots should not harm humans when they collide. Based on this definition of robot safety, researchers have proposed ex ante and ex post safety standards and safety strategies and used the risk index and risk level as the evaluation indexes for safety methods. A massage robot realizes its massage therapy function through applying a rhythmic force on the massage object. Therefore, the traditional definition of safety, safety strategies, and safety realization methods cannot satisfy the function and safety requirements of massage robots. Based on the descriptions of the environment of massage robots and the tasks of massage robots, the present study analyzes the safety requirements of massage robots; analyzes the potential safety dangers of massage robots using the fault tree tool; proposes an error monitoring-based intelligent safety system for massage robots through monitoring and evaluating potential safety danger states, as well as decision making based on potential safety danger states; and verifies the feasibility of the intelligent safety system through an experiment.

  14. Robot Control System based on Web Application and RFID Technology

    Directory of Open Access Journals (Sweden)

    Barenji Ali Vatankhah

    2015-01-01

    Full Text Available This paper discusses an integration driven framework for enabling the RFID based identification of parts to perform robotic distributor operations in the random mix based parts control based on web application. The RFID technology senses newly arriving parts to be distribution robot, the robot is able to recognize them and perform cooperative distributing via web-based application. The developed web application control system is implemented in the educational robotic arm. RFID system sends real time information from parts to the web application and web based application makes a decision for control of the robot arm, controller of robot controls the robot as based on the decision from web application. The proposed control system has increases the reconfiguration and scalability of robot system.

  15. Early clinical experience with the da Vinci Xi Surgical System in general surgery.

    Science.gov (United States)

    Hagen, Monika E; Jung, Minoa K; Ris, Frederic; Fakhro, Jassim; Buchs, Nicolas C; Buehler, Leo; Morel, Philippe

    2016-12-27

    The da Vinci Xi Surgical System (Intuitive Surgical Inc., Sunnyvale, CA, USA) has been released in 2014 to facilitate minimally invasive surgery. Novel features are targeted towards facilitating complex multi-quadrant procedures, but data is scarce so far. Perioperative data of patients who underwent robotic general surgery with the da Vinci Xi system within the first 6 month after installation were collected and analyzed. The gastric bypass procedures performed with the da Vinci Xi Surgical System were compared to an equal amount of the last procedures with the da Vinci Si Surgical System. Thirty-one foregut (28 Roux-en-Y gastric bypasses), 6 colorectal procedures and 1 revisional biliary procedure were performed. The mean operating room (OR) time was 221.8 (±69.0) minutes for gastric bypasses and 306.5 (±48.8) for colorectal procedures with mean docking time of 9.4 (±3.8) minutes. The gastric bypass procedure was transitioned from a hybrid to a fully robotic approach. In comparison to the last 28 gastric bypass procedures performed with the da Vinci Si Surgical System, the OR time was comparable (226.9 versus 230.6 min, p = 0.8094), but the docking time significantly longer with the da Vinci Xi Surgical System (8.5 versus 6.1 min, p = 0.0415). All colorectal procedures were performed with a single robotic docking. No intraoperative and two postoperative complications occurred. The da Vinci Xi might facilitate single-setups of totally robotic gastric bypass and colorectal surgeries. However, further comparable research is needed to clearly determine the significance of this latest version of the da Vinci Surgical System.

  16. A robotic vision system to measure tree traits

    Science.gov (United States)

    The autonomous measurement of tree traits, such as branching structure, branch diameters, branch lengths, and branch angles, is required for tasks such as robotic pruning of trees as well as structural phenotyping. We propose a robotic vision system called the Robotic System for Tree Shape Estimati...

  17. Robots, systems, and methods for hazard evaluation and visualization

    Science.gov (United States)

    Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan

    2013-01-15

    A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.

  18. Research on a New-style Pipeline Inspection Robot System

    Institute of Scientific and Technical Information of China (English)

    XU Xiao-yun; YAN Guo-zheng; YAN Bo; DING Yong-sheng

    2004-01-01

    The pipe inspection robot system is developed for automatic inspection of gas pipeline with pipe diameter between 400mm and 650mm. It is composed of a pipe robot crawling mechanism controlled by remote network system, nondestructive examination sensor system, ground working station and so on. This paper presents the pipe inspection robot system design, the key technique and the performance experiment of the robot. The main performance index of the pipe robot system prototype has reached domestic advanced level. The prototype has also the technical potential to be developed as a product used in industry for periodic check of main gas/oil pipe.

  19. Reconfigurable MRI-guided robotic surgical manipulator: prostate brachytherapy and neurosurgery applications.

    Science.gov (United States)

    Su, Hao; Iordachita, Iulian I; Yan, Xiaoan; Cole, Gregory A; Fischer, Gregory S

    2011-01-01

    This paper describes a modular design approach for robotic surgical manipulator under magnetic resonance imaging (MRI) guidance. The proposed manipulator provides 2 degree of freedom (DOF) Cartesian motion and 2-DOF pitch and yaw motion. Primarily built up with dielectric materials, it utilizes parallel mechanism and is compact in size to fit into the limited space of close-bore MRI scanner. It is ideal for needle based surgical procedures which usually require positioning and orientation control for accurate imaging plane alignment. Specifically, this mechanism is easily reconfigurable to over constrained manipulator structure which provides 2-DOF Cartesian motion by simple structure modification. This modular manipulator integrated with different end-effector modules is investigated for prostate brachytherapy and neurosurgery applications as preliminary evaluation.

  20. Multi-robot system learning based on evolutionary classification

    Directory of Open Access Journals (Sweden)

    Manko Sergey

    2016-01-01

    Full Text Available This paper presents a novel machine learning method for agents of a multi-robot system. The learning process is based on knowledge discovery through continual analysis of robot sensory information. We demonstrate that classification trees and evolutionary forests may be a basis for creation of autonomous robots capable both of learning and knowledge exchange with other agents in multi-robot system. The results of experimental studies confirm the effectiveness of the proposed approach.

  1. Robot navigation system using intrinsic evolvable hardware

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Recently there has been great interest in the idea that evolvable system based on the principle of ar tifcial intelligence can be used to continuously and autonomously adapt the behaviour of physically embedded systems such as autonomous mobile robots and intelligent home devices. Meanwhile, we have seen the introduc tion of evolvable hardware(EHW): new integrated electronic circuits that are able to continuously evolve to a dapt the chages in the environment implemented by evolutionary algorithms such as genetic algorithm(GA)and reinforcement learning. This paper concentrates on developing a robotic navigation system whose basic behav iours are obstacle avoidance and light source navigation. The results demonstrate that the intrinsic evolvable hardware system is able to create the stable robotiiuc behaviours as required in the real world instead of the tra ditional hardware systems.

  2. A cyber-physical management system for delivering and monitoring surgical instruments in the OR.

    Science.gov (United States)

    Li, Yu-Ting; Jacob, Mithun; Akingba, George; Wachs, Juan P

    2013-08-01

    The standard practice in the operating room (OR) is having a surgical technician deliver surgical instruments to the surgeon quickly and inexpensively, as required. This human "in the loop" system may result in mistakes (eg, missing information, ambiguity of instructions, and delays). Errors can be reduced or eliminated by integrating information technology (IT) and cybernetics into the OR. Gesture and voice automatic acquisition, processing, and interpretation allow interaction with these new systems without disturbing the normal flow of surgery. This article describes the development of a cyber-physical management system (CPS), including a robotic scrub nurse, to support surgeons by passing surgical instruments during surgery as required and recording counts of surgical instruments into a personal health record (PHR). The robot used responds to hand signals and voice messages detected through sophisticated computer vision and data mining techniques. The CPS was tested during a mock surgery in the OR. The in situ experiment showed that the robot recognized hand gestures reliably (with an accuracy of 97%), it can retrieve instruments as close as 25 mm, and the total delivery time was less than 3 s on average. This online health tool allows the exchange of clinical and surgical information to electronic medical record-based and PHR-based applications among different hospitals, regardless of the style viewer. The CPS has the potential to be adopted in the OR to handle surgical instruments and track them in a safe and accurate manner, releasing the human scrub tech from these tasks.

  3. Development of an in vivo visual robot system with a magnetic anchoring mechanism and a lens cleaning mechanism for laparoendoscopic single-site surgery (LESS).

    Science.gov (United States)

    Feng, Haibo; Dong, Dinghui; Ma, Tengfei; Zhuang, Jinlei; Fu, Yili; Lv, Yi; Li, Liyi

    2017-01-16

    Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems. In this work, an in vivo visual robot system with a new mechanism for LESS was investigated. A finite element method (FEM) analysis was carried out to ensure the safety of the in vivo visual robot during the movement, which was the most important concern for surgical purposes. A master-slave control strategy was adopted, in which the control model was established by off-line experiments. The in vivo visual robot system was verified by using a phantom box. The experiment results show that the robot system can successfully realize the expected functionalities and meet the demands of LESS. The experiment results indicate that the in vivo visual robot with high manipulability has great potential in clinical application. Copyright © 2017 John Wiley & Sons, Ltd.

  4. SRAO: the first southern robotic AO system

    Science.gov (United States)

    Law, Nicholas M.; Ziegler, Carl; Tokovinin, Andrei

    2016-08-01

    We present plans for SRAO, the first Southern Robotic AO system. SRAO will use AO-assisted speckle imaging and Robo-AO-heritage high efficiency observing to confirm and characterize thousands of planet candidates produced by major new transit surveys like TESS, and is the first AO system to be capable of building a comprehensive several-thousand-target multiplicity survey at sub-AU scales across the main sequence. We will also describe results from Robo-AO, the first robotic LGS-AO system. Robo-AO has observed tens of thousands of Northern targets, often using a similar speckle or Lucky-Imaging assisted mode. SRAO will be a moderate-order natural-guide-star adaptive optics system which uses an innovative photoncounting wavefront sensor and EMCCD speckle-imaging camera to guide on faint stars with the 4.1m SOAR telescope. The system will produce diffraction-limited imaging in the NIR on targets as faint as mν = 16. In AO-assisted speckle imaging mode the system will attain the 30-mas visible diffraction limit on targets at least as faint as mν = 17. The system will be the first Southern hemisphere robotic adaptive optics system, with overheads an order of magnitude smaller than comparable systems. Using Robo-AO's proven robotic AO software, SRAO will be capable of observing overheads on sub-minute scales, allowing the observation of at least 200 targets per night. SRAO will attain three times the angular resolution of the Palomar Robo-AO system in the visible.

  5. Robotically assisted MRgFUS system

    Science.gov (United States)

    Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

    2010-03-01

    Magnetic resonance imaging guided focus ultrasound surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. The objective of this ongoing work is to establish an MRgFUS therapy unit consisting of a specially designed FUS applicator as an add-on to a commercial robotic assistance system originally designed for percutaneous needle interventions in whole-body MRI systems. The fully MR compatible robotic assistance system InnoMotion™ (Synthes Inc., West Chester, USA; formerly InnoMedic GmbH, Herxheim, Germany) offers six degrees of freedom. The developed add-on FUS treatment applicator features a fixed focus ultrasound transducer (f = 1.7 MHz; f' = 68 mm, NA = 0.44, elliptical shaped -6-dB-focus: 8.1 mm length; O/ = 1.1 mm) embedded in a water-filled flexible bellow. A Mylar® foil is used as acoustic window encompassed by a dedicated MRI loop coil. For FUS application, the therapy unit is directly connected to the head of the robotic system, and the treatment region is targeted from above. A newly in-house developed software tool allowed for complete remote control of the MRgFUS-robot system and online analysis of MRI thermometry data. The system's ability for therapeutic relevant focal spot scanning was tested in a closed-bore clinical 1.5 T MR scanner (Magnetom Symphony, Siemens AG, Erlangen, Germany) in animal experiments with pigs. The FUS therapy procedure was performed entirely under MRI guidance including initial therapy planning, online MR-thermometry, and final contrast enhanced imaging for lesion detection. In vivo trials proved the MRgFUS-robot system as highly MR compatible. MR-guided focal spot scanning experiments were performed and a well-defined pattern of thermal tissue lesions was created. A total in vivo positioning accuracy of the US focus better than 2 mm was estimated which is comparable to existing MRgFUS systems. The newly developed FUS-robotic system offers an accurate, highly flexible focus positioning. With its access

  6. A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

    OpenAIRE

    Li, Zheng; Feiling, Jan; Ren, Hongliang; Yu, Haoyong

    2015-01-01

    In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the h...

  7. [Comparison of robotic surgery with laparoscopy for surgical staging of endometrial cancer: a meta-analysis].

    Science.gov (United States)

    Li, X M; Wang, J

    2017-03-25

    Objective: To evaluate the safety and effectiveness of robotic surgery in surgical staging of endometrial cancer. Methods: Searched English and Chinese databases, including Cochrane library, PubMed, Embase, Web of Science, China National Knowledge Internet, data base of Wanfang, China Science and Technology Journal (CSTJ) , and relevant journals and magazines by hand from Jan. 2000 to Oct. 2016. (1) In accordance with the inclusion criteria, two independent investigators screened databases and extracted the relevant data respectively, then evaluated the quality of including studies in Newcastle-Ottawa Scale (NOS) . (2) Meta-analysis was performed with RevMan 5.3 software. Heterogeneity inspection was done for each study and different effect model included the random effect model and fixed effect model was chose according to the results: of the inspection. At last, the related parameters of the robotic surgery and laparoscopic surgery was analysed. Results (1) Thirteen articles were ultimately included. All of them were written in English and included a total of 1 554 patients, included 739 cases of robotic surgery and 815 cases of laparoscopic surgery. Thirteen articles were all cohort study, four of them were prospective cohort study, while others were retrospective cohort study. After quality assessment, all studies had more than 5 stars and illustrated the higher quality. (2) Meta-analysis results showed: compared with laparoscopic surgery in surgical staging of endometrial cancer, robotic surgery had less estimated blood loss [standard deviation (SD)=-72.31 ml, 95%CI:-107.29 to-37.33, Psurgery (RR=0.41, 95%CI: 0.26 to 0.65, P=0.000), less intraoperative complications (RR=0.43, 95%CI: 0.24 to 0.76, P=0.004) in surgical staging of endometrial cancer. There was no statistically significant difference in aspects of operative time (SD=10.26 minutes, 95% CI:-13.62 to 34.13, P=0.400), postoperative complications (RR=0.87, 95% CI: 0.67 to 1.12, P=0.280), the total

  8. Zoom Vision System For Robotic Welding

    Science.gov (United States)

    Gilbert, Jeffrey L.; Hudyma, Russell M.

    1990-01-01

    Rugged zoom lens subsystem proposed for use in along-the-torch vision system of robotic welder. Enables system to adapt, via simple mechanical adjustments, to gas cups of different lengths, electrodes of different protrusions, and/or different distances between end of electrode and workpiece. Unnecessary to change optical components to accommodate changes in geometry. Easy to calibrate with respect to object in view. Provides variable focus and variable magnification.

  9. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

    The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

  10. Design of dead reckoning system for mobile robot

    Institute of Scientific and Technical Information of China (English)

    YU Jin-xia; CAI Zi-xing; DUAN Zhuo-hua; ZOU Xiao-bing

    2006-01-01

    A dead reckoning system for a wheeled mobile robot was designed, and the method for robot's pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.

  11. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  12. Evolving Connectionist System Based Role Allocation for Robotic Soccer

    OpenAIRE

    Huang, L.; Song, Q.; Kasabov, N

    2008-01-01

    Robotic soccer is an intelligent system where a group of mobile robots are controlled to perform soccer play (http://www.fira.net). The allocation of a suitable role for each robot in a team is a key for the success of the play. The paper treats this issue as one of pattern classification, and solves it with an Evolving classification function (ECF), a special evolving connectionist system (ECOS). A robot's role is determined by and evolves with the states of system ( robots and target ) in r...

  13. A Robotic Irrigation System: motivating basic school students to science

    OpenAIRE

    Esteves, Zita; Costa, Manuel F. M.

    2012-01-01

    The active involvement of our students, from early ages, in the study of science requires a constant motivational effort. Robotics is an actual subject rather appealing to our youngsters. On the other hand interdisciplinary approaches are possible in different science subjects using robots or robotics systems or concepts. In the frames of the 2nd Portuguese “Hands-on Science” science fair a group of basic school students was suggested to develop a science fair project using a robotic kit. In ...

  14. Network analysis of surgical innovation: Measuring value and the virality of diffusion in robotic surgery

    Science.gov (United States)

    Cingolani, Isabella; Panzarasa, Pietro; Darzi, Ara; Athanasiou, Thanos

    2017-01-01

    Background Existing surgical innovation frameworks suffer from a unifying limitation, their qualitative nature. A rigorous approach to measuring surgical innovation is needed that extends beyond detecting simply publication, citation, and patent counts and instead uncovers an implementation-based value from the structure of the entire adoption cascades produced over time by diffusion processes. Based on the principles of evidence-based medicine and existing surgical regulatory frameworks, the surgical innovation funnel is described. This illustrates the different stages through which innovation in surgery typically progresses. The aim is to propose a novel and quantitative network-based framework that will permit modeling and visualizing innovation diffusion cascades in surgery and measuring virality and value of innovations. Materials and methods Network analysis of constructed citation networks of all articles concerned with robotic surgery (n = 13,240, Scopus®) was performed (1974–2014). The virality of each cascade was measured as was innovation value (measured by the innovation index) derived from the evidence-based stage occupied by the corresponding seed article in the surgical innovation funnel. The network-based surgical innovation metrics were also validated against real world big data (National Inpatient Sample–NIS®). Results Rankings of surgical innovation across specialties by cascade size and structural virality (structural depth and width) were found to correlate closely with the ranking by innovation value (Spearman’s rank correlation coefficient = 0.758 (p = 0.01), 0.782 (p = 0.008), 0.624 (p = 0.05), respectively) which in turn matches the ranking based on real world big data from the NIS® (Spearman’s coefficient = 0.673;p = 0.033). Conclusion Network analysis offers unique new opportunities for understanding, modeling and measuring surgical innovation, and ultimately for assessing and comparing generative value between different

  15. Developing a successful robotics program.

    Science.gov (United States)

    Luthringer, Tyler; Aleksic, Ilija; Caire, Arthur; Albala, David M

    2012-01-01

    Advancements in the robotic surgical technology have revolutionized the standard of care for many surgical procedures. The purpose of this review is to evaluate the important considerations in developing a new robotics program at a given healthcare institution. Patients' interest in robotic-assisted surgery has and continues to grow because of improved outcomes and decreased periods of hospitalization. Resulting market forces have created a solid foundation for the implementation of robotic surgery into surgical practice. Given proper surgeon experience and an efficient system, robotic-assisted procedures have been cost comparable to open surgical alternatives. Surgeon training and experience is closely linked to the efficiency of a new robotics program. Formally trained robotic surgeons have better patient outcomes and shorter operative times. Training in robotics has shown no negative impact on patient outcomes or mentor learning curves. Individual economic factors of local healthcare settings must be evaluated when planning for a new robotics program. The high cost of the robotic surgical platform is best offset with a large surgical volume. A mature, experienced surgeon is integral to the success of a new robotics program.

  16. Human Robotic Systems (HRS): Robotic Technologies for Asteroid Missions Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Robotic Technologies for Asteroid Missions activity has four tasks:Asteroid Retrieval Capture Mechanism Development and Testbed;Mission Operations...

  17. Robotic System for Precision Assembly of NIF Ignition Targets

    Energy Technology Data Exchange (ETDEWEB)

    Montesanti, R C; Seugling, R M; Klingmann, J L; Dzenitis, E G; Alger, E T; Miller, G L; Kent, R A; Castro, C; Reynolds, J L; Carrillo, M A

    2008-08-27

    This paper provides an overview of the design and testing of a robotic system developed for assembling the inertial confinement fusion ignition targets (depicted in Figures 1 and 2) that will be fielded on the National Ignition Facility (NIF) laser [1]. The system, referred to as the Final Assembly Machine and shown in Figure 3, consists of six groups of stacked axes that allow manipulating millimeter-sized components with submicron precision, integrated with an optical coordinate measuring machine (OCMM) that provides in-situ metrology. Nineteen motorized axes and ten manual axes are used to control the position and orientation of five objects that are predominantly assembled together in a cubic centimeter work zone. An operator-in-the-loop provides top-level control of the system, making it more similar to a surgical robot than to a programmed computer-controlled machine tool. The operator is provided visual feedback by the vision system of the OCMM, and tactile feedback by force and torque sensors embedded in the tooling that holds the major components being assembled. The vision system is augmented with auxiliary mirrors providing multiple viewing directions, and is used to guide the approach and alignment of the components, and to measure the relative position and orientation of the components. The force and torque sensors are used to guide the final approach, alignment, and mating of the components that are designed to slip-fit together, and to monitor that mating while adhesively bonding those components and attaching the target base.

  18. Adaptive LIDAR Vision System for Advanced Robotics Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Advanced robotic systems demand an enhanced vision system and image processing algorithms to reduce the percentage of manual operation required. Unstructured...

  19. Autonomous Robot System for Sensor Characterization

    Energy Technology Data Exchange (ETDEWEB)

    David Bruemmer; Douglas Few; Frank Carney; Miles Walton; Heather Hunting; Ron Lujan

    2004-03-01

    This paper discusses an innovative application of new Markov localization techniques that combat the problem of odometry drift, allowing a novel control architecture developed at the Idaho National Engineering and Environmental Laboratory (INEEL) to be utilized within a sensor characterization facility developed at the Remote Sensing Laboratory (RSL) in Nevada. The new robotic capability provided by the INEEL will allow RSL to test and evaluate a wide variety of sensors including radiation detection systems, machine vision systems, and sensors that can detect and track heat sources (e.g. human bodies, machines, chemical plumes). By accurately moving a target at varying speeds along designated paths, the robotic solution allows the detection abilities of a wide variety of sensors to be recorded and analyzed.

  20. Emergent trends in robotics and intelligent systems where is the role of intelligent technologies in the next generation of robots?

    CERN Document Server

    Hartono, Pitoyo; Virčíková, Mária; Vaščák, Ján; Jakša, Rudolf

    2015-01-01

    What is the Role of Intelligent Technologies in the Next Generation of Robots ? This monograph gives answers to this question and presents emergent trends of Intelligent Systems and Robotics. After an introductory chapter celebrating 70 year of publishing the McCulloch Pitts model the book consists of the 2 parts „Robotics“ and „Intelligent Systems“. The aim of the book is to contribute to shift conventional robotics in which the robots perform repetitive, pre-programmed tasks to its intelligent form, where robots possess new cognitive skills with ability to learn and adapt to changing environment. A main focus is on Intelligent Systems, which show notable achievements in solving various problems in intelligent robotics. The book presents current trends and future directions bringing together Robotics and Computational Intelligence. The contributions include widespread experimental and theoretical results on intelligent robotics such as e.g. autonomous robotics, new robotic platforms, or talking robot...

  1. A Robotic System for Actively Stiffening Flexible Manipulators

    Science.gov (United States)

    Loschak, Paul M.; Burke, Stephen F.; Zumbro, Emiko; Forelli, Alexandra R.; Howe, Robert D.

    2015-01-01

    A system for actively changing the stiffness of a long, thin, flexible robotic manipulator has been designed for cardiologists to use in a range of diagnosis and treatment procedures. Low-stiffness manipulators, such as catheters, are ideal for steering through vasculature with low risk of tissue injury. However, such instruments are not well-suited for applying force to tissue. The proposed system solves this problem by using a series of bead-shaped vertebrae containing pull wires to actively change the stiffness of the catheter, similar to gooseneck surgical retractors. Individual wires steer the catheter to a desired location. All wires are then tensioned to create friction between each vertebra and prevent sliding, therefore resisting motion. While this design concept has been implemented manually in various settings for decades, fine robotic control of the friction and stiffness of the system relies on a thorough understanding of the friction properties between vertebral segments. We have developed an analytical model to understand the interactions between vertebrae and determine the relationships between system parameters and the overall stiffness of the catheter. Experiments validated the calculations from the model and the functionality of the system by applying known loads to the tip of the catheter and measuring the catheter displacement. The catheter stiffness was measured to range from 100 N/m to 800 N/m, which is sufficient for performing many surgical tasks on tissue. This system can be useful in minimally invasive procedures involving direct instrument contact with tissue by improving accuracy, safety, and work flow. PMID:26709364

  2. A Robotic System for Actively Stiffening Flexible Manipulators.

    Science.gov (United States)

    Loschak, Paul M; Burke, Stephen F; Zumbro, Emiko; Forelli, Alexandra R; Howe, Robert D

    2015-01-01

    A system for actively changing the stiffness of a long, thin, flexible robotic manipulator has been designed for cardiologists to use in a range of diagnosis and treatment procedures. Low-stiffness manipulators, such as catheters, are ideal for steering through vasculature with low risk of tissue injury. However, such instruments are not well-suited for applying force to tissue. The proposed system solves this problem by using a series of bead-shaped vertebrae containing pull wires to actively change the stiffness of the catheter, similar to gooseneck surgical retractors. Individual wires steer the catheter to a desired location. All wires are then tensioned to create friction between each vertebra and prevent sliding, therefore resisting motion. While this design concept has been implemented manually in various settings for decades, fine robotic control of the friction and stiffness of the system relies on a thorough understanding of the friction properties between vertebral segments. We have developed an analytical model to understand the interactions between vertebrae and determine the relationships between system parameters and the overall stiffness of the catheter. Experiments validated the calculations from the model and the functionality of the system by applying known loads to the tip of the catheter and measuring the catheter displacement. The catheter stiffness was measured to range from 100 N/m to 800 N/m, which is sufficient for performing many surgical tasks on tissue. This system can be useful in minimally invasive procedures involving direct instrument contact with tissue by improving accuracy, safety, and work flow.

  3. Stereoscopic Vision System For Robotic Vehicle

    Science.gov (United States)

    Matthies, Larry H.; Anderson, Charles H.

    1993-01-01

    Distances estimated from images by cross-correlation. Two-camera stereoscopic vision system with onboard processing of image data developed for use in guiding robotic vehicle semiautonomously. Combination of semiautonomous guidance and teleoperation useful in remote and/or hazardous operations, including clean-up of toxic wastes, exploration of dangerous terrain on Earth and other planets, and delivery of materials in factories where unexpected hazards or obstacles can arise.

  4. Innovation and Operation with Robotized Systems

    OpenAIRE

    Rigaud, Vincent

    2009-01-01

    The presentation will summarized state of the art of underwater vehicles in the different domains of applications as, offshore, military and oceanographic business. The present paper is a focus which reports on the status of French Institute for Sea Exploitation (Ifremer) new Trends in underwater systems as an illustration of research in the underwater robotics domain applied to oceanographic applications. It will focus on recent innovations, improvements and operational references of the Rem...

  5. A novel optimal coordinated control strategy for the updated robot system for single port surgery.

    Science.gov (United States)

    Bai, Weibang; Cao, Qixin; Leng, Chuntao; Cao, Yang; Fujie, Masakatsu G; Pan, Tiewen

    2017-09-01

    Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating. Copyright © 2017 John Wiley & Sons, Ltd.

  6. Independent Navigation System for a Surgical Colonoscope

    Directory of Open Access Journals (Sweden)

    Lilia A. Ochoa-Luna

    2013-08-01

    Full Text Available This paper provides a novel algorithm to attain the independent navigation of a colonoscopy surgical endoscope. First, it introduces a brief description of this issue through the scientist advance for medical robotics. It then makes a quickly count of the existent methods and at the end it provides the basis in order to propose a new alternative solution with help from vision-guidance. That means that images will be processed and interpreted with the purpose of maintaining the endoscope always at the intestine center. All this considered will help us to reduce colonoscopy surgeries consequences and the most important advantage of this new method proposed is that surgeons will accomplish their work easier and more efficiently.

  7. A review of robotics in surgery.

    Science.gov (United States)

    Davies, B

    2000-01-01

    A brief introduction is given to the definitions and history of surgical robotics. The capabilities and merits of surgical robots are then contrasted with the related field of computer assisted surgery. A classification is then given of the various types of robot system currently being investigated internationally, together with a number of examples of different applications in both soft-tissue and orthopaedic surgery. The paper finishes with a discussion of the main difficulties facing robotic surgery and a prediction of future progress.

  8. Three-Dimensional Robotic Vision System

    Science.gov (United States)

    Nguyen, Thinh V.

    1989-01-01

    Stereoscopy and motion provide clues to outlines of objects. Digital image-processing system acts as "intelligent" automatic machine-vision system by processing views from stereoscopic television cameras into three-dimensional coordinates of moving object in view. Epipolar-line technique used to find corresponding points in stereoscopic views. Robotic vision system analyzes views from two television cameras to detect rigid three-dimensional objects and reconstruct numerically in terms of coordinates of corner points. Stereoscopy and effects of motion on two images complement each other in providing image-analyzing subsystem with clues to natures and locations of principal features.

  9. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  10. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  11. An Interactive Auto-recharging System for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Kuo-Lan Su

    2014-02-01

    Full Text Available The article describes a new auto-charging system designed to enhance successful docking rates for mobile robots while at the same time monitoring the status of the charging current between the mobile robot and the docking station. The communication interface of the mobile robot and the docking station uses a wireless RF interface. The docking station is designed with one active degree of freedom and two passive degrees of freedom. Users tune the location of the charging pins on the docking station to make it possible for the mobile robot to execute an auto-recharging process. The auto-recharging process uses multiple sensors and a laser range finder located on the mobile robot. The laser range finder searches for a landmark to guide the mobile robot towards the docking station. In the experiment, the power of the mobile robot is under its threshold value. The mobile robot transmits a charging command to the docking station via a wireless RF interface. The docking station transmits a location command back to the mobile robot via this wireless RF interface. The mobile robot uses its laser range finder to search for the landmark of the assigned docking station and programs a motion trajectory to move forward to the docking station. The docking station supplies a charging current to the mobile robot by means of a charger. The power detection module simultaneously detects the charging current and the voltage values of the charging process in both the docking station and the mobile robot. The system can monitor the status of the charging process between the docking station and the mobile robot at any time. The power of the mobile robot is enough to be detected by the power detection module. When the charging process is complete, the docking station turns off the charging current and triggers the mobile robot to leave the docking station via the wireless RF interface.

  12. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2013-10-15

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  13. Design and real-time control of a robotic system for fracture manipulation.

    Science.gov (United States)

    Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

    2015-08-01

    This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

  14. Image Processing in Intelligent Medical Robotic Systems

    Directory of Open Access Journals (Sweden)

    Shashev Dmitriy

    2016-01-01

    Full Text Available The paper deals with the use of high-performance computing systems with the parallel-operation architecture in intelligent medical systems, such as medical robotic systems, based on a computer vision system, is an automatic control system with the strict requirements, such as high reliability, accuracy and speed of performance. It shows the basic block-diagram of an automatic control system based on a computer vision system. The author considers the possibility of using a reconfigurable computing environment in such systems. The design principles of the reconfigurable computing environment allows to improve a reliability, accuracy and performance of whole system many times. The article contains the brief overview and the theory of the research, demonstrates the use of reconfigurable computing environments for the image preprocessing, namely morphological image processing operations. Present results of the successful simulation of the reconfigurable computing environment and implementation of the morphological image processing operations on the test image in the MATLAB Simulink.

  15. Social Media as a Platform for Surgical Learning: Use and Engagement Patterns Among Robotic Surgeons.

    Science.gov (United States)

    Myers, Christopher G; Kudsi, Omar Yusef; Ghaferi, Amir A

    2017-08-29

    : In response to technological advances and growing dispersion of surgical practice around the globe, social media platforms have emerged in recent years as channels for surgeons to share experiences, ask questions, and learn from one another. To better understand surgeons' engagement with these platforms, we analyzed data from a closed-membership Facebook group for robotic surgeons. Our analysis revealed that surgeons posted more frequently on midweek days, and further that text posts received significantly more comments, and significantly fewer "likes," than posts containing links, photos, or videos. We discuss the implications of these use and engagement patterns for the viability of social media platforms as tools for surgeons to learn vicariously from their peers' experiences and expertise.

  16. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

    Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot com...

  17. DESIGN OF ROBOTIC COLONIZER CONTROL SYSTEM FOR AQUEOUS ENVIRONMENT

    Directory of Open Access Journals (Sweden)

    C.VENKATESH

    2013-05-01

    Full Text Available Now a days there is a huge interest on underwater communication systems for various applications in order to explore aqueous environments. Intelligent robots and cooperative multi- agent robotic systems can be very efficient tools to speed up search and research operations in remote areas. Robots are also useful to do jobs inareas and in situations that are hazardous for human, they can go anywhere that is not reachable my humans and can go into gaps and move trough small holes that are impossible for humans and even trained dogs. in this paper, a wireless underwater mobile robot system is designed in order to study the behavior of artemia group. anew idea has been presented for underwater mobile robot system which is consists of two parts, first is the underwater mechanical robot and the second is ZigBee wireless based mobile robot which controls and moves the first part. by this system different patterns motion control (linear, circular, zigzag, etc. has been performed and proved the ability to control group of robot by controlling the group of artemia and monitoring the underwater mobile robot control with the help of water proof RF wireless camera and also explore the details present around the mobile robot

  18. Clinical effect and operation strategy on inguinal lymphadenectomy for vulvar carcinoma by using Da Vinci robotic surgical system%达芬奇机器人腹股沟淋巴结清扫术治疗外阴癌的临床效果与手术策略

    Institute of Scientific and Technical Information of China (English)

    马佳佳; 陈必良

    2014-01-01

    目的:探讨机器人辅助行腹股沟淋巴结清扫术治疗外阴恶性肿瘤的手术安全性及临床效果,为其在妇科良、恶性疾病中的应用提供经验和参考。方法对第四军医大学西京医院妇产科以达芬奇成功实施首例腹股沟淋巴结清扫术的临床资料及手术策略、技巧进行回顾性评价。结果完成的双侧腹股沟淋巴结清扫范围达到根治术要求,未中转开腹。手术平均每侧历时85 min;术中平均每侧出血量均小于10 ml;手术清扫淋巴结平均每侧12个,引流量平均每日53(55±11) ml。患者术后次日即可进食、下床活动,第5日拔除双侧引流管后出院。随访至今,未发生腹股沟区皮肤坏死、切口延迟愈合及淋巴水肿等术后并发症。结论外阴癌病灶局部切除同时联合 Da Vinci 系统行腹股沟淋巴结清扫增加手术安全性,术后并发症减少,患者生存质量提高,可以达到开放性手术切除淋巴结的同样效果,不影响手术的根治性。%Objective To investigate the feasibility and skill of excision of inguinal lymph nodes for vulvar carcinoma by using the Da Vinci robotic surgical system and provide some experience and reference for its application in the treatment of benign or malignant gynecologic disease. Methods Retrospectively review and evaluate the clinical outcome and surgical strategies on the world's first case of inguinal lymphadenectomy for vulvar carcinoma by using Da Vinci robotic surgical system that successful implementation in Xijing hospital of the fourth military medical university. Results Lymphadenectomies, including superficial and deep inguinal lymph nodes dissection, were completed successfully and reach the requirement of radical treatment of vulvar carcinoma. No case was conversion to laparotomy. The mean operation time was 85 min, the average bleed of each side inguinal lymph nodes dissection all less than 10 ml, the mean number of

  19. Application of robotic surgical system in the treatment of liver neoplasms:Current status and limitations%机器人肝切除应用价值与评价

    Institute of Scientific and Technical Information of China (English)

    王晓颖

    2016-01-01

    Robotic platforms has overcome many of the limitations of conventional laparoscopic surgery. The indications for robotic liver surgery include all the indications for laparoscopic liver surgery and comprise both benign lesions and malignancies. The current literatures and data demonstrate that robotic liver surgery is a feasible and safe option. In properly selected patients, robotic approach associated with less invasion and fast recovery compared to open approach. Both robotic and laparoscopic approaches are similar in perioperative outcomes and long-term oncologic outcomes. Robotic approach may increase percentage of major hepatectomies in a purely minimally invasive fashion, facilitate the resection of superior and posterior liver tumors, and provide better precision in intracorporeal biliary and vascular reconstruction. However, robotic approach has significantly longer operative time and higher cost. Since the case number of available study was probably too small to allow firm conclusions,large randomized studies are needed to compare robotic liver surgery with conventional laparoscopy and open surgery.%机器人手术系统克服了传统腹腔镜技术的内在缺陷,已应用于各种良、恶性肝脏肿瘤手术中。机器人肝脏手术涵盖了所有腹腔镜肝脏手术的适应证。现有的文献资料提示机器人肝肿瘤手术安全有效。对于适宜病例,机器人手术较开放手术创伤小、恢复快;与传统腹腔镜手术相比,机器人手术在近、远期疗效方面与之相当。机器人手术系统在微创大范围肝切除、后上段等困难部位肝切除、需重建血管及胆道的复杂肝切除术中有一定优势;但也存在手术费用高、手术时间长等局限。鉴于现阶段研究报道例数有限,尚需大样本前瞻性随机对照研究进一步评估其优缺点。

  20. Developing of robot flexible processing system for shipbuilding profile steel

    Institute of Scientific and Technical Information of China (English)

    姚舜; 邱涛; 楼松年; 王宏杰

    2003-01-01

    A robot flexible processing system of shipbuilding profile steel was developed. The system consists of computer integrated control and robot. An off-line programming robot was used for marking and cutting of shipbuilding profile steel. In the system the deformation and position error of profile steel can be detected by precise sensors, and figure position coordinate error resulted from profile steel deformation can be compensated by modifying traveling track of robotic arm online. The practical operation results show that the system performance can meet the needs of profile steel processing.

  1. An Active Endoscopy Robotic System for Direct Tracheal Inspection

    Institute of Scientific and Technical Information of China (English)

    YU Lian-zhi; YAN Guo-zheng; MA Guan-ying; ZAN Peng

    2007-01-01

    The development of active endoscopy techniques is one important area of medical robot. This paper designed a new flexible and active endoscopy robotic system for direct tracheal inspection. The mobile mechanism of the robot is based on the inchworm movement actuated by pneumatic rubber actuator. There are five air chambers controlled independently, by adjusting pressures in air chambers, the robot can move in a straight mode or in a bending mode. The inspection sensors and some therapy surgery tools can be equipped in the front of the robot.The prototype was made and its mechanical characteristics were analyzed. The robot could move smoothly in a small plastic tube, and the robot is respectable to be used for inspection in human trachea directly.

  2. A Vision-Based Wireless Charging System for Robot Trophallaxis

    Directory of Open Access Journals (Sweden)

    Jae-O Kim

    2015-12-01

    Full Text Available The need to recharge the batteries of a mobile robot has presented an important challenge for a long time. In this paper, a vision-based wireless charging method for robot energy trophallaxis between two robots is presented. Even though wireless power transmission allows more positional error between receiver-transmitter coils than with a contact-type charging system, both coils have to be aligned as accurately as possible for efficient power transfer. To align the coils, a transmitter robot recognizes the coarse pose of a receiver robot via a camera image and the ambiguity of the estimated pose is removed with a Bayesian estimator. The precise pose of the receiver coil is calculated using a marker image attached to a receiver robot. Experiments with several types of receiver robots have been conducted to verify the proposed method.

  3. A Vision-based Wireless Charging System for Robot Trophallaxis

    Directory of Open Access Journals (Sweden)

    Jae-O Kim

    2015-12-01

    Full Text Available The need to recharge the batteries of a mobile robot has presented an important challenge for a long time. In this paper, a vision-based wireless charging method for robot energy trophallaxis between two robots is presented. Even though wireless power transmission allows more positional error between receiver-transmitter coils than with a contact-type charging system, both coils have to be aligned as accurately as possible for efficient power transfer. To align the coils, a transmitter robot recognizes the coarse pose of a receiver robot via a camera image and the ambiguity of the estimated pose is removed with a Bayesian estimator. The precise pose of the receiver coil is calculated using a marker image attached to a receiver robot. Experiments with several types of receiver robots have been conducted to verify the proposed method.

  4. micROS: a morphable, intelligent and collective robot operating system

    OpenAIRE

    Yang, Xuejun; Dai, Huadong; Yi, Xiaodong; Wang, Yanzhen; Yang, Shaowu; Zhang, Bo; Wang, Zhiyuan; Zhou, Yun; Peng, Xuefeng

    2016-01-01

    Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered ...

  5. Rapid Prototyping of Robotic Systems

    Science.gov (United States)

    2007-06-01

    Nowak, S. Peterson, “Feature Oriented Domain Analysis ( FODA ) Feasibility Study,” Technical Report, CMU/SEI-90-TR-21, Software Engineering Institute...32 3. Embedded System Control Language..............................................33 viii 4. Architecture Analysis and Design Language...41 5. Analysis

  6. A novel platform for internet-based mobile robot systems

    OpenAIRE

    Duong, P. M.; Hoang, T. T.; Van, N. T. T.; Viet, D. A.; Vinh, T. Q.

    2016-01-01

    In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a client-server software architecture in which the exchanged data between the client and the server is transmitted through different transport protocols. Autonomous mechanisms such as obstacle avoidance and safe-point achievement are implemented to ensure the robot sa...

  7. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    Directory of Open Access Journals (Sweden)

    Flavio Roberti

    2010-02-01

    Full Text Available This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to such object while maintaining a desired robot formation. Experimental results with real mobile robots are included to validate the proposed vision system.

  8. Evolution of robotics in surgery and implementing a perioperative robotics nurse specialist role.

    Science.gov (United States)

    Francis, Paula

    2006-03-01

    Use of robotics is expanding rapidly in the medical arena. Not only are a growing number of facilities purchasing robotic systems, but the number of surgeons using them also is increasing, which creates many challenges (eg, cost, training, safety). The evolution of robotics in surgery is presented within the context of virtual reality, telepresence, telemanipulation, and passive (ie, master-slave) robotic surgical systems. A new perioperative nursing role, the robotics nurse specialist, was developed and implemented at one facility. The need for a robotics nurse specialist and how this role can help the entire surgical team promote positive patient and facility outcomes also is discussed.

  9. Visual and somatic sensory feedback of brain activity for intuitive surgical robot manipulation.

    Science.gov (United States)

    Miura, Satoshi; Matsumoto, Yuya; Kobayashi, Yo; Kawamura, Kazuya; Nakashima, Yasutaka; Fujie, Masakatsu G

    2015-01-01

    This paper presents a method to evaluate the hand-eye coordination of the master-slave surgical robot by measuring the activation of the intraparietal sulcus in users brain activity during controlling virtual manipulation. The objective is to examine the changes in activity of the intraparietal sulcus when the user's visual or somatic feedback is passed through or intercepted. The hypothesis is that the intraparietal sulcus activates significantly when both the visual and somatic sense pass feedback, but deactivates when either visual or somatic is intercepted. The brain activity of three subjects was measured by the functional near-infrared spectroscopic-topography brain imaging while they used a hand controller to move a virtual arm of a surgical simulator. The experiment was performed several times with three conditions: (i) the user controlled the virtual arm naturally under both visual and somatic feedback passed, (ii) the user moved with closed eyes under only somatic feedback passed, (iii) the user only gazed at the screen under only visual feedback passed. Brain activity showed significantly better control of the virtual arm naturally (pmoving with closed eyes or only gazing among all participants. In conclusion, the brain can activate according to visual and somatic sensory feedback agreement.

  10. Robot-assisted laparoscopic hysterectomy in obese and morbidly obese women: surgical technique and comparison with open surgery.

    Science.gov (United States)

    Geppert, Barbara; Lönnerfors, Celine; Persson, Jan

    2011-11-01

    Comparison of surgical results on obese patients undergoing hysterectomy by robot-assisted laparoscopy or laparotomy. University hospital. All women (n=114) with a BMI ≥30 kg/m(2) who underwent a simple hysterectomy as the main surgical procedure between November 2005 and November 2009 were identified. Robot-assisted procedures (n=50) were separated into an early (learning phase) and a late (consolidated phase) group; open hysterectomy was considered an established method. Relevant data was retrieved from prospective protocols (robot) or from computerized patient charts (laparotomy) until 12 months after surgery. Complications leading to prolonged hospital stay, readmission/reoperation, intravenous antibiotic treatment or blood transfusion were considered significant. The surgical technique used for morbidly obese patients is described. Women in the late robot group (n=25) had shorter inpatient time (1.6 compared to 3.8 days, plaparoscopic hysterectomy in a consolidated phase in obese women is associated with shorter hospital stay, less bleeding and fewer complications compared to laparotomy but, apart from women with BMI ≥35, a longer operative time. © 2011 The Authors Acta Obstetricia et Gynecologica Scandinavica© 2011 Nordic Federation of Societies of Obstetrics and Gynecology.

  11. Meeting the challenges of installing a mobile robotic system

    Science.gov (United States)

    Decorte, Celeste

    1994-01-01

    The challenges of integrating a mobile robotic system into an application environment are many. Most problems inherent to installing the mobile robotic system fall into one of three categories: (1) the physical environment - location(s) where, and conditions under which, the mobile robotic system will work; (2) the technological environment - external equipment with which the mobile robotic system will interact; and (3) the human environment - personnel who will operate and interact with the mobile robotic system. The successful integration of a mobile robotic system into these three types of application environment requires more than a good pair of pliers. The tools for this job include: careful planning, accurate measurement data (as-built drawings), complete technical data of systems to be interfaced, sufficient time and attention of key personnel for training on how to operate and program the robot, on-site access during installation, and a thorough understanding and appreciation - by all concerned - of the mobile robotic system's role in the security mission at the site, as well as the machine's capabilities and limitations. Patience, luck, and a sense of humor are also useful tools to keep handy during a mobile robotic system installation. This paper will discuss some specific examples of problems in each of three categories, and explore approaches to solving these problems. The discussion will draw from the author's experience with on-site installations of mobile robotic systems in various applications. Most of the information discussed in this paper has come directly from knowledge learned during installations of Cybermotion's SR2 security robots. A large part of the discussion will apply to any vehicle with a drive system, collision avoidance, and navigation sensors, which is, of course, what makes a vehicle autonomous. And it is with these sensors and a drive system that the installer must become familiar in order to foresee potential trouble areas in the

  12. A removable hybrid robot system for long bone fracture reduction.

    Science.gov (United States)

    Wang, Tianmiao; Li, Changsheng; Hu, Lei; Tang, Peifu; Zhang, Lihai; Du, Hailong; Luan, Sheng; Wang, Lifeng; Tan, Yiming; Peng, Cheng

    2014-01-01

    In traditional long bone fracture reduction surgery, there are some drawbacks such as low accuracy, high radiation for surgeons and a risk of infection. To overcome these disadvantages, a removable hybrid robot system is developed, which integrates a removable series-parallel mechanism with a motor-double cylinder (MDC) driven mode. This paper describes the mechanism in detail, analyses the principle and the method of the fracture reduction, presents the surgical procedure, and verifies the reduction accuracy by experiments with bone models. The results are shown as follows. The mean deviations of the axial displacement and lateral displacement are 1.60mm and 1.26 mm respectively. The standard deviations are 0.69 mm and 0.30 mm. The mean deviations of the side angle and turn inward are 2.06° and 2.22° respectively. The standard deviations are 0.50° and 0.99°. This minimally invasive robot features high accuracy and zero radiation for surgeons, and is able to conduct fracture reduction for long bones.

  13. On the cutting edge of robotic surgery.

    Science.gov (United States)

    Tabor, Wendy

    2007-02-01

    Joysticks meet scalpels in a new computer-enhanced surgery system. A new robotic surgical system is taking laparoscopic surgery to new horizons. With the potential for greater surgical precision, shorter hospital stays, and better patient outcomes, this minimally invasive surgical technique offers an exciting new option for many patients undergoing various surgical procedures. Read on to learn more about robotic surgery, including your role in patient care.

  14. The Review and Applications of Smart and Surgical Robots%智能手术机器人及其应用

    Institute of Scientific and Technical Information of China (English)

    谢俊祥; 张琳

    2015-01-01

    Smart and surgical robots are the new hybrid era which merged the medicine, biomechanics, mechanics, materialogy, computer graphics, computer vision, mathematics and robotics. Smart surgical robots have many advantages, such as sophistication, minimally invasion and so on. Therefore, the smart and surgical robots has been widely applied in cardiothoracic, urologic, gynaecological, and other surgeries. By referring to a large number of domestic and foreign literature, and based on retrospective history of development in surgical robot technology, this paper summarizes the technology and applications at home and abroad, the existing problems and future directions of development.%智能手术机器人是集医学、生物力学、机械学、机械力学、材料学、计算机图形学、计算机视觉、数学分析、机器人等诸多学科为一体的新型交叉研究领域,由于其本身更加精细、微创等优势,现已应用到外科手术的各个领域。本文在对智能手术机器人发展史进行回顾的基础上,对智能手术机器人的技术原理和临床应用进行深入分析,探讨智能手术机器人未来的研发动向。

  15. International Conference on Intelligent Robots and Systems - IROS 2011

    CERN Document Server

    Rosen, Jacob; Redundancy in Robot Manipulators and Multi-Robot Systems

    2013-01-01

    The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics. This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshopwas envisioned as a dialog between researchers from two separate, but obviously relatedfields of robotics: on...

  16. Calibration of robotic drilling systems with a moving rail

    Directory of Open Access Journals (Sweden)

    Tian Wei

    2014-12-01

    Full Text Available Industrial robots are widely used in aircraft assembly systems such as robotic drilling systems. It is necessary to expand a robot’s working range with a moving rail. A method for improving the position accuracy of an automated assembly system with an industrial robot mounted on a moving rail is proposed. A multi-station method is used to control the robot in this study. The robot only works at stations which are certain positions defined on the moving rail. The calibration of the robot system is composed by the calibration of the robot and the calibration of the stations. The calibration of the robot is based on error similarity and inverse distance weighted interpolation. The calibration of the stations is based on a magnetic strip and a magnetic sensor. Validation tests were performed in this study, which showed that the accuracy of the robot system gained significant improvement using the proposed method. The absolute position errors were reduced by about 85% to less than 0.3 mm compared with the maximum nearly 2 mm before calibration.

  17. Calibration of robotic drilling systems with a moving rail

    Institute of Scientific and Technical Information of China (English)

    Tian Wei; Zeng Yuanfan; Zhou Wei; Liao Wenhe

    2014-01-01

    Industrial robots are widely used in aircraft assembly systems such as robotic drilling sys-tems. It is necessary to expand a robot’s working range with a moving rail. A method for improving the position accuracy of an automated assembly system with an industrial robot mounted on a mov-ing rail is proposed. A multi-station method is used to control the robot in this study. The robot only works at stations which are certain positions defined on the moving rail. The calibration of the robot system is composed by the calibration of the robot and the calibration of the stations. The calibration of the robot is based on error similarity and inverse distance weighted interpolation. The calibration of the stations is based on a magnetic strip and a magnetic sensor. Validation tests were performed in this study, which showed that the accuracy of the robot system gained significant improvement using the proposed method. The absolute position errors were reduced by about 85%to less than 0.3 mm compared with the maximum nearly 2 mm before calibration.

  18. Design, Development, and Evaluation of a Master-Slave Surgical System for Breast Biopsy under Continuous MRI.

    Science.gov (United States)

    Yang, Bo; Roys, Steven; Tan, U-Xuan; Philip, Mathew; Richard, Howard; Gullapalli, Rao; Desai, Jaydev P

    2014-04-01

    Magnetic Resonance Imaging (MRI) provides superior soft-tissue contrast in cancer diagnosis compared to other imaging modalities. However, the strong magnetic field inside the MRI bore along with limited scanner bore size poses significant challenges. Since current approaches in breast biopsy using MR images is primarily a blind targeting approach, it is necessary to develop a MRI-compatible robot that can avoid multiple needle insertions into the breast tissue. This MRI-compatible robotic system could potentially lead to improvement in the targeting accuracy and reduce sampling errors. A master-slave surgical system has been developed comprising of a MRI-compatible slave robot which consists of one piezo motor and five pneumatic cylinders connected by long pneumatic transmission lines. The slave robot follows the configuration of the master robot, which provides an intuitive manipulation interface for the physician and operates inside the MRI bore to adjust the needle position and orientation and perform needle insertion task. Based on the MRI experiments using the slave robot, there was no significant distortion in the images and hence the slave robot can be safely operated inside the MRI with minimal loss in signal-to-noise ratio (SNR). Ex vivo and in vivo experiments have been conducted to evaluate the performance of the master-slave surgical system.

  19. Biologically Inspired Object Localization for a Modular Mobile Robotic System

    Directory of Open Access Journals (Sweden)

    Zlatogor Minchev

    2005-12-01

    Full Text Available The paper considers a general model of real biological creatures' antennae, which is practically implemented and tested, over a real element of a mobile modular robotic system - the robot MR1. The last could be utilized in solving of the most classical problem in Robotics - Object Localization. The functionality of the represented sensor system is described in a new and original manner by utilizing the tool of Generalized Nets - a new likelihood for description, modelling and simulation of different objects from the Artificial Intelligence area including Robotics.

  20. Towards Coordination and Control of Multi-robot Systems

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt

    This thesis focuses on control and coordination of mobile multi-robot systems (MRS). MRS can often deal with tasks that are difficult to be accomplished by a single robot. One of the challenges is the need to control, coordinate and synchronize the operation of several robots to perform some...... specified task. This calls for new strategies and methods which allow the desired system behavior to be specified in a formal and succinct way. Two different frameworks for the coordination and control of MRS have been investigated. Framework I - A network of robots is modeled as a network of multi......-modal hybrid automata. The notion of bisimulations is used to abstract robots in the network. The result is a network of interacting timed automata which allows coordination among the robots and timing constraints to be considered. The model checker UPPAAL is used for formal symbolic model checking against...

  1. Transformers: Shape-Changing Space Systems Built with Robotic Textiles

    Science.gov (United States)

    Stoica, Adrian

    2013-01-01

    Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.

  2. Robotic assisted minimally invasive surgery

    Directory of Open Access Journals (Sweden)

    Palep Jaydeep

    2009-01-01

    Full Text Available The term "robot" was coined by the Czech playright Karel Capek in 1921 in his play Rossom′s Universal Robots. The word "robot" is from the check word robota which means forced labor.The era of robots in surgery commenced in 1994 when the first AESOP (voice controlled camera holder prototype robot was used clinically in 1993 and then marketed as the first surgical robot ever in 1994 by the US FDA. Since then many robot prototypes like the Endoassist (Armstrong Healthcare Ltd., High Wycombe, Buck, UK, FIPS endoarm (Karlsruhe Research Center, Karlsruhe, Germany have been developed to add to the functions of the robot and try and increase its utility. Integrated Surgical Systems (now Intuitive Surgery, Inc. redesigned the SRI Green Telepresence Surgery system and created the daVinci Surgical System ® classified as a master-slave surgical system. It uses true 3-D visualization and EndoWrist ® . It was approved by FDA in July 2000 for general laparoscopic surgery, in November 2002 for mitral valve repair surgery. The da Vinci robot is currently being used in various fields such as urology, general surgery, gynecology, cardio-thoracic, pediatric and ENT surgery. It provides several advantages to conventional laparoscopy such as 3D vision, motion scaling, intuitive movements, visual immersion and tremor filtration. The advent of robotics has increased the use of minimally invasive surgery among laparoscopically naοve surgeons and expanded the repertoire of experienced surgeons to include more advanced and complex reconstructions.

  3. The design of the robot assisted magnetic resonance imaging guidance for minimally invasive surgery system

    Institute of Scientific and Technical Information of China (English)

    Shao Bing; Sun Lining; Du Zhijiang; Fu Lixin

    2005-01-01

    Robot assisted Minimally Invasive Surgery (MIS) is one of the rapidestdeveloping directions in the current surgical realm. Magnetic Resonance Imaging(MRI) is an optimal imaging modality which was applied in MIS in recent years. By combination of precise positioning to the target by intra-operative MRI guided surgery and dexterous motion by the robot, safe and smooth operation is expected to be performed. An overview of the MRI-guided robotic system for MIS is offered. The design of the intra-operative MR scanner system is described. The MR-compatible robotic system is carefully designed for safety and sterilization issues. This system unifies image information from open MRI, an optical endoscope and conventional vital-sign detectors. It helps and guides the surgeon and other medical staffs so they can make the right decisions. The high-performance manipulator can mimic the movement of the urgeon's hand precisely. And the analysis for active and passive interventional surgical instrument tracking is provided.

  4. Development control systems takeover: subject robotic arm on the example anthropomorhic robot AR-601

    Science.gov (United States)

    Sirazetdinov, R.; Devaev, V.; Zakirzyanova, G.

    2016-06-01

    It is proposed the formation software architecture of complex motion for robotic systems in the form of sets of behavior - patterns - similar to the motor reflexes of living organisms. To form patterns of behavior of the robot teh authors used a methodology of structural analysis of complex systems IDEF0, then developed types of elementary algorithms (patterns) that make up the dynamics of the anthropomorphic robot jump. The work is performed according to the Russian Government Program of Competitive Growth of Kazan Federal University.

  5. A Hand-Eye Vision Measuring System for Articulate Robots

    Institute of Scientific and Technical Information of China (English)

    岁波; 都东; 陈强; 韩翔宇; 王力; 张骅

    2004-01-01

    To make dynamic measurements for an articulate robot, a hand-eye vision measuring system is built up.This system uses two charge coupled device (CCD) cameras mounted on the end-effector of the robot.System analysis is based on the stereovision theory and line-matching technology, using a computer to evaluate the dynamic performance parameters of an articulate robot from the two images captured by the two cameras.The measuring procedure includes four stages, namely, calibration, sampling, image processing, and calculation.The path accuracy of an articulate industrial robot was measured by this system.The results show that this system is a low-cost, easy to operate, and simple system for the dynamic performance testing of articulate robots.

  6. Analysis of characteristics of a pneumatic miniature robotic system

    Institute of Scientific and Technical Information of China (English)

    Yu Lianzhi; Yan Guozheng; Ma Guangying; Zan Peng

    2008-01-01

    This paper described the structure of a flexible miniature robotic system which can move in human cavities, and then analyzed the characteristics of the robotic system in detail. The mobile mechanism of the miniature robotic system is soft; it makes inchworm-like movement driven by a 3-DOF pneumatic rubber actuator and holds its positions by air chambers. The driving characteristic models in axial and bending directions of the actuator were set up and the kinemics equations of the robotic system were set up. Experiments had been done through an electro-pressure control system, by which the pneumatic robotic system can be controlled with high accuracy. It is suitable for moving in human cavities for medical inspection.

  7. 10th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Mondada, Francesco; Correll, Nikolaus; Mermoud, Grégory; Egerstedt, Magnus; Hsieh, M; Parker, Lynne; Støy, Kasper

    2013-01-01

    Distributed robotics is a rapidly growing, interdisciplinary research area lying at the intersection of computer science, communication and control systems, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 43 original contributions presented at the Tenth International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), which was held in November 2010 at the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. The selected papers in this volume are authored by leading researchers from Asia, Australia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into four parts, each representing one critical and long-term research thru...

  8. Distributed Mobile Robot Localization and Communication System for Special Interventions

    OpenAIRE

    Sales Gil, Jorge

    2011-01-01

    This thesis focuses on the development of a distributed mobile robot localization and communication system for special interventions like those carried out by fire-fighters in fire ground search and rescue. The use case scenario is related to the one described for the GUARDIANS EU project, where a swarm formation of mobile robots accompany a fire fighter during a rescue intervention in a warehouse. In this line, localizing the robots and the fire fighter during an indoor intervention with the...

  9. Stream Processing in the Robot Operating System framework

    OpenAIRE

    Hongslo, Anders

    2012-01-01

    Streams of information rather than static databases are becoming increasingly important with the rapid changes involved in a number of fields such as finance, social media and robotics. DyKnow is a stream-based knowledge processing middleware which has been used in autonomous Unmanned Aerial Vehicle (UAV) research. ROS (Robot Operating System) is an open-source robotics framework providing hardware abstraction, device drivers, communication infrastructure, tools, libraries as well as other fu...

  10. An Autonomous Robotic System for Mapping Weeds in Fields

    DEFF Research Database (Denmark)

    Hansen, Karl Damkjær; Garcia Ruiz, Francisco Jose; Kazmi, Wajahat

    2013-01-01

    The ASETA project develops theory and methods for robotic agricultural systems. In ASETA, unmanned aircraft and unmanned ground vehicles are used to automate the task of identifying and removing weeds in sugar beet fields. The framework for a working automatic robotic weeding system is presented...

  11. Digital redesign of the control system for the Robotics Research Corporation model K-1607 robot

    Science.gov (United States)

    Carroll, Robert L.

    1989-01-01

    The analog control system for positioning each link of the Robotics Research Corporation Model K-1607 robot manipulator was redesigned for computer control. In order to accomplish the redesign, a linearized model of the dynamic behavior of the robot was developed. The parameters of the model were determined by examination of the input-output data collected in closed-loop operation of the analog control system. The robot manipulator possesses seven degrees of freedom in its motion. The analog control system installed by the manufacturer of the robot attempts to control the positioning of each link without feedback from other links. Constraints on the design of a digital control system include: the robot cannot be disassembled for measurement of parameters; the digital control system must not include filtering operations if possible, because of lack of computer capability; and criteria of goodness of control system performing is lacking. The resulting design employs sampled-data position and velocity feedback. The criteria of the design permits the control system gain margin and phase margin, measured at the same frequencies, to be the same as that provided by the analog control system.

  12. Steering control system for a mobile robot

    Science.gov (United States)

    Kolli, Kaylan C.; Hall, Ernest L.

    1997-09-01

    Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe the design of a steering mechanism for an autonomous mobile robot. The steering mechanism replaces a manually turned rack and pinion arrangement with a crank mechanism driven by a linear actuator that in turn is powered by a brushless dc motor. The system was modeled, analyzed, and redesigned to meet the requirements. A 486 computer through a 3-axis motion controller supervises the steering control. The steering motor is a brushless dc motor powered by three phase signals. It is run in current loop mode. The steering control system is supervised by a personal computer through a multi-axis motion controller. Testing of these systems has been done in the lab as well as on an outside test track with positive results.

  13. Future of robotic surgery.

    Science.gov (United States)

    Lendvay, Thomas Sean; Hannaford, Blake; Satava, Richard M

    2013-01-01

    In just over a decade, robotic surgery has penetrated almost every surgical subspecialty and has even replaced some of the most commonly performed open oncologic procedures. The initial reports on patient outcomes yielded mixed results, but as more medical centers develop high-volume robotics programs, outcomes appear comparable if not improved for some applications. There are limitations to the current commercially available system, and new robotic platforms, some designed to compete in the current market and some to address niche surgical considerations, are being developed that will change the robotic landscape in the next decade. Adoption of these new systems will be dependent on overcoming barriers to true telesurgery that range from legal to logistical. As additional surgical disciplines embrace robotics and open surgery continues to be replaced by robotic approaches, it will be imperative that adequate education and training keep pace with technology. Methods to enhance surgical performance in robotics through the use of simulation and telementoring promise to accelerate learning curves and perhaps even improve surgical readiness through brief virtual-reality warm-ups and presurgical rehearsal. All these advances will need to be carefully and rigorously validated through not only patient outcomes, but also cost efficiency.

  14. Improved OTEC System for a Submarine Robot

    Science.gov (United States)

    Chao, Yi; Jones, Jack; Valdez, Thomas

    2010-01-01

    An ocean thermal energy conversion (OTEC), now undergoing development, is a less-massive, more-efficient means of exploiting the same basic principle as that of the proposed system described in "Alternative OTEC Scheme for a Submarine Robot" (NPO-43500), NASA Tech Briefs, Vol. 33, No. 1 (January 2009), page 50. The proposed system as described previously would be based on the thawing-expansion/freezing-contraction behavior of a wax or perhaps another suitable phase-change material (PCM). The power generated by the system would be used to recharge the batteries in a battery- powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and depths, measuring temperature and salinity. At one phase of its operational cycle, the previously proposed system would utilize the surface ocean temperature (which lies between 15 and 30 C over most of the Earth) to melt a PCM that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the PCM. The melting or freezing would cause the PCM to expand or contract, respectively, by about 9 volume percent. The PCM would be contained in tubes that would be capable of expanding and contracting with the PCM. The PCM-containing tubes would be immersed in a hydraulic fluid. The expansion and contraction would drive a flow of the hydraulic fluid against a piston that, in turn, would push a rack-and-pinion gear system to spin a generator to charge a battery.

  15. Intelligent Vision System for Door Sensing Mobile Robot

    Directory of Open Access Journals (Sweden)

    Jharna Majumdar

    2012-08-01

    Full Text Available Wheeled Mobile Robots find numerous applications in the Indoor man made structured environments. In order to operate effectively, the robots must be capable of sensing its surroundings. Computer Vision is one of the prime research areas directed towards achieving these sensing capabilities. In this paper, we present a Door Sensing Mobile Robot capable of navigating in the indoor environment. A robust and inexpensive approach for recognition and classification of the door, based on monocular vision system helps the mobile robot in decision making. To prove the efficacy of the algorithm we have designed and developed a ‘Differentially’ Driven Mobile Robot. A wall following behavior using Ultra Sonic range sensors is employed by the mobile robot for navigation in the corridors.  Field Programmable Gate Arrays (FPGA have been used for the implementation of PD Controller for wall following and PID Controller to control the speed of the Geared DC Motor.

  16. Localization/mapping motion control system for a mobile robot

    Science.gov (United States)

    Yang-Syu, Jr.; Su, Chiun-Shiang; Yang, Chan-Yun

    2011-12-01

    The objective of this paper is to design a mobile robot with automatic motion behaviors and obstacle avoidance functions. The robot is also able to make the SLAM (Simultaneous Localization And Mapping) at an unknown environment. The robot position is calculated by the developed software program from the motor encoders. An obstacle avoidance controller is developed by the fuzzy theory. A LRF(laser ranger finder) is installed on the robot. The sensing data of this LRF are applied to calculate the environmental information for the obstacle avoidance controller. Then, the ICP (Iterative Closest Point) algorithm is applied to compare the position error of the environmental data in order to obtain the estimated position of the LRF. Finally, these estimated position data are used to calculate the final SLAM of this mobile robot. Both the simulation and experimental results show that this developed robot system work very well.

  17. Preparation for a pulmonary lobectomy by the daVinci Robot Surgical System:an assistant experience sharing%做好达芬奇机器人肺叶切除手术前的准备工作--一个助手的经验分享

    Institute of Scientific and Technical Information of China (English)

    许世广; 王述民

    2015-01-01

    The minimal invasiveness and safety of the daVinci Surgical System have been approved since it was introduced into China.However,there still is a challenge in pulmonary lobectomy by using the system.To date,only a few domestic surgeons have com-pleted a small number of cases.Little experience can be exchanged about how to make incisions during the operation.In this article,as an assistant,we described our experience about the preparatory work before and during the operation.We wish it could be useful for sur-gical colleagues who carry out the robot assisted surgeries.%自达芬奇机器人引进国内以来,其微创性和安全性已经得到认可,但应用达芬奇机器人系统完成肺叶切除仍具有挑战性。到目前为止,通过达芬奇机器人手术系统完成肺叶切除的单位和完成的例数均较少,在肺叶切除中如何打孔还没有好的经验可以借鉴。本文从助手的角度,就如何做好各项准备工作,协助术者完成机器人肺叶切除的诸多细节问题进行描述,抛砖引玉,期望对于即将开展此类手术的外科同仁有所裨益。

  18. A Haptic Guided Robotic System for Endoscope Positioning and Holding.

    Science.gov (United States)

    Cabuk, Burak; Ceylan, Savas; Anik, Ihsan; Tugasaygi, Mehtap; Kizir, Selcuk

    2015-01-01

    To determine the feasibility, advantages, and disadvantages of using a robot for holding and maneuvering the endoscope in transnasal transsphenoidal surgery. The system used in this study was a Stewart Platform based robotic system that was developed by Kocaeli University Department of Mechatronics Engineering for positioning and holding of endoscope. After the first use on an artificial head model, the system was used on six fresh postmortem bodies that were provided by the Morgue Specialization Department of the Forensic Medicine Institute (Istanbul, Turkey). The setup required for robotic system was easy, the time for registration procedure and setup of the robot takes 15 minutes. The resistance was felt on haptic arm in case of contact or friction with adjacent tissues. The adaptation process was shorter with the mouse to manipulate the endoscope. The endoscopic transsphenoidal approach was achieved with the robotic system. The endoscope was guided to the sphenoid ostium with the help of the robotic arm. This robotic system can be used in endoscopic transsphenoidal surgery as an endoscope positioner and holder. The robot is able to change the position easily with the help of an assistant and prevents tremor, and provides a better field of vision for work.

  19. Integrating Soft Robotics with the Robot Operating System: A Hybrid Pick and Place Arm

    Directory of Open Access Journals (Sweden)

    Ross M. McKenzie

    2017-08-01

    Full Text Available Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the grasping of irregular and delicate objects. Adoption of soft robotics by the informatics community and industry, however, has been slow and this is, in-part, due to the amount of hardware and software that must be developed from scratch for each use of soft system components. In this paper, we detail the design, fabrication, and validation of an open-source framework that we designed to lower the barrier to entry for integrating soft robotic subsystems. This framework is built on the robot operating system (ROS, and we use it to demonstrate a modular, soft–hard hybrid system, which is capable of completing pick and place tasks. By lowering this barrier to entry through our open sourced hardware and software, we hope that system designers and Informatics researchers will find it easy to integrate soft components into their existing ROS-enabled robotic systems.

  20. Laparoscopy-assisted Robotic Myomectomy Using the DA Vinci System

    Directory of Open Access Journals (Sweden)

    Shih-Peng Mao

    2007-06-01

    Conclusion: Minimally invasive surgery is the trend of the future. Robot-assisted laparoscopic surgery is a new technique for myomectomy. This robotic system provides a three-dimensional operative field and an easy-to-use control panel, which may be of great help when applying the suturing techniques and may shorten the learning curve. More experience with and long-term follow-up of robotic surgery may be warranted to further validate the role the robot-assisted approach in gynecologic surgery.

  1. Controlling Underwater Robots with Electronic Nervous Systems

    Directory of Open Access Journals (Sweden)

    Joseph Ayers

    2010-01-01

    Full Text Available We are developing robot controllers based on biomimetic design principles. The goal is to realise the adaptive capabilities of the animal models in natural environments. We report feasibility studies of a hybrid architecture that instantiates a command and coordinating level with computed discrete-time map-based (DTM neuronal networks and the central pattern generators with analogue VLSI (Very Large Scale Integration electronic neuron (aVLSI networks. DTM networks are realised using neurons based on a 1-D or 2-D Map with two additional parameters that define silent, spiking and bursting regimes. Electronic neurons (ENs based on Hindmarsh–Rose (HR dynamics can be instantiated in analogue VLSI and exhibit similar behaviour to those based on discrete components. We have constructed locomotor central pattern generators (CPGs with aVLSI networks that can be modulated to select different behaviours on the basis of selective command input. The two technologies can be fused by interfacing the signals from the DTM circuits directly to the aVLSI CPGs. Using DTMs, we have been able to simulate complex sensory fusion for rheotaxic behaviour based on both hydrodynamic and optical flow senses. We will illustrate aspects of controllers for ambulatory biomimetic robots. These studies indicate that it is feasible to fabricate an electronic nervous system controller integrating both aVLSI CPGs and layered DTM exteroceptive reflexes.

  2. RASSOR - Regolith Advanced Surface Systems Operations Robot

    Science.gov (United States)

    Gill, Tracy R.; Mueller, Rob

    2015-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) is a lightweight excavator for mining in reduced gravity. RASSOR addresses the need for a lightweight (robot that is able to overcome excavation reaction forces while operating in reduced gravity environments such as the moon or Mars. A nominal mission would send RASSOR to the moon to operate for five years delivering regolith feedstock to a separate chemical plant, which extracts oxygen from the regolith using H2 reduction methods. RASSOR would make 35 trips of 20 kg loads every 24 hours. With four RASSORs operating at one time, the mission would achieve 10 tonnes of oxygen per year (8 t for rocket propellant and 2 t for life support). Accessing craters in space environments may be extremely hard and harsh due to volatile resources - survival is challenging. New technologies and methods are required. RASSOR is a product of KSC Swamp Works which establishes rapid, innovative and cost effective exploration mission solutions by leveraging partnerships across NASA, industry and academia.

  3. Control System Design for a Surface Cleaning Robot

    Directory of Open Access Journals (Sweden)

    Zhai Yuyi

    2013-05-01

    Full Text Available This paper aims to study a control system for a surface cleaning robot and the focus of the study is the surface cleaning robot controller design. The structural framework of the propulsion control system of the surface robot is designed based on the principle of PWM speed control. The function of each module in the control system is divided and described in detail. A kind of thinking based on an AVR microprocessor and its software and hardware design proposals are presented. Through RS485 and PC communication according to the agreed protocol, the control system achieves robot forward, backward, turn and work operations by the use of a DC motor or stepper motor, and it can therefore more successfully realize the work of a surface cleaning robot.

  4. Implementation of a robotic flexible assembly system

    Science.gov (United States)

    Benton, Ronald C.

    1987-01-01

    As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

  5. Toward robotic socially believable behaving systems

    CERN Document Server

    Jain, Lakhmi

    2016-01-01

    This volume is a collection of research studies on the modeling of emotions in complex autonomous systems. Several experts in the field are reporting their efforts and reviewing the literature in order to shed lights on how the processes of coding and decoding emotional states took place in humans, which are the physiological, physical, and psychological variables involved, invent new mathematical models and algorithms to describe them, and motivate these investigations in the light of observable societal changes and needs, such as the aging population and the cost of health care services. The consequences are the implementation of emotionally and socially believable machines, acting as helpers into domestic spheres, where emotions drive behaviors and actions. The contents of the book are highly multidisciplinary since the modeling of emotions in robotic socially believable systems requires a holistic perspective on topics coming from different research domains such as computer science, engineering, sociology...

  6. OPEN VERSUS ROBOTIC-ASSISTED PARTIAL NEPHRECTOMY: MULTICENTER COMPARATIVE STUDY OF SURGICAL RESULTS AND COMPLICATIONS (AGILE GROUP)

    OpenAIRE

    Minervini, A.; Vittori, G.; Antonelli, A.; Celia, A; Crivellaro, S.; Dente, D.; Di Santo, V.; B. Frea; Gacci, M; A. Gritti; L. Masieri; A. Morlacco; A. Porreca; B. Rocco; Parma, P.

    2012-01-01

    Aim of the study To compare surgical and perioperative outcomes of open partial ne- phrectomy (OPN) with those of robotic assisted partial nephrectomy (RAPN). Materials and methods This is 2-year multicentric study derived from a prospective da- tabase promoted by AGILE group, who included all patients treated awith OPN or RAPN for renal cell carcinoma between January 2010 and December 2011 at six Italian urologic centers. All clinical vari- ables, including tumor nephrometry (PADUA ...

  7. Intelligent Robotic Systems Study (IRSS), phase 2

    Science.gov (United States)

    1990-01-01

    Under the Intelligent Robotics System Study (IRSS) contract, a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). The controller built for the PFMA provides localized position based force control, teleoperation and advanced path recording and playback capabilities. Various hand controllers can be used with the system in conjunction with a synthetic time delay capability to provide a realistic test bed for typical satellite servicing tasks. The configuration of the IRSS system is illustrated and discussed. The PFMA has six computer controllable degrees of freedom (DOF) plus a seventh manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Because the PFMA was not developed to operate in a gravity field, but rather in space, it is counter balanced at the shoulder, elbow and wrist and a spring counterbalance has been added near the wrist to provide additional support. Built with long slender intra-joint linkages, the PFMA has a workspace nearly 2 meters deep and possesses sufficient dexterity to perform numerous satellite servicing tasks. The manipulator is arranged in a shoulder-yaw, pitch, elbow-pitch, and wrist-pitch, yaw, roll configuration, with an indexable shoulder roll joint. Digital control of the PFMA is implemented using a variety of single board computers developed by Heurikon Corporation and other manufacturers. The IRSS controller is designed to be a multi-rate, multi-tasking system. Independent joint servos run at a 134 Hz rate and position based impedance control functions at 67 Hz. Autonomous path generation and hand controller inputs are processed at a 33 Hz.

  8. Surgical Outcomes and Safety of Robotic Sacrocolpopexy in Women With Apical Pelvic Organ Prolapse

    Science.gov (United States)

    2017-01-01

    Purpose This study aimed to investigate the surgical outcomes and safety of robotic sacrocolpopexy (RSC) in patients with uterine/vaginal vault prolapse. Methods Between January 2009 and June 2015, 16 women with apical prolapse underwent RSC. Pelvic organ prolapse quantification (POP-Q) examination was performed, and treatment success was defined as the presence of grade 0 or I apical prolapse upon POP-Q examination at the final follow-up. Pelvic floor distress inventory-short form 20 (PFDI-SF 20) was administered at every follow-up. A treatment satisfaction questionnaire was administered by telephone to evaluate patient satisfaction with the operation. Results Median age was 65 years (interquartile range [IQR], 56–68 years), and follow-up duration was 25.3 months (IQR, 5.4–34.0 months). Thirteen women (81.3%) had ≥grade III apical prolapse. Operation time was 251 minutes (IQR, 236–288 minutes), and blood loss was 75 mL (IQR, 50–150 mL). Median hospital stay was 4 days (IQR, 3–5 days). At the final follow-up, treatment success was reported in all patients, who presented grade 0 (n=8, 57.1%) and grade I (n=6, 42.9%) apical prolapse. Dramatic improvements in PFDI-SF 20 scores were noted after RSC (from 39 to 4; P=0.001). Most patients (12 of 13) were satisfied with RSC. An intraoperative complication (sacral venous plexus injury) was reported in 1 patient, and there was no conversion to open surgery. Mesh erosion was not reported. Conclusions RSC is an efficient and safe surgical option for apical prolapse repair. Most patients were satisfied with RSC. Thus, RSC might be one of the best treatment options for apical prolapse in women. PMID:28361513

  9. Comparison of surgical, functional, and oncological outcomes of open and robot-assisted partial nephrectomy

    Directory of Open Access Journals (Sweden)

    Ugur Boylu

    2015-01-01

    Full Text Available Background: We aimed to compare the surgical, oncological, and functional outcomes of robot-assisted partial nephrectomy (RAPN with open partial nephrectomy (OPN in the management of small renal masses. Materials and Methods: Between 2009 and 2013, a total of 46 RAPN patients and 20 OPN patients was included in this study. Patients′ demographics, mean operative time, estimated blood loss (EBL, warm ischemia time (WIT, length of hospital stay, pre- and post-operative renal functions, complications and oncological outcomes were recorded, prospectively. Results: Mean tumor size was 4.04 cm in OPN group and 3.56 cm in RAPN group (P = 0.27. Mean R.E.N.A.L nephrometry score was 6.35 in OPN group and 5.35 in RAPN group (P = 0.02. The mean operative time was 152 min in OPN group and 225 min in RAPN group (P = 0.006. The mean EBL in OPN and RAPN groups were 417 ml and 268 ml, respectively (P = 0.001. WIT in OPN group was significantly shorter than RAPN group (18.02 min vs. 23.33 min, P = 0.003. The mean drain removal time and the length of hospital stay were longer in OPN group. There were no significant differences in terms of renal functional outcomes and postoperative complications between groups. Conclusion: Minimally invasive surgical management of renal masses with RAPN offers better outcomes in terms of EBL and length of stay. However, the mean operative time and WIT were significantly shorter in OPN group. RAPN is a safe and effective minimally invasive alternative to OPN in terms of oncological and functional outcomes.

  10. Initial Clinical Experience With Surgical Technique of Robot-assisted Transperitoneal Laparoscopic Partial Nephrectomy

    Directory of Open Access Journals (Sweden)

    Cheng-Kuang Yang

    2009-12-01

    Conclusion: Robot-assisted LPN is feasible and may be a viable alternative to open or LPN in selected patients with small exophytic renal tumors. Compared with standard LPN, the robotic assisted LPN approach with precise renal reconstruction under a safe warm ischemia time is feasible and can be easily adopted by those with experience in robot-assisted surgery.

  11. A modular real-time vision system for humanoid robots

    Science.gov (United States)

    Trifan, Alina L.; Neves, António J. R.; Lau, Nuno; Cunha, Bernardo

    2012-01-01

    Robotic vision is nowadays one of the most challenging branches of robotics. In the case of a humanoid robot, a robust vision system has to provide an accurate representation of the surrounding world and to cope with all the constraints imposed by the hardware architecture and the locomotion of the robot. Usually humanoid robots have low computational capabilities that limit the complexity of the developed algorithms. Moreover, their vision system should perform in real time, therefore a compromise between complexity and processing times has to be found. This paper presents a reliable implementation of a modular vision system for a humanoid robot to be used in color-coded environments. From image acquisition, to camera calibration and object detection, the system that we propose integrates all the functionalities needed for a humanoid robot to accurately perform given tasks in color-coded environments. The main contributions of this paper are the implementation details that allow the use of the vision system in real-time, even with low processing capabilities, the innovative self-calibration algorithm for the most important parameters of the camera and its modularity that allows its use with different robotic platforms. Experimental results have been obtained with a NAO robot produced by Aldebaran, which is currently the robotic platform used in the RoboCup Standard Platform League, as well as with a humanoid build using the Bioloid Expert Kit from Robotis. As practical examples, our vision system can be efficiently used in real time for the detection of the objects of interest for a soccer playing robot (ball, field lines and goals) as well as for navigating through a maze with the help of color-coded clues. In the worst case scenario, all the objects of interest in a soccer game, using a NAO robot, with a single core 500Mhz processor, are detected in less than 30ms. Our vision system also includes an algorithm for self-calibration of the camera parameters as well

  12. Evolving Connectionist System Based Role Allocation for Robotic Soccer

    Directory of Open Access Journals (Sweden)

    L. Huang

    2008-03-01

    Full Text Available Robotic soccer is an intelligent system where a group of mobile robots are controlled to perform soccer play (http://www.fira.net. The allocation of a suitable role for each robot in a team is a key for the success of the play. The paper treats this issue as one of pattern classification, and solves it with an Evolving classification function (ECF, a special evolving connectionist system (ECOS. A robot's role is determined by and evolves with the states of system (robots and target in real time. The software and hardware platforms are set up for data collection and learning. The effectiveness of the proposed approach is verified by the experimental studies.

  13. Robust and efficient vision system for group of cooperating mobile robots with application to soccer robots.

    Science.gov (United States)

    Klancar, Gregor; Kristan, Matej; Kovacic, Stanislav; Orqueda, Omar

    2004-07-01

    In this paper a global vision scheme for estimation of positions and orientations of mobile robots is presented. It is applied to robot soccer application which is a fast dynamic game and therefore needs an efficient and robust vision system implemented. General applicability of the vision system can be found in other robot applications such as mobile transport robots in production, warehouses, attendant robots, fast vision tracking of targets of interest and entertainment robotics. Basic operation of the vision system is divided into two steps. In the first, the incoming image is scanned and pixels are classified into a finite number of classes. At the same time, a segmentation algorithm is used to find corresponding regions belonging to one of the classes. In the second step, all the regions are examined. Selection of the ones that are a part of the observed object is made by means of simple logic procedures. The novelty is focused on optimization of the processing time needed to finish the estimation of possible object positions. Better results of the vision system are achieved by implementing camera calibration and shading correction algorithm. The former corrects camera lens distortion, while the latter increases robustness to irregular illumination conditions.

  14. Human Robotic Systems (HRS): National Robotics Initiative (NRI) & Robotics Technology Pipeline Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2012, NASA funded 9 grants to research institutions and universities, after reviews by NSF panels and NASA robotics experts.  The 9 research grantees...

  15. An effective visualisation and registration system for image-guided robotic partial nephrectomy.

    Science.gov (United States)

    Pratt, Philip; Mayer, Erik; Vale, Justin; Cohen, Daniel; Edwards, Eddie; Darzi, Ara; Yang, Guang-Zhong

    2012-03-01

    Robotic partial nephrectomy is presently the fastest-growing robotic surgical procedure, and in comparison to traditional techniques it offers reduced tissue trauma and likelihood of post-operative infection, while hastening recovery time and improving cosmesis. It is also an ideal candidate for image guidance technology since soft tissue deformation, while still present, is localised and less problematic compared to other surgical procedures. This work describes the implementation and ongoing development of an effective image guidance system that aims to address some of the remaining challenges in this area. Specific innovations include the introduction of an intuitive, partially automated registration interface, and the use of a hardware platform that makes sophisticated augmented reality overlays practical in real time. Results and examples of image augmentation are presented from both retrospective and live cases. Quantitative analysis of registration error verifies that the proposed registration technique is appropriate for the chosen image guidance targets.

  16. A Research Platform of Multi-agent System Robot Soccer Game

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    A soccer robot system (HIT-1) was built to participate in MIROSOT-China99 held in Harbin Institute of Technology. Robot soccer game is a very complex robot application that incorporates real-time vision system, robot control, wireless communication and control of multiple robots. In the paper, we present the design and the hardware architecture and software architecture of our distributed multiple robot system.

  17. Robot-assisted Radical Prostatectomy: How I Do It

    Directory of Open Access Journals (Sweden)

    Cemil Uygur

    2016-06-01

    Full Text Available In this article, we describe surgical technique for robot assisted radical prostatectomy using the four-arm da Vinci robotic surgical system (SI, Intuitive Surgical, Sunnyvale, CA, USA. We have continually refined our technique to improve patient outcomes.

  18. Multi-agent robotic cooperative assembly system

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Presents a multi-robot cooperative assembly systen (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an onni-directional vehicle, PUMA 760 and Adept I and organized in to a hierarchical structure with the cooperation organization on the top and the coordination motion at the bottom to solve the main problem of coordination and cooperation among robots, and concludes with experimental results that MRCAS is reconfigurable and adaptable as the mission changes.

  19. Reliability Architecture for Collaborative Robot Control Systems in Complex Environments

    Directory of Open Access Journals (Sweden)

    Liang Tang

    2016-02-01

    Full Text Available Many different kinds of robot systems have been successfully deployed in complex environments, while research into collaborative control systems between different robots, which can be seen as a hybrid internetware safety-critical system, has become essential. This paper discusses ways to construct robust and secure reliability architecture for collaborative robot control systems in complex environments. First, the indication system for evaluating the realtime reliability of hybrid internetware systems is established. Next, a dynamic collaborative reliability model for components of hybrid internetware systems is proposed. Then, a reliable, adaptive and evolutionary computation method for hybrid internetware systems is proposed, and a timing consistency verification solution for collaborative robot control internetware applications is studied. Finally, a multi-level security model supporting dynamic resource allocation is established.

  20. Towards an automated checked baggage inspection system augmented with robots

    Science.gov (United States)

    DeDonato, Matthew P.; Dimitrov, Velin; Padır, Taskin

    2014-05-01

    We present a novel system for enhancing the efficiency and accuracy of checked baggage screening process at airports. The system requirements address the identification and retrieval of objects of interest that are prohibited in a checked luggage. The automated testbed is comprised of a Baxter research robot designed by Rethink Robotics for luggage and object manipulation, and a down-looking overhead RGB-D sensor for inspection and detection. We discuss an overview of current system implementations, areas of opportunity for improvements, robot system integration challenges, details of the proposed software architecture and experimental results from a case study for identifying various kinds of lighters in checked bags.

  1. Integrating Robot Task Planning into Off-Line Programming Systems

    DEFF Research Database (Denmark)

    Sun, Hongyan; Kroszynski, Uri

    1988-01-01

    a system architecture for integrated robot task planning. It identifies and describes the components considered necessary for implementation. The focus is on functionality of these elements as well as on the information flow. A pilot implementation of such an integrated system architecture for a robot......The addition of robot task planning in off-line programming systems aims at improving the capability of current state-of-the-art commercially available off-line programming systems, by integrating modeling, task planning, programming and simulation together under one platform. This article proposes...

  2. A Motion System for Social and Animated Robots

    Directory of Open Access Journals (Sweden)

    Jelle Saldien

    2014-05-01

    Full Text Available This paper presents an innovative motion system that is used to control the motions and animations of a social robot. The social robot Probo is used to study Human-Robot Interactions (HRI, with a special focus on Robot Assisted Therapy (RAT. When used for therapy it is important that a social robot is able to create an “illusion of life” so as to become a believable character that can communicate with humans. The design of the motion system in this paper is based on insights from the animation industry. It combines operator-controlled animations with low-level autonomous reactions such as attention and emotional state. The motion system has a Combination Engine, which combines motion commands that are triggered by a human operator with motions that originate from different units of the cognitive control architecture of the robot. This results in an interactive robot that seems alive and has a certain degree of “likeability”. The Godspeed Questionnaire Series is used to evaluate the animacy and likeability of the robot in China, Romania and Belgium.

  3. Industrial Component-based Sample Mobile Robot System

    Directory of Open Access Journals (Sweden)

    Péter Kucsera

    2007-12-01

    Full Text Available The mobile robot development can be done in two different ways. The first is tobuild up an embedded system, the second is to use ‘ready to use’ industrial components.With the spread of Industrial mobile robots there are more and more components on themarket which can be used to build up a whole control and sensor system of a mobile robotplatform. Using these components electrical hardware development is not needed, whichspeeds up the development time and decreases the cost. Using a PLC on board, ‘only’constructing the program is needed and the developer can concentrate on the algorithms,not on developing hardware. My idea is to solve the problem of mobile robot localizationand obstacle avoidance using industrial components and concentrate this topic to themobile robot docking. In factories, mobile robots can be used to deliver parts from oneplace to another, but there are always two critical points. The robot has to be able tooperate in human environment, and also reach the target and get to a predefined positionwhere another system can load it or get the delivered product. I would like to construct amechanically simple robot model, which can calculate its position from the rotation of itswheels, and when it reaches a predefined location with the aid of an image processingsystem it can dock to an electrical connector. If the robot succeeded it could charge itsbatteries through this connector as well.

  4. A Motion System for Social and Animated Robots

    Directory of Open Access Journals (Sweden)

    Jelle Saldien

    2014-05-01

    Full Text Available This paper presents an innovative motion system that is used to control the motions and animations of a social robot. The social robot Probo is used to study Human-Robot Interactions (HRI, with a special focus on Robot Assisted Therapy (RAT. When used for therapy it is important that a social robot is able to create an “illusion of life” so as to become a believable character that can communicate with humans. The design of the motion system in this paper is based on insights from the animation industry. It combines operator-controlled animations with low-level autonomous reactions such as attention and emotional state. The motion system has a Combination Engine, which combines motion commands that are triggered by a human operator with motions that originate from different units of the cognitive control architecture of the robot. This results in an interactive robot that seems alive and has a certain degree of “likeability”. The Godspeed Questionnaire Series is used to evaluate the animacy and likeability of the robot in China, Romania and Belgium.

  5. Design and Implementation of an Autonomous Robot Soccer System

    Directory of Open Access Journals (Sweden)

    Ching-Chang Wong

    2013-05-01

    Full Text Available A design and implementation method of a robot soccer system with three vision‐based autonomous robots is proposed in this paper. A hierarchical architecture with four independent layers: (a information layer, (b strategy layer, (c tactics layer, and (d execution layer, is proposed to construct a flexible and robust vision‐based autonomous robot soccer system efficiently. Five mechanisms, including (a a two‐dimensional neck mechanism, (b dribbling mechanism, (c shooting mechanism, (d aiming mechanism, and (e flexible movement mechanism, are proposed to mean the robot with multiple functions can win the game. A method based on data obtained from a compass and a vision sensor is proposed to determine the location of the robot on the field. In the strategy design, a hierarchical architecture of decision based on the finite‐state transition mechanism for the field players and the goalkeeper is proposed to solve varied situations in the robot soccer game. Three vision‐based robots are implemented and some real competition results in the FIRA Cup are presented to illustrate the validity and feasibility of the proposed method in autonomous robot soccer system design.

  6. Electromagnetic drive system of robotic fish

    Institute of Scientific and Technical Information of China (English)

    ZHU Hong-xiu; SUN Nai-di; YUE Yao-hui; DENG Jing; LI Fei-hang; GU Yue; JIA Rui-qing

    2012-01-01

    With the aim to apply the electric fish into practice to assist coal mine water disaster life detection and rescue work,based on the analysis on swing propulsion movements of tail fin,this paper integrates the electromagnet technology with tail fin drive system by analyzing how the fish swims with tail fin under the law of progression.The principle,structure,and drive signals of tail fin electromagnetic drive are researched,the enforced situation of fish under electromagnetic driving modes are analyzed,and the experimental plat-form of tail fin electromagnetic drive is established.The best distance between electromagnet and armature,which can realize the swing of tail fin,was researched in the experiment under water.The robotic fish structure parameters of tail fin electromagnetic drive was finalized by theoretical analysis and experimental measurement.

  7. Robotic exploration of the solar system

    CERN Document Server

    Ulivi, Paolo

    In Robotic Exploration of the Solar System, Paolo Ulivi and David Harland provide a comprehensive account of the design and managment of deep-space missions, the spacecraft involved - some flown, others not - their instruments, and their scientific results. This third volume in the series covers launches in the period 1997 to 2003 and features: - a chapter entirely devoted to the Cassini-Huygens mission to Saturn; - coverage of planetary missions of the period, including the Deep Space 1 mission and the Stardust and Hayabusa sample returns from comets and asteroids; - extensive coverage of Mars exploration, the failed 1999 missions, Mars Odyssey, Mars Express, and the twin rovers Spirit and Opportunity. The story will continue in Part 4.

  8. Behaviour based Mobile Robot Navigation Technique using AI System: Experimental Investigation on Active Media Pioneer Robot

    Directory of Open Access Journals (Sweden)

    S. Parasuraman, V.Ganapathy

    2012-10-01

    Full Text Available A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system  (b Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables.Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior

  9. Software framework for off-road autonomous robot navigation system

    Institute of Scientific and Technical Information of China (English)

    WU Er-yong; ZHOU Wen-hui; ZHANG Li; DAI Guo-jun

    2009-01-01

    This paper presents a software framework for off-road autonomous robot navigation system. With the requirements of accurate terrain perception and instantaneous obstacles detection, one navigation software framework was advanced based on the principles of "three layer architecture" of intelligence system. Utilized the technologies of distributed system, machine learning and multiple sensor fusion, individual functional module was discussed. This paper aims to provide a framework reference for autonomous robot navigation system design.

  10. Cognitive robotics using vision and mapping systems with Soar

    Science.gov (United States)

    Long, Lyle N.; Hanford, Scott D.; Janrathitikarn, Oranuj

    2010-04-01

    The Cognitive Robotic System (CRS) has been developed to use the Soar cognitive architecture for the control of unmanned vehicles and has been tested on two heterogeneous ground robots: a six-legged robot (hexapod) and a wheeled robot. The CRS has been used to demonstrate the applicability of Soar for unmanned vehicles by using a Soar agent to control a robot to navigate to a target location in the presence of a cul-de-sac obstacle. Current work on the CRS has focused on the development of computer vision, additional sensors, and map generating systems that are capable of generating high level information from the environment that will be useful for reasoning in Soar. The scalability of Soar allows us to add more sensors and behaviors quite easily.

  11. Calibration technology in application of robot-laser scanning system

    Science.gov (United States)

    Ren, YongJie; Yin, ShiBin; Zhu, JiGui

    2012-11-01

    A system composed of laser sensor and 6-DOF industrial robot is proposed to obtain complete three-dimensional (3-D) information of the object surface. Suitable for the different combining ways of laser sensor and robot, a new method to calibrate the position and pose between sensor and robot is presented. By using a standard sphere with known radius as a reference tool, the rotation and translation matrices between the laser sensor and robot are computed, respectively in two steps, so that many unstable factors introduced in conventional optimization methods can be avoided. The experimental results show that the accuracy of the proposed calibration method can be achieved up to 0.062 mm. The calibration method is also implemented into the automated robot scanning system to reconstruct a car door panel.

  12. Artificial Pheromone System Using RFID for Navigation of Autonomous Robots

    Institute of Scientific and Technical Information of China (English)

    Herianto; Toshiki Sakakibara; Daisuke Kurabayashi

    2007-01-01

    Navigation system based on the animal behavior has received a growing attention in the past few years. The navigation systems using artificial pheromone are still few so far. For this reason, this paper presents our research that aim to implement autonomous navigation with artificial pheromone system. By introducing artificial pheromone system composed of data carriers and autonomous robots, the robotic system creates a potential field to navigate their group. We have developed a pheromone density model to realize the function of pheromones with the help of data carriers. We intend to show the effectiveness of the proposed system by performing simulations and realization using modified mobile robot. The pheromone potential field system can be used for navigation of autonomous robots.

  13. Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model

    Science.gov (United States)

    Gong, Yuanzheng; Hu, Danying; Hannaford, Blake; Seibel, Eric J.

    2015-03-01

    The challenge is to accurately guide the surgical tool within the three-dimensional (3D) surgical field for roboticallyassisted operations such as tumor margin removal from a debulked brain tumor cavity. The proposed technique is 3D image-guided surgical navigation based on matching intraoperative video frames to a 3D virtual model of the surgical field. A small laser-scanning endoscopic camera was attached to a mock minimally-invasive surgical tool that was manipulated toward a region of interest (residual tumor) within a phantom of a debulked brain tumor. Video frames from the endoscope provided features that were matched to the 3D virtual model, which were reconstructed earlier by raster scanning over the surgical field. Camera pose (position and orientation) is recovered by implementing a constrained bundle adjustment algorithm. Navigational error during the approach to fluorescence target (residual tumor) is determined by comparing the calculated camera pose to the measured camera pose using a micro-positioning stage. From these preliminary results, computation efficiency of the algorithm in MATLAB code is near real-time (2.5 sec for each estimation of pose), which can be improved by implementation in C++. Error analysis produced 3-mm distance error and 2.5 degree of orientation error on average. The sources of these errors come from 1) inaccuracy of the 3D virtual model, generated on a calibrated RAVEN robotic platform with stereo tracking; 2) inaccuracy of endoscope intrinsic parameters, such as focal length; and 3) any endoscopic image distortion from scanning irregularities. This work demonstrates feasibility of micro-camera 3D guidance of a robotic surgical tool.

  14. Robotic aortic surgery.

    Science.gov (United States)

    Duran, Cassidy; Kashef, Elika; El-Sayed, Hosam F; Bismuth, Jean

    2011-01-01

    Surgical robotics was first utilized to facilitate neurosurgical biopsies in 1985, and it has since found application in orthopedics, urology, gynecology, and cardiothoracic, general, and vascular surgery. Surgical assistance systems provide intelligent, versatile tools that augment the physician's ability to treat patients by eliminating hand tremor and enabling dexterous operation inside the patient's body. Surgical robotics systems have enabled surgeons to treat otherwise untreatable conditions while also reducing morbidity and error rates, shortening operative times, reducing radiation exposure, and improving overall workflow. These capabilities have begun to be realized in two important realms of aortic vascular surgery, namely, flexible robotics for exclusion of complex aortic aneurysms using branched endografts, and robot-assisted laparoscopic aortic surgery for occlusive and aneurysmal disease.

  15. Features of haptic and tactile feedback in TORS-a comparison of available surgical systems.

    Science.gov (United States)

    Friedrich, Daniel T; Dürselen, L; Mayer, B; Hacker, S; Schall, F; Hahn, J; Hoffmann, T K; Schuler, P J; Greve, J

    2017-05-03

    Sustained interest and an increase of possible indications endorse the role of robot-assisted surgery of the head and neck region. However, broad clinical application is impeded by substantial extra cost, time exposure and a supposed deficit of haptic and tactile feedback. The role of haptic feedback has barely been examined in this context, and literature provides only limited objective validation. This point of criticism applies to all commercially available systems. We created an experimental setup to evaluate, quantify and compare the performance of surgical systems. The daVinci system (Intuitive Surgical), the Flex system (Medrobotics) and standard rigid instruments (23 cm laryngoscopic grasper, Karl Storz) were compared with the human hand by head and neck surgeons (n = 15), performing a variety of surgical tasks. Specific samples with different rigidity were sorted with all devices, and the resulting orders were analyzed by permutation analysis, indicating differences in precision and accuracy of haptic and tactile feedback. The human hand was superior in all trials, acting as reference modality. The flexible instruments of the Flex system performed better than the electro-mechanically decoupled instruments of the daVinci system for the majority of measures recorded, suggesting a benefit in terms of haptic and tactile feedback in this context. While not all aspects of haptic and tactile feedback were accessible, this first objective comparison endorses the inferiority of robot-assisted surgery in terms of haptic and tactile feedback, compared to the human sense or standard surgical tools. Furthermore, the immediate force transmission of the Flex system seems to be superior to the electro-mechanical transformation of the daVinci system, indicating an advantage in terms of haptic and tactile feedback in immediate comparison. This study is providing a basis for further experiments and the development of robotic surgery towards an implementation in clinical

  16. Essential technologies for developing human and robot collaborative system

    Energy Technology Data Exchange (ETDEWEB)

    Ishikawa, Nobuyuki; Suzuki, Katsuo [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    1997-10-01

    In this study, we aim to develop a concept of new robot system, i.e., `human and robot collaborative system`, for the patrol of nuclear power plants. This paper deals with the two essential technologies developed for the system. One is the autonomous navigation program with human intervention function which is indispensable for human and robot collaboration. The other is the position estimation method by using gyroscope and TV image to make the estimation accuracy much higher for safe navigation. Feasibility of the position estimation method is evaluated by experiment and numerical simulation. (author)

  17. System and method for seamless task-directed autonomy for robots

    Science.gov (United States)

    Nielsen, Curtis; Bruemmer, David; Few, Douglas; Walton, Miles

    2012-09-18

    Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

  18. Intuitive Embedded Teaching System Design for Multi-Jointed Robots

    Directory of Open Access Journals (Sweden)

    Chin-Pao Hung

    2012-06-01

    Full Text Available This work describes the development of a novel embedded teaching system for multi‐jointed robots. Differing from the traditional teaching panel method, the proposed method does not require any complex computations for coordinate transformation and is a simpler scheme. The proposed teaching system includes a small teaching robot, which is scaled to the real jointed robot, however, joints are replaced with potentiometers. An embedded electrical control system contains the main control board and joint control cards. The main control board receives voltage signals from the teaching robot and transforms them into position commands for the motion of each joint. All the position commands are recorded on the main control board using the desired sample rate. In trajectory planning mode, the operator drags the teaching robot to generate the desired motion. The electrical control system drives the real jointed robot in response to the received voltage signals from the teaching robot. Trajectory teaching can be done naturally without expertise. The teaching system architecture, control board design and program flowchart are described and implemented.

  19. Distributed Autonomous Robotic Systems : the 12th International Symposium

    CERN Document Server

    Cho, Young-Jo

    2016-01-01

    This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. .

  20. Interactive robot control system and method of use

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor); Abdallah, Muhammad E. (Inventor); Linn, Douglas Martin (Inventor); Platt, Robert (Inventor)

    2012-01-01

    A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

  1. Visual perception system and method for a humanoid robot

    Science.gov (United States)

    Wells, James W. (Inventor); Mc Kay, Neil David (Inventor); Chelian, Suhas E. (Inventor); Linn, Douglas Martin (Inventor); Wampler, II, Charles W. (Inventor); Bridgwater, Lyndon (Inventor)

    2012-01-01

    A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

  2. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  3. Flexible Morphogenesis based Formation Control for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Jan Carlo Barca

    2012-09-01

    Full Text Available Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.

  4. Ideas on a system design for end-user robots

    Science.gov (United States)

    Bonasso, R. P.; Slack, Marc G.

    1992-11-01

    Robots are being used successfully in factory automation; however, recently there has been some success in building robots which can operate in field environments, where the domain is less predictable. New perception and control techniques have been developed which allow a robot to accomplish its mission while dealing with natural changes in both land and underwater environments. Unfortunately, efforts in this area have resulted in many one-of-a-kind robots, limited to research laboratories or carefully delimited field task arenas. A user who would like to apply robotic technology to a particular field problem must basically start from scratch. The problem is that the robotic technology (i.e., the hardware and software) which might apply to the user's domain exists in a diverse array of formats and configurations. For end-user robots to become a reality, an effort to standardize some aspects of the robotic technology must be made, in much the same way that personal computer technology is becoming standardized. Presently, a person can buy a computer and then acquire hardware and software extensions which simply `plug in' and provide the user with the required utility without the user having to understand the inner workings of the pieces of the system. This technology even employs standardized interface specifications so the user is presented with a familiar interaction paradigm. This paper outlines some system requirements (hardware and software) and a preliminary design for end-user robots for field environments, drawing parallels to the trends in the personal computer market. The general conclusion is that the appropriate components as well as an integrating architecture are already available, making development of out-of-the- box, turnkey robots for a certain range of commonly required tasks a potential reality.

  5. A unified teleoperated-autonomous dual-arm robotic system

    Science.gov (United States)

    Hayati, Samad; Lee, Thomas S.; Tso, Kam Sing; Backes, Paul G.; Lloyd, John

    1991-01-01

    A description is given of complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library (RCCL), a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system's simulation capability is also described, and the teleoperation and shared control features are explained.

  6. Wireless security system implemented in a mobile robot

    Directory of Open Access Journals (Sweden)

    Lemuel Uitzil

    2012-07-01

    Full Text Available This paper presents the design and implementation of a security system in which a mobile robot Lego NXT continuously monitors its surroundings while traveling in search of moving objects or people, considered unauthorized elements. An ultrasonic sensor is used for the monitoring. On suspicious movement detection, a warning signal is sent to a computer via Bluetooth technology. The mobile robot motion is observed with a camera that sends images to the computer controlling the robot remotely. The results indicate that the security system is reliable in 85% of cases.

  7. An interactive Virtual Reality simulation system for robot control and operator training

    Energy Technology Data Exchange (ETDEWEB)

    Miner, N.E.; Stansfield, S.A.

    1993-11-01

    Robotic systems are often very complex and difficult to operate, especially as multiple robots are integrated to accomplish difficult tasks. In addition, training the operators of these complex robotic systems is time-consuming and costly. In this paper, a virtual reality based robotic control system is presented. The virtual reality system provides a means by which operators can operate, and be trained to operate, complex robotic systems in an intuitive, cost-effective way. Operator interaction with the robotic system is at a high, task-oriented, level. Continuous state monitoring prevents illegal robot actions and provides interactive feedback to the operator and real-time training for novice users.

  8. Robotic-assisted partial nephrectomy: surgical technique using a 3-arm approach and sliding-clip renorrhaphy

    Directory of Open Access Journals (Sweden)

    Jose M. Cabello

    2009-04-01

    Full Text Available INTRODUCTION: For the treatment of renal tumors, minimally invasive nephron-sparing surgery has become increasingly performed due to proven efficiency and excellent functional and oncological outcomes. The introduction of robotics into urologic laparoscopic surgery has allowed surgeons to perform challenging procedures in a reliable and reproducible manner. We present our surgical technique for robotic assisted partial nephrectomy (RPN using a 3-arm approach, including a sliding-clip renorrhaphy. MATERIAL AND METHODS: Our RPN technique is presented which describes the trocar positioning, hilar dissection, tumor identification using intraoperative ultrasound for margin determination, selective vascular clamping, tumor resection, and reconstruction using a sliding-clip technique. CONCLUSION: RPN using a sliding-clip renorrhaphy is a valid and reproducible surgical technique that reduces the challenge of the procedure by taking advantage of the enhanced visualization and control afforded by the robot. The renorrhaphy described is performed under complete control of the console surgeon, and has demonstrated a reduction in the warm ischemia times in our series.

  9. Systems and Algorithms for Automated Collaborative Observation Using Networked Robotic Cameras

    Science.gov (United States)

    Xu, Yiliang

    2011-01-01

    The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture and the requests for controlling robot actuation are completely generated by human operators. …

  10. Walking Robots Dynamic Control Systems on an Uneven Terrain

    Directory of Open Access Journals (Sweden)

    MUNTEANU, M. S.

    2010-05-01

    Full Text Available The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking robot control systems for slope movement and walking by overtaking or going around obstacles.

  11. The Norwegian research programme on advanced robotic systems

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1991-04-01

    Full Text Available The Norwegian research programme on advanced robot systems has been focused on sensory control of robots for industrial applications and telerobotics for underwater operations. This paper gives an overview of experimental work and ongoing research. An exciting area in sensory control is visual servoing where camera images at video rate are used to grasp moving objects. Also compliant motion in partially unknown environments is a research topic. New robot control systems have been developed to apply sensory control to robotic manipulators at an acceptable sampling rate. In telerobotics the main work has been on the combination of remote control and local sensory loops in the manipulator. Also in this case visual servoing anti force control are important. The generation and updating of a world model used in a graphic display of the worksite using sensory information has been tested in combination with large delay times in the communication channel. The use of visual and acoustic data for the control of remotely operated vehicles and autonomous underwater vehicles is studied for use in robotic systems. Light-weight robot manipulators with redundant degrees of freedom and high performance joints are being designed for mobile robot applications.

  12. Progress in EEG-Based Brain Robot Interaction Systems

    Directory of Open Access Journals (Sweden)

    Xiaoqian Mao

    2017-01-01

    Full Text Available The most popular noninvasive Brain Robot Interaction (BRI technology uses the electroencephalogram- (EEG- based Brain Computer Interface (BCI, to serve as an additional communication channel, for robot control via brainwaves. This technology is promising for elderly or disabled patient assistance with daily life. The key issue of a BRI system is to identify human mental activities, by decoding brainwaves, acquired with an EEG device. Compared with other BCI applications, such as word speller, the development of these applications may be more challenging since control of robot systems via brainwaves must consider surrounding environment feedback in real-time, robot mechanical kinematics, and dynamics, as well as robot control architecture and behavior. This article reviews the major techniques needed for developing BRI systems. In this review article, we first briefly introduce the background and development of mind-controlled robot technologies. Second, we discuss the EEG-based brain signal models with respect to generating principles, evoking mechanisms, and experimental paradigms. Subsequently, we review in detail commonly used methods for decoding brain signals, namely, preprocessing, feature extraction, and feature classification, and summarize several typical application examples. Next, we describe a few BRI applications, including wheelchairs, manipulators, drones, and humanoid robots with respect to synchronous and asynchronous BCI-based techniques. Finally, we address some existing problems and challenges with future BRI techniques.

  13. Progress in EEG-Based Brain Robot Interaction Systems

    Science.gov (United States)

    Li, Mengfan; Niu, Linwei; Xian, Bin; Zeng, Ming; Chen, Genshe

    2017-01-01

    The most popular noninvasive Brain Robot Interaction (BRI) technology uses the electroencephalogram- (EEG-) based Brain Computer Interface (BCI), to serve as an additional communication channel, for robot control via brainwaves. This technology is promising for elderly or disabled patient assistance with daily life. The key issue of a BRI system is to identify human mental activities, by decoding brainwaves, acquired with an EEG device. Compared with other BCI applications, such as word speller, the development of these applications may be more challenging since control of robot systems via brainwaves must consider surrounding environment feedback in real-time, robot mechanical kinematics, and dynamics, as well as robot control architecture and behavior. This article reviews the major techniques needed for developing BRI systems. In this review article, we first briefly introduce the background and development of mind-controlled robot technologies. Second, we discuss the EEG-based brain signal models with respect to generating principles, evoking mechanisms, and experimental paradigms. Subsequently, we review in detail commonly used methods for decoding brain signals, namely, preprocessing, feature extraction, and feature classification, and summarize several typical application examples. Next, we describe a few BRI applications, including wheelchairs, manipulators, drones, and humanoid robots with respect to synchronous and asynchronous BCI-based techniques. Finally, we address some existing problems and challenges with future BRI techniques. PMID:28484488

  14. Human Robotic Systems (HRS): Robonaut 2 Technologies Element

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of the Robonaut 2 (R2) Technology Project Element within Human Robotic Systems (HRS) is to developed advanced technologies for infusion into the Robonaut 2...

  15. Dynamical modelling of coordinated multiple robot systems

    Science.gov (United States)

    Hayati, Samad

    1987-01-01

    The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.

  16. Medical robotics.

    Science.gov (United States)

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  17. Automated retinal robotic laser system instrumentation

    Science.gov (United States)

    Barrett, Steven F.; Wright, Cameron H. G.; Jerath, Maya R.; Lewis, R. Stephen, II; Dillard, Bryan C.; Rylander, Henry G., III; Welch, Ashley J.

    1995-05-01

    Researchers at the University of Texas at Austin's Biomedical Engineering Laser Laboratory investigating the medical applications of lasers have worked toward the development of a retinal robotic laser system. The ultimate goal of this ongoing project is to precisely place and control the depth of laser lesions for the treatment of various retinal diseases such as diabetic retinopathy and retinal tears. Researchers at the USAF Academy's Department of Electrical Engineering have also become involved with this research due to similar interests. Separate low speed prototype subsystems have been developed to control lesion depth using lesion reflectance feedback parameters and lesion placement using retinal vessels as tracking landmarks. Both subsystems have been successfully demonstrated in vivo on pigmented rabbits using an argon continuous wave laser. Work is ongoing to build a prototype system to simultaneously control lesion depth and placement. The instrumentation aspects of the prototype subsystems were presented at SPIE Conference 1877 in January 1993. Since then our efforts have concentrated on combining the lesion depth control subsystem and the lesion placement subsystem into a single prototype capable of simultaneously controlling both parameters. We have designed this combined system CALOSOS for Computer Aided Laser Optics System for Ophthalmic Surgery. An initial CALOSOS prototype design is provided. We have also investigated methods to improve system response time. The use of high speed non-standard frame rate CCD cameras and high speed local bus frame grabbers hosted on personal computers are being investigated. A review of system testing in vivo to date is provided in SPIE Conference proceedings 2374-49 (Novel Applications of Lasers and Pulsed Power, Dual-Use Applications of Lasers: Medical session).

  18. Development of Mine Detection Robot System

    Directory of Open Access Journals (Sweden)

    Yuichi Satsumi

    2008-11-01

    Full Text Available The Mine Detection Robot supports the mine removal work in countries where mines are buried, such as Afghanistan. The development started from September, 2003. Considering running on rough terrains, the robot has four crawlers, and hydraulic motors in front and rear were serially connected by piping so that they could rotate synchronously. Two work arms were mounted on the robot, one was a horizontal multi-joint SCARA type with motorized 2-link arm, while the other was a vertical multi-joint manipulator with 6 degrees of freedom. Also, domestic evaluation tests were carried out from February to March, 2005, followed by overseas validation tests in Croatia from February to March, 2006. These tests were conducted with a mine detecting senor mounted on the Robot, and the detection performance was evaluated by its mine detection rate.

  19. Development of Mine Detection Robot System

    Directory of Open Access Journals (Sweden)

    Hajime Aoyama

    2007-06-01

    Full Text Available The Mine Detection Robot supports the mine removal work in countries where mines are buried, such as Afghanistan. The development started from September, 2003. Considering running on rough terrains, the robot has four crawlers, and hydraulic motors in front and rear were serially connected by piping so that they could rotate synchronously. Two work arms were mounted on the robot, one was a horizontal multi-joint SCARA type with motorized 2-link arm, while the other was a vertical multi-joint manipulator with 6 degrees of freedom. Also, domestic evaluation tests were carried out from February to March, 2005, followed by overseas validation tests in Croatia from February to March, 2006. These tests were conducted with a mine detecting senor mounted on the Robot, and the detection performance was evaluated by its mine detection rate.

  20. Dynamic electronic institutions in agent oriented cloud robotic systems.

    Science.gov (United States)

    Nagrath, Vineet; Morel, Olivier; Malik, Aamir; Saad, Naufal; Meriaudeau, Fabrice

    2015-01-01

    The dot-com bubble bursted in the year 2000 followed by a swift movement towards resource virtualization and cloud computing business model. Cloud computing emerged not as new form of computing or network technology but a mere remoulding of existing technologies to suit a new business model. Cloud robotics is understood as adaptation of cloud computing ideas for robotic applications. Current efforts in cloud robotics stress upon developing robots that utilize computing and service infrastructure of the cloud, without debating on the underlying business model. HTM5 is an OMG's MDA based Meta-model for agent oriented development of cloud robotic systems. The trade-view of HTM5 promotes peer-to-peer trade amongst software agents. HTM5 agents represent various cloud entities and implement their business logic on cloud interactions. Trade in a peer-to-peer cloud robotic system is based on relationships and contracts amongst several agent subsets. Electronic Institutions are associations of heterogeneous intelligent agents which interact with each other following predefined norms. In Dynamic Electronic Institutions, the process of formation, reformation and dissolution of institutions is automated leading to run time adaptations in groups of agents. DEIs in agent oriented cloud robotic ecosystems bring order and group intellect. This article presents DEI implementations through HTM5 methodology.

  1. A fault-tolerant intelligent robotic control system

    Science.gov (United States)

    Marzwell, Neville I.; Tso, Kam Sing

    1993-01-01

    This paper describes the concept, design, and features of a fault-tolerant intelligent robotic control system being developed for space and commercial applications that require high dependability. The comprehensive strategy integrates system level hardware/software fault tolerance with task level handling of uncertainties and unexpected events for robotic control. The underlying architecture for system level fault tolerance is the distributed recovery block which protects against application software, system software, hardware, and network failures. Task level fault tolerance provisions are implemented in a knowledge-based system which utilizes advanced automation techniques such as rule-based and model-based reasoning to monitor, diagnose, and recover from unexpected events. The two level design provides tolerance of two or more faults occurring serially at any level of command, control, sensing, or actuation. The potential benefits of such a fault tolerant robotic control system include: (1) a minimized potential for damage to humans, the work site, and the robot itself; (2) continuous operation with a minimum of uncommanded motion in the presence of failures; and (3) more reliable autonomous operation providing increased efficiency in the execution of robotic tasks and decreased demand on human operators for controlling and monitoring the robotic servicing routines.

  2. Robotic systems for percutaneous needle-guided interventions.

    Science.gov (United States)

    Kettenbach, Joachim; Kronreif, Gernot

    2015-02-01

    Several groups have developed robotic systems for invasive medical procedures. In this article we will focus on selected robotic systems for percutaneous needle-guided interventions using CT or MR imaging. We present six interventional robotic systems designed to work with imaging modalities such as CT, Cone-beam CT and MRI. The details of each system are given along with any phantom, animal, or human trials performed with each particular robot. Although each of these systems has specific features, they are all of great clinical value since they provide very stable needle guidance -- even for angulated approaches, they may allow access to lesions when the width of the CT- or MR- gantry would limit the access for a biopsy needle or other interventional tools such as thermal ablation probes. Then, such a robot may be able to guide the needle into the most promising region of the lesion without the need for a second contrast injection. Thus, more efficacious characterization and treatment, particularly for lesions that are difficult to target, can be anticipated. Although more research and clinical trials are certainly needed, it is, however, our belief that robotic systems will be an important part of future interventions.

  3. Evaluation of surgical strategy of conventional vs. percutaneous robot-assisted spinal trans-pedicular instrumentation in spondylodiscitis.

    Science.gov (United States)

    Keric, Naureen; Eum, David J; Afghanyar, Feroz; Rachwal-Czyzewicz, Izabela; Renovanz, Mirjam; Conrad, Jens; Wesp, Dominik M A; Kantelhardt, Sven R; Giese, Alf

    2017-03-01

    Robot-assisted percutaneous insertion of pedicle screws is a recent technique demonstrating high accuracy. The optimal treatment for spondylodiscitis is still a matter of debate. We performed a retrospective cohort study on surgical patients treated with pedicle screw/rod placement alone without the application of intervertebral cages. In this collective, we compare conventional open to a further minimalized percutaneous robot-assisted spinal instrumentation, avoiding a direct contact of implants and infectious focus. 90 records and CT scans of patients treated by dorsal transpedicular instrumentation of the infected segments with and without decompression and antibiotic therapy were analysed for clinical and radiological outcome parameters. 24 patients were treated by free-hand fluoroscopy-guided surgery (121 screws), and 66 patients were treated by percutaneous robot-assisted spinal instrumentation (341 screws). Accurate screw placement was confirmed in 90 % of robot-assisted and 73.5 % of free-hand placed screws. Implant revision due to misplacement was necessary in 4.95 % of the free-hand group compared to 0.58 % in the robot-assisted group. The average intraoperative X-ray exposure per case was 0.94 ± 1.04 min in the free-hand group vs. 0.4 ± 0.16 min in the percutaneous group (p = 0.000). Intraoperative adverse events were observed in 12.5 % of free-hand placed pedicle screws and 6.1 % of robot robot-assisted screws. The mean postoperative hospital stay in the free-hand group was 18.1 ± 12.9 days, and in percutaneous group, 13.8 ± 5.6 days (p = 0.012). This study demonstrates that the robot-guided insertion of pedicle screws is a safe and effective procedure in lumbar and thoracic spondylodiscitis with higher accuracy of implant placement, lower radiation dose, and decreased complication rates. Percutaneous spinal dorsal instrumentation seems to be sufficient to treat lumbar and thoracic spondylodiscitis.

  4. A teleoperation system to control the humanoid robot using an RGB-D sensor

    Science.gov (United States)

    Shelomentcev, E. E.; Aleksandrova, T. V.

    2016-04-01

    This paper presents a concept design of the work algorithm for a teleoperation control system of a humanoid robot. The humanoid robot control system needs to stabilize the robot in a vertical position in order to prevent the robot from falling. The process of design of the control system includes the design of position filter to detect the unstable positions. The application of such a control system enables to control the humanoid robot using motion capture technology.

  5. Motion and operation planning of robotic systems background and practical approaches

    CERN Document Server

    Gomez-Barvo, Fernando

    2015-01-01

    This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researche...

  6. Three-dimensional surgical navigation model with TilePro display during robot-assisted radical prostatectomy.

    Science.gov (United States)

    Ukimura, Osamu; Aron, Monish; Nakamoto, Masahiko; Shoji, Sunao; Abreu, Andre Luis de Castro; Matsugasumi, Toru; Berger, Andre; Desai, Mihir; Gill, Inderbir S

    2014-06-01

    Abstract To facilitate robotic nerve-sparing radical prostatectomy, we developed a novel three-dimensional (3D) surgical navigation model that is displayed on the TilePro function of the da Vinci® surgeon console. Based on 3D transrectal ultrasonography (TRUS)-guided prostate biopsies, we reconstructed a 3D model of the TRUS-visible, histologically confirmed "index" cancer lesion in 10 consecutive patients. Five key anatomic structures (prostate, image-visible biopsy-proven "index" cancer lesion, neurovascular bundles, urethra, and recorded biopsy trajectories) were image-fused and displayed onto the TilePro function of the robotic console. The 3D model facilitated careful surgical dissection in the vicinity of the biopsy-proven index lesion. Geographic location of the index lesion on the final histology report correlated with the software-created 3D model. Negative surgical margins were achieved in 90%, except for one case with extensive extra-prostate extension. At postoperative 3 months, prostate-specific antigen levels were undetectable (navigation model is presented.

  7. Robot and Human Surface Operations on Solar System Bodies

    Science.gov (United States)

    Weisbin, C. R.; Easter, R.; Rodriguez, G.

    2001-01-01

    This paper presents a comparison of robot and human surface operations on solar system bodies. The topics include: 1) Long Range Vision of Surface Scenarios; 2) Human and Robots Complement Each Other; 3) Respective Human and Robot Strengths; 4) Need More In-Depth Quantitative Analysis; 5) Projected Study Objectives; 6) Analysis Process Summary; 7) Mission Scenarios Decompose into Primitive Tasks; 7) Features of the Projected Analysis Approach; and 8) The "Getting There Effect" is a Major Consideration. This paper is in viewgraph form.

  8. The control system for the Honda humanoid robot.

    Science.gov (United States)

    Takenaka, Toru

    2006-09-01

    To avoid tipping over either during walking or on standing up, humans will first push down hard on the ground with a part of the sole of the foot. Then, when the tipping force can no longer be resisted, a change in body position or an extra step (stepping out) may be required to stabilise the posture. Our biped robot's control system attempts to reproduce and execute the same postural control operations carried out by humans. In this article, we present the history of robot development at Honda, fundamental dynamics for robots and the principles of posture control.

  9. Mobile robots and remote systems in nuclear applications; Robots moviles y sistemas remotos en aplicaciones nucleares

    Energy Technology Data Exchange (ETDEWEB)

    Segovia de los Rios, J. A.; Benitez R, J. S., E-mail: armando.segovia@inin.gob.m [ININ, Departamento de Automatizacion e Instrumentacion, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico)

    2010-07-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  10. Development of 6-DOF painting robot control system

    Science.gov (United States)

    Huang, Junbiao; Liu, Jianqun; Gao, Weiqiang

    2017-01-01

    With the development of society, the spraying technology of manufacturing industry in China has changed from the manual operation to the 6-DOF (Degree Of Freedom)robot automatic spraying. Spraying painting robot can not only complete the work which does harm to human being, but also improve the production efficiency and save labor costs. Control system is the most critical part of the 6-DOF robots, however, there is still a lack of relevant technology research in China. It is very necessary to study a kind of control system of 6-DOF spraying painting robots which is easy to operation, and has high efficiency and stable performance. With Googol controller platform, this paper develops programs based on Windows CE embedded systems to control the robot to finish the painting work. Software development is the core of the robot control system, including the direct teaching module, playback module, motion control module, setting module, man-machine interface, alarm module, log module, etc. All the development work of the entire software system has been completed, and it has been verified that the entire software works steady and efficient.

  11. System-level challenges in pressure-operated soft robotics

    Science.gov (United States)

    Onal, Cagdas D.

    2016-05-01

    Last decade witnessed the revival of fluidic soft actuation. As pressure-operated soft robotics becomes more popular with promising recent results, system integration remains an outstanding challenge. Inspired greatly by biology, we envision future robotic systems to embrace mechanical compliance with bodies composed of soft and hard components as well as electronic and sensing sub-systems, such that robot maintenance starts to resemble surgery. In this vision, portable energy sources and driving infrastructure plays a key role to offer autonomous many-DoF soft actuation. On the other hand, while offering many advantages in safety and adaptability to interact with unstructured environments, objects, and human bodies, mechanical compliance also violates many inherent assumptions in traditional rigid-body robotics. Thus, a complete soft robotic system requires new approaches to utilize proprioception that provides rich sensory information while remaining flexible, and motion control under significant time delay. This paper discusses our proposed solutions for each of these system-level challenges in soft robotics research.

  12. Development of a remote controlled robot system for monitoring nuclear power plant

    Energy Technology Data Exchange (ETDEWEB)

    Woo, Hee Gon; Song, Myung Jae; Shin, Hyun Bum; Oh, Gil Hwan; Maeng, Sung Jun; Choi, Byung Jae; Chang, Tae Woo [Korea Electric Power Research Institute, Taejon (Korea, Republic of); Lee, Bum Hee; Yoo, Jun; Choi, Myung Hwan; Go, Nak Yong; Lee, Kee Dong; Lee, Young Dae; Cho, Hae Kyeng; Nam, Yoon Suk [Electric and Science Research Center, (Korea, Republic of)

    1996-12-31

    It`s a final report of the development of remote controlled robot system for monitoring the facilities in nuclear power plant and contains as follows, -Studying the technologies in robot developments and analysing the requirements and working environments - Development of the test mobile robot system - Development of the mobile-robot - Development of the Mounted system on the Mobile robot - Development of the Monitoring system - Mobil-robot applications and future study. In this study we built the basic technologies and schemes for future robot developments and applications. (author). 20 refs., figs.

  13. Standard management and maintenance of robot surgical instruments%机器人手术器械规范化管理及保养探讨

    Institute of Scientific and Technical Information of China (English)

    银彩霞; 苑景; 赵悦; 董薪; 李丽霞; 孙建荷

    2011-01-01

    Objective To study how to prolong the working life of robot surgical instruments by strengthening their management and maintenance. Methods A series of regulations for the management and maintenance of robot surgical instruments were established. Results The working life of robot surgical instruments was prolonged and the satisfaction score of surgeons increased after implementation of the regulations for the management and maintenance of robot surgical instruments. Conclusion Effective management and maintenance of robot surgical instruments can prolong their working life, shorten the operation time, and improve the operation level.%目的 探讨达芬奇机器人手术器械日常使用管理及保养,延长器械使用寿命.方法 建立规范化机器人器械使用管理及保养条例.结果 器械使用寿命得以延长,医生满意度调查分数得到提高.结论 机器人设备、器械得到有效的管理和保养,延长了使用寿命,缩短了手术时间,提高了手术配合质量.

  14. An Interactive Astronaut-Robot System with Gesture Control.

    Science.gov (United States)

    Liu, Jinguo; Luo, Yifan; Ju, Zhaojie

    2016-01-01

    Human-robot interaction (HRI) plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA) have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM) is employed to recognize hand gestures and particle swarm optimization (PSO) algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL) have been selected and used to test and validate the performance of the proposed system.

  15. An Interactive Astronaut-Robot System with Gesture Control

    Directory of Open Access Journals (Sweden)

    Jinguo Liu

    2016-01-01

    Full Text Available Human-robot interaction (HRI plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM is employed to recognize hand gestures and particle swarm optimization (PSO algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL have been selected and used to test and validate the performance of the proposed system.

  16. Soviet Robots in the Solar System Mission Technologies and Discoveries

    CERN Document Server

    Huntress, JR , Wesley T

    2011-01-01

    The Soviet robotic space exploration program began in a spirit of bold adventure and technical genius. It ended after the fall of the Soviet Union and the failure of its last mission to Mars in 1996. Soviet Robots in the Solar System chronicles the scientific and engineering accomplishments of this enterprise from its infancy to its demise. Each flight campaign is set into context of national politics and international competition with the United States. Together with its many detailed illustrations and images, Soviet Robots in the Solar System presents the most detailed technical description of Soviet robotic space flights provides a unique insight into programmatic, engineering, and scientific issues covers mission objectives, spacecraft engineering, flight details, scientific payload and results describes in technical depth Soviet lunar and planetary probes

  17. Network Distributed Monitoring System Based on Robot Technology Middleware

    Directory of Open Access Journals (Sweden)

    Kunikatsu Takase

    2008-11-01

    Full Text Available In this paper, a network distributed monitoring system for human assistance robot system was developed to improve the interaction among the users and local service robotic system and enable a remote user to get a better understanding of what is going on in the local environment. Home integration robot system and network monitoring system using QuickCam Orbit cameras were developed and demonstrated from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. Improvements of network distributed monitoring system using IEEE1394 cameras with high performance and high resolution have been done in order to extend the application of system. Robot Technology Middleware (RTM was used in the developed system. By using RTM, we can develop cameras functional elements as RT software components that can be implemented by different programming languages, run in different operating system, or connected in different networks to interoperate.It is also easy to create comprehensive robot system application by reusing existing modules thus facilitating networkdistributed software sharing and improving the cost of writing and maintaining software.

  18. A Robotic System to Scan and Reproduce Object

    Directory of Open Access Journals (Sweden)

    Cesare Rossi

    2011-01-01

    Full Text Available An application of a robotic system integrated with a vision system is presented. The robot is a 3-axis revolute prototype, while the vision system essentially consists in a laser scanner made up of a camera and a linear laser projector. Both the robotic and the video system were designed and built at DIME (Department of Mechanical Engineering for Energetics, University of Naples Federico II. The presented application essentially consists of a laser scanner that is installed on the robot arm; the scanner scans a 3D surface, and the data are converted in a cloud of points in the robot’s workspace. Then, starting from those points, the end-effector trajectories adopted to replicate the scanned surface are calculated; so, the same robot, by using a tool, can reproduce the scanned object. The software was developed also at the DIME. The adopted tool was a high-speed drill, installed on the last link of the robot arm, with a spherical milling cutter in order to obtain enough accurate surfaces by the data represented by the cloud of points. An algorithm to interpolate the paths and to plan the trajectories was also developed and successfully tested.

  19. Audio-visual perception system for a humanoid robotic head.

    Science.gov (United States)

    Viciana-Abad, Raquel; Marfil, Rebeca; Perez-Lorenzo, Jose M; Bandera, Juan P; Romero-Garces, Adrian; Reche-Lopez, Pedro

    2014-05-28

    One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework.

  20. BellBot - A Hotel Assistant System Using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Joaquín López

    2013-01-01

    Full Text Available There is a growing interest in applying intelligent technologies to assistant robots. These robots should have a number of characteristics such as autonomy, easy reconfiguration, robust perception systems and they should be oriented towards close interaction with humans. In this paper we present an automatic hotel assistant system based on a series of mobile platforms that interact with guests and service personnel to help them in different tasks. These tasks include bringing small items to customers, showing them different points of interest in the hotel, accompanying the guests to their rooms and providing them with general information. Each robot can also autonomously handle some daily scheduled tasks. Apart from user-initiated and scheduled tasks, the robots can also perform tasks based on events triggered by the building's automation system (BAS. The robots and the BAS are connected to a central server via a local area network. The system was developed with the Robotics Integrated Development Environment (RIDE and was tested intensively in different environments.

  1. Audio-Visual Perception System for a Humanoid Robotic Head

    Directory of Open Access Journals (Sweden)

    Raquel Viciana-Abad

    2014-05-01

    Full Text Available One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework.

  2. 机器人手术系统结直肠癌肝转移同期切除术的临床应用%Clinical application of robot-assisted surgical system in the simultaneous radial resection of colorectal liver metastases

    Institute of Scientific and Technical Information of China (English)

    陈竟文; 常文举; 何国栋; 朱德祥; 高强; 王晓颖; 韦烨; 许剑民

    2016-01-01

    Objective To investigate the application value of robot-assisted surgical system in the simultaneous radical resection of colorectal liver metastases (CRLM).Methods The retrospective cross-sectional study was adopted.Thirty-one patients with CRLM were admitted to the Zhongshan Hospital of Fudan University between May 2013 and June 2015.After the discussion of muhidisciplinary team,robot-assisted simultaneous radical resection of CRLM was performed.Of the 31 patients,a typical 59-year-old male patient was diagnosed as with rectal adenocarcinoma by preoperative colonoscopic biopsy and metastatic cancer at left lateral lobe of liver by preoperative MRI.The chemotherapy regimens were prepared according to the postoperative pathological examination.The follow-up of outpatient reexamination was performed till December 2015,including physical examination,serum tumor markers test,abdominal/pelvic enhanced CT,pulmonary CT,hepatic MRI,pelvic MRI and colonoscopy.Results All the 31 patients underwent successful operations,with no severe perioperative complications and death and without conversion to open surgery or laparoscopic surgery.The typical patient underwent robot-assisted left lateral lobectomy of liver + partial left internal lobectomy of liver + radical resection of rectal cancer.The lesion at the left internal lobe of liver was detected by intraoperative ultrasonic probe of robotassisted surgical system with a diameter of 0.5 cm,and CRLM was confirmed by postoperative pathological examination.The operation time was 280 minutes,including robot-assisted surgery time of 210 mintues,assisted incision anastomosis time of 40 mintues and robotic arm assembly time of 30 minutes.Volume of intraoperative blood loss was 100 mL.The postoperative exsufflation,fluid diet intake,abdominal drainage-tube removal and discharge from hospital occurred at postoperative day 2,3,6 and 7,respectively,wiht no occurrence of complications.The postoperative pathological examination result

  3. A low-cost classroom-oriented educational robotics system

    OpenAIRE

    Saleiro, Mário; Carmo, Bruna; Rodrigues, J. M. F.; du Buf, J. M. H.

    2013-01-01

    Over the past few years, there has been a growing interest in using robots in education. The use of these tangible devices in combination with problem-based learning activities results in more motivated students, higher grades and a growing interest in the STEM areas. However, most educational robotics systems still have some restrictions like high cost, long setup time, need of installing software in children's computers, etc. We present a new, Iow-cost, classroom-oriented ...

  4. The radius surgical system - a new device for complex minimally invasive procedures in urology?

    Science.gov (United States)

    Frede, Thomas; Hammady, Ahmed; Klein, Jan; Teber, Dogu; Inaki, Noriyuki; Waseda, Masahiro; Buess, Gerhard; Rassweiler, Jens

    2007-04-01

    Complex laparoscopic procedures in urology are technically demanding with an extended learning curve. Robotic systems add significant cost to laparoscopic procedures. We therefore evaluated the use of the Radius Surgical System (RSS), a mechanical manipulator, for complex laparoscopic cases in urology. The RSS (Tuebingen Scientific) consists of two hand-guided surgical manipulators and provides a deflectable and rotatable tip allowing six degrees of freedom. We evaluated the system by using a series of standardized models in the pelvitrainer. We analyzed the effectiveness of the system and the learning curve. We then evaluated the system in the clinical setting during laparoscopic radical prostatectomy. Surgeons with experience on the RSS were compared to surgeons without previous experience on the system. We identified a learning curve in those participants without experience on the system only when performing complete anastomoses in the pelvitrainer. However, this learning curve included less than 10 anastomoses. The first clinical experiences during laparoscopic extraperitoneal radical prostatectomy (n=10) are promising. All anastomoses were patent on routine (X-ray) examination 8 days after surgery. The RSS system is easy to use and we identified a very short learning curve. We now optimize the system for use in urology. This device may facilitate complex laparoscopic procedures without the use of costly robotic systems and should be further evaluated in the experimental and clinical setting.

  5. A multimodal emotion detection system during human-robot interaction.

    Science.gov (United States)

    Alonso-Martín, Fernando; Malfaz, María; Sequeira, João; Gorostiza, Javier F; Salichs, Miguel A

    2013-11-14

    In this paper, a multimodal user-emotion detection system for social robots is presented. This system is intended to be used during human-robot interaction, and it is integrated as part of the overall interaction system of the robot: the Robotics Dialog System (RDS). Two modes are used to detect emotions: the voice and face expression analysis. In order to analyze the voice of the user, a new component has been developed: Gender and Emotion Voice Analysis (GEVA), which is written using the Chuck language. For emotion detection in facial expressions, the system, Gender and Emotion Facial Analysis (GEFA), has been also developed. This last system integrates two third-party solutions: Sophisticated High-speed Object Recognition Engine (SHORE) and Computer Expression Recognition Toolbox (CERT). Once these new components (GEVA and GEFA) give their results, a decision rule is applied in order to combine the information given by both of them. The result of this rule, the detected emotion, is integrated into the dialog system through communicative acts. Hence, each communicative act gives, among other things, the detected emotion of the user to the RDS so it can adapt its strategy in order to get a greater satisfaction degree during the human-robot dialog. Each of the new components, GEVA and GEFA, can also be used individually. Moreover, they are integrated with the robotic control platform ROS (Robot Operating System). Several experiments with real users were performed to determine the accuracy of each component and to set the final decision rule. The results obtained from applying this decision rule in these experiments show a high success rate in automatic user emotion recognition, improving the results given by the two information channels (audio and visual) separately.

  6. A Multimodal Emotion Detection System during Human–Robot Interaction

    Directory of Open Access Journals (Sweden)

    Miguel A. Salichs

    2013-11-01

    Full Text Available In this paper, a multimodal user-emotion detection system for social robots is presented. This system is intended to be used during human–robot interaction, and it is integrated as part of the overall interaction system of the robot: the Robotics Dialog System (RDS. Two modes are used to detect emotions: the voice and face expression analysis. In order to analyze the voice of the user, a new component has been developed: Gender and Emotion Voice Analysis (GEVA, which is written using the Chuck language. For emotion detection in facial expressions, the system, Gender and Emotion Facial Analysis (GEFA, has been also developed. This last system integrates two third-party solutions: Sophisticated High-speed Object Recognition Engine (SHORE and Computer Expression Recognition Toolbox (CERT. Once these new components (GEVA and GEFA give their results, a decision rule is applied in order to combine the information given by both of them. The result of this rule, the detected emotion, is integrated into the dialog system through communicative acts. Hence, each communicative act gives, among other things, the detected emotion of the user to the RDS so it can adapt its strategy in order to get a greater satisfaction degree during the human–robot dialog. Each of the new components, GEVA and GEFA, can also be used individually. Moreover, they are integrated with the robotic control platform ROS (Robot Operating System. Several experiments with real users were performed to determine the accuracy of each component and to set the final decision rule. The results obtained from applying this decision rule in these experiments show a high success rate in automatic user emotion recognition, improving the results given by the two information channels (audio and visual separately.

  7. The development of robot system for pressurizer maintenance in NPPs

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Chang Hoi; Jung, Seung Ho; Seo, Yong Chil; Lee, Young Kwang; Go, Byung Yung; Lee, Kwang Won; Lee, Sang Ill; Yun, Jong Yeon; Lee, Hyung Soon; Park, Mig Non; Park, Chang Woo; Cheol, Kwon

    1999-12-01

    The pressurizer that controls the pressure variation of primary coolant system, consists of a vessel, electric heaters and a spray, is one of the safety related equipment in nuclear power plants. Therefore it is required to inspect and maintain it regularly. Because the inside of pressurizer os contaminated by radioactivity, when inspection and repairing it, the radiation exposure of workers is inevitable. In this research two robot system has been developed for inspection and maintenance of the pressurizer for the water filled case and the water sunken case. The one robot system for the water filled case consists of two links, movable gripper using wire string, and support frame for the attachment of robot. The other robot is equipped propeller in order to navigate on the water. It also equipped high performance water resistance camera to make inspection possible. The developed robots are designed under several constraints such as its weight and collision with pressurizer wall. To verify the collision free robot link length and accessibility to the any desired rod heater it is simulated by 3-dimensional graphic simulation software(RobCard). For evaluation stress of the support frame finite element analysis is performed by using the ANSYS code. (author)

  8. A new method to evaluate human-robot system performance

    Science.gov (United States)

    Rodriguez, G.; Weisbin, C. R.

    2003-01-01

    One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated.

  9. History and Current Status of Robotic Totally Endoscopic Coronary Artery Bypass

    National Research Council Canada - National Science Library

    Lee, Jeffrey D; Srivastava, Mukta; Bonatti, Johannes

    2012-01-01

    Robotic totally endoscopic coronary artery bypass (TECAB) is a minimally invasive endoscopic surgical approach using the daVinci robotic telemanipulation system to perform coronary artery bypass grafting on the arrested or beating heart...

  10. POLICE OFFICE MODEL IMPROVEMENT FOR SECURITY OF SWARM ROBOTIC SYSTEMS

    Directory of Open Access Journals (Sweden)

    I. A. Zikratov

    2014-09-01

    Full Text Available This paper focuses on aspects of information security for group of mobile robotic systems with swarm intellect. The ways for hidden attacks realization by the opposing party on swarm algorithm are discussed. We have fulfilled numerical modeling of potentially destructive information influence on the ant shortest path algorithm. We have demonstrated the consequences of attacks on the ant algorithm with different concentration in a swarm of subversive robots. Approaches are suggested for information security mechanisms in swarm robotic systems, based on the principles of centralized security management for mobile agents. We have developed the method of forming a self-organizing information security management system for robotic agents in swarm groups implementing POM (Police Office Model – a security model based on police offices, to provide information security in multi-agent systems. The method is based on the usage of police station network in the graph nodes, which have functions of identification and authentication of agents, identifying subversive robots by both their formal characteristics and their behavior in the swarm. We have suggested a list of software and hardware components for police stations, consisting of: communication channels between the robots in police office, nodes register, a database of robotic agents, a database of encryption and decryption module. We have suggested the variants of logic for the mechanism of information security in swarm systems with different temporary diagrams of data communication between police stations. We present comparative analysis of implementation of protected swarm systems depending on the functioning logic of police offices, integrated in swarm system. It is shown that the security model saves the ability to operate in noisy environments, when the duration of the interference is comparable to the time necessary for the agent to overcome the path between police stations.

  11. Research of smart real-time robot navigation system

    Science.gov (United States)

    Rahmani, Budi; Harjoko, A.; Priyambodo, T. K.; Aprilianto, H.

    2016-02-01

    In this paper described how the humanoid robot measures its distance to the orange ball on green floor. We trained the robot camera (CMUcam5) to detect and track the block color of the orange ball. The block color also used to estimate the distance of the camera toward the ball by comparing its block color size when its in the end of field of view and when its near of the camera. Then, using the pythagoras equation we calculate the distance estimation between the whole humanoid robot toward the ball. The distance will be used to estimate how many step the robot must perform to approach the ball and doing another task like kick the ball. The result shows that our method can be used as one of smart navigation system using a camera as the only one sensor to perceive the information of environtment.

  12. NeuRobot: telecontrolled micromanipulator system for minimally invasive microneurosurgery-preliminary results.

    Science.gov (United States)

    Hongo, Kazuhiro; Kobayashi, Shigeaki; Kakizawa, Yukinari; Koyama, Jun-Ichi; Goto, Tetsuya; Okudera, Hiroshi; Kan, Kazutoshi; Fujie, Masakatsu G; Iseki, Hiroshi; Takakura, Kintomo

    2002-10-01

    Microneurosurgery can be performed less invasively with the recent advances in neuronavigation and neuroendoscopy. For even less invasive microneurosurgery, we have developed a telecontrolled micromanipulator system. The NeuRobot telecontrolled micromanipulator system was developed. With the use of this system, surgical simulations were performed with a human cadaveric head. The system consists of four main parts, i.e., a micromanipulator (slave manipulator), a manipulator-supporting device, an operation-input device (master manipulator), and a three-dimensional display monitor. Three 1-mm forceps and a three-dimensional endoscope, which could be remotely controlled with three degrees of freedom (rotation, neck swinging, and forward/backward motion), were installed in the slave manipulator. All surgical procedures were accurately performed with this system. The use of telecontrolled manipulator systems in neurosurgery is very promising, and we are convinced that this system will facilitate more accurate, less invasive microneurosurgery. The details of the NeuRobot system and preliminary results are presented.

  13. Robotics in gynecologic surgery.

    Science.gov (United States)

    Frick, A C; Falcone, T

    2009-06-01

    Robotic surgery has evolved from an investigational surgical approach to a clinically useful adjunct in multiple surgical specialties over the past decade. Advocates of robotic-assisted gynecologic surgery revere the system's wristed instrumentation, ergonomic positioning, and three-dimensional high-definition vision system as significant improvements over laparoscopic equipment's four degrees of freedom and two-dimensional laparoscope that demand the surgeon stand throughout a procedure. The cost, lack of haptic feedback, and the bulky size of the equipment make robotics less attractive to others. Studies evaluating outcomes in robotic-assisted gynecologic surgery are limited. Multiple small retrospective studies demonstrate the safety and feasibility of robotic hysterectomy. With increased surgeon experience, operative times are similar to, or shorter than, laparoscopic cases. Robotic assistance can facilitate suturing in laparoscopic myomectomies, and is associated with decreased blood loss and a shorter hospital stay, although may require longer operative times. Robotic assistance has also been applied to multiple procedures in the subspecialties of infertility, urogynecology and gynecologic oncology with good success and relatively low morbidity. However, further research is warranted to better evaluate the relative benefits and costs of robotic assisted gynecologic surgery.

  14. Distributed consensus with visual perception in multi-robot systems

    CERN Document Server

    Montijano, Eduardo

    2015-01-01

    This monograph introduces novel responses to the different problems that arise when multiple robots need to execute a task in cooperation, each robot in the team having a monocular camera as its primary input sensor. Its central proposition is that a consistent perception of the world is crucial for the good development of any multi-robot application. The text focuses on the high-level problem of cooperative perception by a multi-robot system: the idea that, depending on what each robot sees and its current situation, it will need to communicate these things to its fellows whenever possible to share what it has found and keep updated by them in its turn. However, in any realistic scenario, distributed solutions to this problem are not trivial and need to be addressed from as many angles as possible. Distributed Consensus with Visual Perception in Multi-Robot Systems covers a variety of related topics such as: ·         distributed consensus algorithms; ·         data association and robustne...

  15. A New Method to Calibrate Robot Visual Measurement System

    Directory of Open Access Journals (Sweden)

    Yali Wang

    2013-01-01

    Full Text Available This paper presents a new method to calibrate the robot visual measurement system. In the paper, a laser tracker is used to calibrate the robot twist angles. Each axis of the robot is moved to many positions and the positions measured by the laser tracker fit a plane. The normal vectors of the planes are the directions of the Z axes. According to the definition of the robot kinematics model parameters, the errors of the twist angles can be calculated. The joint angles zero offsets are calibrated by the constraint that the rotation relationship between the world frame and the robot base frame is relatively constant. A planar target with several parallel lines is used to obtain the pose of the camera relative to the planar target by the lines in the target plane and the vanishing line of the plane. The quantum behaved particle swarm optimization (QPSO algorithm is used to calculate the parameters. Experiments are performed and the results show that the accuracy of the robot visual measurement system is improved about 10 times after being calibrated.

  16. Avoider robot design to dim the fire with dt basic mini system

    CERN Document Server

    Prasetyo, Eri; Prabowo, Bumi Prabu

    2008-01-01

    Avoider robot is mean robot who is designed to avoid the block in around. Except that, this robot is also added by an addition application to dim the fire. This robot is made with ultrasonic sensor PING. This sensor is set on the front, right and left from robot. This sensor is used robot to look for the right street, so that robot can walk on. After the robot can look for the right street, next accomplished the robot is looking for the fire in around. And the next, dim the fire with fan. This robot is made with basic stamp 2 micro-controller. And that micro-controller can be found in dt-basic mini system module. This robot is made with servo motor on the right and left side, which is used to movement.

  17. Space-time continuous models of swarm robotic systems supporting global-to-local programming

    CERN Document Server

    Hamann, Heiko; Nakamura, Yoshihiko

    2010-01-01

    Space-Time Continuous Models of Swarm Robotic Systems presents a control-algorithm-based model that predicts the behavior of large self-organizing robot groups, or robot swarms. Readers will find an extensive look into the interdisciplinary research field of swarm robotics.

  18. Cloud-Enhanced Robotic System for Smart City Crowd Control

    Directory of Open Access Journals (Sweden)

    Akhlaqur Rahman

    2016-12-01

    Full Text Available Cloud robotics in smart cities is an emerging paradigm that enables autonomous robotic agents to communicate and collaborate with a cloud computing infrastructure. It complements the Internet of Things (IoT by creating an expanded network where robots offload data-intensive computation to the ubiquitous cloud to ensure quality of service (QoS. However, offloading for robots is significantly complex due to their unique characteristics of mobility, skill-learning, data collection, and decision-making capabilities. In this paper, a generic cloud robotics framework is proposed to realize smart city vision while taking into consideration its various complexities. Specifically, we present an integrated framework for a crowd control system where cloud-enhanced robots are deployed to perform necessary tasks. The task offloading is formulated as a constrained optimization problem capable of handling any task flow that can be characterized by a Direct Acyclic Graph (DAG. We consider two scenarios of minimizing energy and time, respectively, and develop a genetic algorithm (GA-based approach to identify the optimal task offloading decisions. The performance comparison with two benchmarks shows that our GA scheme achieves desired energy and time performance. We also show the adaptability of our algorithm by varying the values for bandwidth and movement. The results suggest their impact on offloading. Finally, we present a multi-task flow optimal path sequence problem that highlights how the robot can plan its task completion via movements that expend the minimum energy. This integrates path planning with offloading for robotics. To the best of our knowledge, this is the first attempt to evaluate cloud-based task offloading for a smart city crowd control system.

  19. Improving Double Docking for Robot-assisted Para-aortic Lymphadenectomy in Endometrial Cancer Staging: Technique and Surgical Outcomes.

    Science.gov (United States)

    Ekdahl, Linnea; Salehi, Sahar; Falconer, Henrik

    2016-01-01

    Robot-assisted para-aortic lymphadenectomy (PALND) may prove to be a challenging procedure, and the ability to reach the planned anatomic landmarks is critical. In this retrospective study between 2012 and 2015, we present surgical data using a modified technique to perform infrarenal PALND for endometrial cancer using double side docking. All women with high-risk endometrial cancer scheduled for complete robotic staging including infrarenal PALND were included in the analysis. During the study period, a total of 76 women were identified. Three patients had disseminated disease and were treated with palliative hysterectomy only. The remaining 73 women underwent surgery with the intention to perform infrarenal PALND. In 7 cases, PALND was aborted because of technical inability to reach the left renal vein (10%). A median of 36 lymph nodes were harvested (pelvic n = 20, para-aortic n = 16). The median operating time (skin to skin) for patients with completed infrarenal PALND was 228 minutes (range, 181-371 minutes). Among all 76 patients, postoperative complications according to the Clavien-Dindo nomenclature were observed in 27 (36%) patients, with 6 (8%) having grade III complications. No patient died within 30 days from surgery. Our technique of double docking for robot-assisted PALND was associated with a success rate of 90%. The described technique seems to be a useful strategy to maximize the likelihood of completing the planned procedure.

  20. SpRoUTS (Space Robot Universal Truss System): Reversible Robotic Assembly of Deployable Truss Structures of Reconfigurable Length

    Science.gov (United States)

    Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth

    2015-01-01

    Automatic deployment of structures has been a focus of much academic and industrial work on infrastructure applications and robotics in general. This paper presents a robotic truss assembler designed for space applications - the Space Robot Universal Truss System (SpRoUTS) - that reversibly assembles a truss from a feedstock of hinged andflat-packed components, by folding the sides of each component up and locking onto the assembled structure. We describe the design and implementation of the robot and show that the assembled truss compares favorably with prior truss deployment systems.

  1. A Voice Operated Tour Planning System for Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Charles V. Smith Iii

    2010-06-01

    Full Text Available Control systems driven by voice recognition software have been implemented before but lacked the context driven approach to generate relevant responses and actions. A partially voice activated control system for mobile robotics is presented that allows an autonomous robot to interact with people and the environment in a meaningful way, while dynamically creating customized tours. Many existing control systems also require substantial training for voice application. The system proposed requires little to no training and is adaptable to chaotic environments. The traversable area is mapped once and from that map a fully customized route is generated to the user

  2. An integrated localization system for robots in underground environments

    Energy Technology Data Exchange (ETDEWEB)

    Xiong, C.H.; Han, D.G.; Xiong, Y.L. [Huazhong University of Science & Technology, Wuhan (China)

    2009-07-01

    An integrated localization system mainly based on a strap-down inertial measurement unit and a digital compass is designed for exploring and rescuing task in coal mines and tunnels. After a system model was founded, a filtering algorithm combining a wavelet-based pre-filter with unscented Kalman filters was developed for reckoning tracks of robots and localizing it. Based on this research, an integrated localization system for robots in underground environments can be developed to explore some regions and rescue people. Although errors of localization exist, performance of the integrated system should be improved if some sensors and landmarks or maps of tunnels are introduced.

  3. Towards MRI guided surgical manipulator.

    Science.gov (United States)

    Chinzei, K; Miller, K

    2001-01-01

    The advantages of surgical robots and manipulators are well recognized in the clinical and technical community. Precision, accuracy and the potential for telesurgery are the prime motivations in applying advanced robot technology in surgery. In this paper critical interactions between Magnetic Resonance Imaging equipment and mechatronic devices are discussed and a novel Magnetic Resonance compatible surgical robot is described. Experimental results of the effects from several passive (metallic materials) and active (ultrasound motors) mechanical elements are demonstrated. The design principles for Magnetic Resonance compatible robots are established and the compatibility of the proposed robot is assessed by comparing images taken with and without the robot's presence within Signa SP/I GE Medical Systems scanner. The results showed that, in principle, it is possible to construct precision mechatronic devices intended to operate inside MR scanner. Use of such a device will not cause image shift or significant degradation of signal-to-noise-ratio. An MR compatible surgical assist robot was designed and constructed. The robot is not affected by the presence of strong magnetic fields and is able to manoeuvre during imaging without compromising the quality of images. A novel image-guided robot control scheme was proposed. As a part of the control scheme, biomechanics-based organ deformation model was constructed and validated by in-vivo experiment. It has been recognised that for robust control of an image guided surgical robot the precise knowledge of the mechanical properties of soft organs operated on must be known. As an illustration, results in mathematical modelling and computer simulation of brain deformation are given. The novel MR compatible robot was designed to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter. New Robot control system based on the prediction of soft organ deformation was proposed.

  4. Command Control for Many-Robot Systems

    Science.gov (United States)

    1992-06-01

    Intelligence", American Scientist , vol 77, March-April 1989, pp 139-145. 14. Deneubourg, J.L., et al. ÒThe Dynamics of Collective Sorting Robot-Like Ants...Colony as a Superorganism", American Scientist , Volume 77, November-December 1989, pp 546-553. 16. Braitenberg, V. Vehicles: Experiments in Synthetic

  5. Online contact impedance identification for robotic systems

    NARCIS (Netherlands)

    Haddadi, Amir; Hashtrudi-Zaad, Keyvan

    2008-01-01

    In this paper, we study the performance of various algorithms for fast online identification of environment impedance during robotic contact tasks. In particular, we evaluate and compare algorithms with regard to their convergence rate, computational complexity and sensitivity to noise for different

  6. [Robot technology in the Italian Health-CARE system: cost-efficacy economic analysis].

    Science.gov (United States)

    Gulino, Gaetano; Antonucci, Michele; Palermo, Giuseppe; D'Agostino, Daniele; D'Addessi, Alessandro; Racioppi, Marco; Pinto, Francesco; Sacco, Emilio; Bassi, Pierfrancesco

    2012-01-01

    Robotic technology is used in multiple fields of surgery, especially radical prostatectomy in patients with prostate cancer. The purpose of this study was to evaluate the introduction of robotic technology in the Italian Public Heath-care context, from the perspective of the Health Technology Assessment (HTA). An economic analysis that compares the costs and effectiveness of the method was developed. Data were compared with those of the most important international literature, analyzing structural and organizational problems related to the method. A systematic review of literature on tertiary literature (Health Technology Assessment reports) and secondary (systematic reviews) published since 2002 was conducted. The review was also conducted on more recent primary literature regarding the clinical effectiveness and the economic analysis in the fields of surgery where Da Vinci robot is most promising. 18 studies were selected out of a total of 65 evaluated. The "Break-Even Point" (BEP) is the minimum number of cases needed to be treated in order to achieve a balance between costs and revenues, below which the system is losing money. It was calculated that the total fixed costs are € 378,000 and variable costs are € 3,810 per surgery. Considering that the current value of DRG (Diagnosis-Related Group) refunded by the public Health-care system is actually € 4,553, the BEP would be achieved performing 508 surgeries, so that the robotic technology does not generate neither profit nor loss. It is not possible to demonstrate the superiority of robotic surgery in terms of efficacy. The robotic surgery is safe and effective only if performed by surgical teams with relevant experience. Considering the reported case of an Italian University Hospital with public Health-care system refund, the BEP target of 508 radical prostatectomies could be achieved after a few years. The use of the robot in multiple fields on one hand shortens recovery time costs, but on the other hand

  7. Robotics and telecommunication systems to provide better access to ultrasound expertise in the OR.

    Science.gov (United States)

    Angelini, L; Papaspyropoulos, V

    2000-01-01

    Surgery has begun to evolve as a result of the intense use of technological innovations. The result of this is better services for patients and enormous opportunities for the producers of biomedical instruments. The surgeon and the technologist are fast becoming allies in applying the latest developments of robotics, image treatment, simulation, sensors and telecommunications to surgery, in particular to the emerging field of minimally-invasive surgery. Ultrasonography is at present utilised both for diagnostic and therapeutic purposes in various fields. Intraoperative US examination can be of primary importance, especially when dealing with space-occupying lesions. The widening use of minimally-invasive surgery has furthered the development of US for use during this type of surgery. The success of a US examination requires not only a correct execution of the procedure, but also a correct interpretation of the images. We describe two projects that combine robotics and telecommunication systems to provide better access to US expertise in the operating room. The Midstep project has as its object the realisation of two robotic arms, one for the distant control of the US probe during laparoscopic surgery and the second to perform tele-interventional US. The second project, part of the Strategic CNR Project-'Robotics in Surgery', involves the realisation of a common platform for tracking and targeting surgical instruments in video-assisted surgery.

  8. A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2015-03-01

    Full Text Available In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

  9. Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Platt, Robert J., Jr. (Inventor); Quillin, Nathaniel (Inventor); Permenter, Frank Noble (Inventor); Pfeiffer, Joseph (Inventor)

    2014-01-01

    A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

  10. Control design and analysis for underactuated robotic systems

    CERN Document Server

    Xin, Xin

    2014-01-01

    The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques, and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design, and analysis presented in a systematic way particularly for the following examples: l  directly and remotely driven  Acrobots l  Pendubot l  rotational pendulum l  counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l  variable-length pendulum l  3-link gymnastic robot with passive first joint l  n-link planar robo...

  11. 3D vision system for intelligent milking robot automation

    Science.gov (United States)

    Akhloufi, M. A.

    2013-12-01

    In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real-time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

  12. Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery.

    Science.gov (United States)

    Sun, Zhenglong; Wang, Zheng; Phee, Soo Jay

    2015-04-01

    Recent study shows that tendon-sheath system (TSS) has great potential in the development of surgical robots for endoscopic surgery. It is able to deliver adequate power in a light-weight and compact package. And the flexibility and compliance of the tendon-sheath system make it capable of adapting to the long and winding path in the flexible endoscope. However, the main difficulties in precise control of such system fall on the nonlinearities of the system behavior and absence of necessary sensory feedback at the surgical end-effectors. Since accurate position control of the tool is a prerequisite for efficacy, safety and intuitive user-experience in robotic surgery, in this paper we propose a system modeling approach for motion compensation. Based on a bidirectional actuated system using two separate tendon-sheaths, motion transmission is firstly characterized. Two types of positional errors due to system backlash and environment loading are defined and modeled. Then a model-based feedforward compensation method is proposed for open-loop control, giving the system abilities to adjust according to changes in the transmission route configuration without any information feedback from the distal end. A dedicated experimental platform emulating a bidirectional TSS robotic system for endoscopic surgery is built for testing. Proposed positional errors are identified and verified. The performance of the proposed motion compensation is evaluated by trajectory tracking under different environment loading conditions. And the results demonstrate that accurate position control can be achieved even if the transmission route configuration is updated. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

  13. Artificial endocrine controller for power management in robotic systems.

    Science.gov (United States)

    Sauzé, Colin; Neal, Mark

    2013-12-01

    The robots that operate autonomously for extended periods in remote environments are often limited to gather only small amounts of power through photovoltaic solar panels. Such limited power budgets make power management critical to the success of the robot's mission. Artificial endocrine controllers, inspired by the mammalian endocrine system, have shown potential as a method for managing competing demands, gradually switching between behaviors, synchronizing behavior with external events, and maintaining a stable internal state of the robot. This paper reports the results obtained using these methods to manage power in an autonomous sailing robot. Artificial neural networks are used for sail and rudder control, while an artificial endocrine controller modulates the magnitude of actuator movements in response to battery or sunlight levels. Experiments are performed both in simulation and using a real robot. In simulation a 13-fold reduction in median power consumption is achieved; in the robot this is reduced to a twofold reduction because of the limitations of the simulation model. Additional simulations of a long term mission demonstrate the controller's ability to make gradual behavioral transitions and to synchronize behaviors with diurnal and seasonal changes in sunlight levels.

  14. Brain, mind, body and society: autonomous system in robotics.

    Science.gov (United States)

    Shimoda, Motomu

    2013-12-01

    In this paper I examine the issues related to the robot with mind. To create a robot with mind aims to recreate neuro function by engineering. The robot with mind is expected not only to process external information by the built-in program and behave accordingly, but also to gain the consciousness activity responding multiple conditions and flexible and interactive communication skills coping with unknown situation. That prospect is based on the development of artificial intelligence in which self-organizing and self-emergent functions have been available in recent years. To date, controllable aspects in robotics have been restricted to data making and programming of cognitive abilities, while consciousness activities and communication skills have been regarded as uncontrollable aspects due to their contingency and uncertainty. However, some researchers of robotics claim that every activity of the mind can be recreated by engineering and is therefore controllable. Based on the development of the cognitive abilities of children and the findings of neuroscience, researchers have attempted to produce the latest artificial intelligence with autonomous learning systems. I conclude that controllability is inconsistent with autonomy in the genuine sense and autonomous robots recreated by engineering cannot be autonomous partners of humans.

  15. Integration of a RFID System in a Social Robot

    Science.gov (United States)

    Corrales, A.; Salichs, M. A.

    This article presents the integration of a system of detection and identification of RFID tags in a social robot, with the goal of improving its sensorial system and to accomplish several specific tasks, such as: recognition of objects or navigation. For this purpose, basic skills of reading and writing have been designed, following the pattern of the basic element skill of the robot software architecture. The system has been implemented physically adding two RFID interrogators with built-in antenna to the sensorial robot system. The application has been implemented and tested as a skill in the detection of products such as medicines and diverse objects in order to assist visually impaired people, users of the third age and people who cannot read.

  16. Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms.

    Science.gov (United States)

    Beom, Jaewon; Koh, Sukgyu; Nam, Hyung Seok; Kim, Wonshik; Kim, Yoonjae; Seo, Han Gil; Oh, Byung-Mo; Chung, Sun Gun; Kim, Sungwan

    2016-08-15

    Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

  17. IMPERA: Integrated Mission Planning for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Daniel Saur

    2015-10-01

    Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

  18. Robotics and general surgery.

    Science.gov (United States)

    Jacob, Brian P; Gagner, Michel

    2003-12-01

    Robotics are now being used in all surgical fields, including general surgery. By increasing intra-abdominal articulations while operating through small incisions, robotics are increasingly being used for a large number of visceral and solid organ operations, including those for the gallbladder, esophagus, stomach, intestines, colon, and rectum, as well as for the endocrine organs. Robotics and general surgery are blending for the first time in history and as a specialty field should continue to grow for many years to come. We continuously demand solutions to questions and limitations that are experienced in our daily work. Laparoscopy is laden with limitations such as fixed axis points at the trocar insertion sites, two-dimensional video monitors, limited dexterity at the instrument tips, lack of haptic sensation, and in some cases poor ergonomics. The creation of a surgical robot system with 3D visual capacity seems to deal with most of these limitations. Although some in the surgical community continue to test the feasibility of these surgical robots and to question the necessity of such an expensive venture, others are already postulating how to improve the next generation of telemanipulators, and in so doing are looking beyond today's horizon to find simpler solutions. As the robotic era enters the world of the general surgeon, more and more complex procedures will be able to be approached through small incisions. As technology catches up with our imaginations, robotic instruments (as opposed to robots) and 3D monitoring will become routine and continue to improve patient care by providing surgeons with the most precise, least traumatic ways of treating surgical disease.

  19. Safety architecture of internet based multi-robot teleoperation system

    Institute of Scientific and Technical Information of China (English)

    ZHAO Jie; GAO Yong-sheng; CAI He-gao

    2005-01-01

    Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.

  20. A new tool for touch-free patient registration for robot-assisted intracranial surgery: application accuracy from a phantom study and a retrospective surgical series.

    Science.gov (United States)

    Cardinale, Francesco; Rizzi, Michele; d'Orio, Piergiorgio; Casaceli, Giuseppe; Arnulfo, Gabriele; Narizzano, Massimo; Scorza, Davide; De Momi, Elena; Nichelatti, Michele; Redaelli, Daniela; Sberna, Maurizio; Moscato, Alessio; Castana, Laura

    2017-05-01

    OBJECTIVE The purpose of this study was to compare the accuracy of Neurolocate frameless registration system and frame-based registration for robotic stereoelectroencephalography (SEEG). METHODS The authors performed a 40-trajectory phantom laboratory study and a 127-trajectory retrospective analysis of a surgical series. The laboratory study was aimed at testing the noninferiority of the Neurolocate system. The analysis of the surgical series compared Neurolocate-based SEEG implantations with a frame-based historical control group. RESULTS The mean localization errors (LE) ± standard deviations (SD) for Neurolocate-based and frame-based trajectories were 0.67 ± 0.29 mm and 0.76 ± 0.34 mm, respectively, in the phantom study (p = 0.35). The median entry point LE was 0.59 mm (interquartile range [IQR] 0.25-0.88 mm) for Neurolocate-registration-based trajectories and 0.78 mm (IQR 0.49-1.08 mm) for frame-registration-based trajectories (p = 0.00002) in the clinical study. The median target point LE was 1.49 mm (IQR 1.06-2.4 mm) for Neurolocate-registration-based trajectories and 1.77 mm (IQR 1.25-2.5 mm) for frame-registration-based trajectories in the clinical study. All the surgical procedures were successful and uneventful. CONCLUSIONS The results of the phantom study demonstrate the noninferiority of Neurolocate frameless registration. The results of the retrospective surgical series analysis suggest that Neurolocate-based procedures can be more accurate than the frame-based ones. The safety profile of Neurolocate-based registration should be similar to that of frame-based registration. The Neurolocate system is comfortable, noninvasive, easy to use, and potentially faster than other registration devices.