2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)最新文献_第3页

Design and characterization of a novel needle insertion tool 一种新型插针工具的设计与表征

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523636

O. Piccin, J. Sieffert, F. Schmitt, L. Barbé, L. Meylheuc, F. Nageotte, B. Bayle

引用次数: 3

Adaptive path-following control for bio-inspired steerable needles 仿生操纵针的自适应路径跟踪控制

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523603

R. Secoli, F. Baena

{"title":"Adaptive path-following control for bio-inspired steerable needles","authors":"R. Secoli, F. Baena","doi":"10.1109/BIOROB.2016.7523603","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523603","url":null,"abstract":"Needle steering systems have shown potential advantages in minimally invasive surgery in soft-tissue due to their ability to reach deep-seated targets while avoiding obstacles. In general, the control strategies employed to drive the insertion use simplified kinematic models, providing limited control of the trajectory between an entry site and a deep seated target in cases of unmodelled tissue-needle dynamics. In this work, we present the first Adaptive Path-Following (APF) controller for a bio-inspired multi-part needle, able to steer along three-dimensional (3D) paths within a compliant medium by means of the cyclical motion of interlocked segments and without the need for duty-cycle spinning along the insertion axis. The control strategy is outlined in two parts: a high-level controller, which provides driving commands to follow a predefined 3D path smoothly; and a low-level controller, able to counteract unmodelled tissue-needle nonlinearities and kinematic model uncertainties. A simulation that mimics the needle's mechanical behavior during insertion is achieved by using an Experimental Fitting Model (EFM), obtained from previous experimental trials. The Simulation results demonstrate the robustness and adaptability of the proposed control strategy.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125654686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 23

Design and evaluation of Rheumatoid Arthritis rehabilitative Device (RARD) for laterally bent fingers 用于侧弯手指的类风湿关节炎康复装置的设计与评价

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523732

M. Chua, Lim Jeong Hoon, R. C. Yeow

引用次数: 9

A venipuncture detection system for robot-assisted intravenous catheterization 一种用于机器人辅助静脉置管的静脉穿刺检测系统

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523602

Zhuoqi Cheng, B. Davies, D. Caldwell, L. Mattos

{"title":"A venipuncture detection system for robot-assisted intravenous catheterization","authors":"Zhuoqi Cheng, B. Davies, D. Caldwell, L. Mattos","doi":"10.1109/BIOROB.2016.7523602","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523602","url":null,"abstract":"Vascular access is frequently required for patients admitted to hospitals. This requires a delicate process of intravenous (IV) catheterization that, as opposed to common believe, suffers from a high failure rate typically close to 30%. In case of special patients such as infants, the elderly, and people with diabetes or other health conditions that affect blood vessels, the challenge to achieve intravenous access is higher, leading to an even lower venipuncture success rate. Stopping the needle before the first vein wall or going completely through the vein are the common causes of failure, and can potentially cause severe damage to the soft tissue. In this study we propose a new robotic system to improve the venipuncture procedure. The system is based on a high resolution motion stage and a new detection system able to measure the electrical impedance of tissue around the IV needle tip. This detection system allows the discrimination of the different tissue types accessed during the insertion process, and a fast and robust detection of vein entry by detecting blood. This paper presents the design and development of this new robot-assisted venipuncture system. Experiments in realistic phantoms were designed and undertaken for the system's evaluation, which also demonstrated the effective performance of the proposed venipuncture detection system.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132417165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 14

Design and preliminary evaluation of haptic devices for upper limb stimulation and integration within a virtual reality cave 虚拟现实洞穴中上肢刺激与整合触觉装置的设计与初步评估

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523670

Francesca Sorgini, Rohan Ghosh, Justus F. Hübotter, R. Caliò, C. Galassi, C. Oddo, S. Kukreja

引用次数: 5

Inertial characteristics of upper extremity motions in upper extremity stroke rehabilitation based tasks 上肢卒中康复任务中上肢运动的惯性特征

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523737

M. L. Delva, C. Menon

{"title":"Inertial characteristics of upper extremity motions in upper extremity stroke rehabilitation based tasks","authors":"M. L. Delva, C. Menon","doi":"10.1109/BIOROB.2016.7523737","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523737","url":null,"abstract":"Activity counting has demonstrated strong correlations to recovery before and after stroke rehabilitation. However, there are only moderate to poor correlations with movement specific features (such as timing and repetition) that are significant to stroke rehabilitation, allowing room for improvement. This paper explores the physical meaning of an accelerometric based activity count, by using a precise tri-axial accelerometer and tri-axial gyroscope during tasks based on selected activities of daily living (ADLs). The impact of processing algorithms and sensor choice were also considered. Nine healthy participants performed a series of free-world upper extremity movement tasks modelled after ADLs as well as tasks constrained by speed and direction. Raw gyroscope and accelerometer data were linearly regressed with medically graded actigraphy bands for comparison. The results demonstrated that wrist motion during upper extremity tasks had similar distributions of data across all planes and axes of motion. The results also highlighted that processing algorithms based on mean and median epoched data were more sensitive (p <; 0.05) to differences in planes and axes of motion, but that variance based methods presented lower root-mean-square-errors (RMSE) errors when linearly regressed with medically graded technology. The findings from this study help to better understand inertial patterns of upper extremity rehabilitation based tasks and physical interpretations of activity count measures.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131102708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

EMG pattern recognition using decomposition techniques for constructing multiclass classifiers 基于分解技术构建多类分类器的肌电模式识别

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523810

H. Huang, Tao Li, C. Bruschini, C. Enz, V. M. Koch, Jorn Justiz, Christian Antfolk

引用次数: 18

Squat motion generation for the humanoid robot iCub with Series Elastic Actuators 基于串联弹性作动器的仿人机器人iCub深蹲运动生成

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523623

Yue Hu, F. Nori, K. Mombaur

引用次数: 7

Modeling and implementation of a simplified human tendon structure in a robotic finger 机器人手指中简化人体肌腱结构的建模与实现

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523608

Nathanael J. Rake, S. Skinner, Gavin D. O'Mahony, J. Schultz

引用次数: 4

Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons 将蝾螈大脑与类似蝾螈的机器人连接起来:用脑干网状脊髓神经元的钙信号控制速度和方向

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523785

Dimitri Ryczko, R. Thandiackal, A. Ijspeert

{"title":"Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons","authors":"Dimitri Ryczko, R. Thandiackal, A. Ijspeert","doi":"10.1109/BIOROB.2016.7523785","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523785","url":null,"abstract":"An important topic in designing neuroprosthetic devices for animals or patients with spinal cord injury is to find the right brain regions with which to interface the device. In vertebrates, an interesting target could be the reticulospinal (RS) neurons, which play a central role in locomotor control. These brainstem cells convey the locomotor commands to the spinal locomotor circuits that in turn generate the complex patterns of muscle contractions underlying locomotor movements. The RS neurons receive direct input from the Mesencephalic Locomotor Region (MLR), which controls locomotor initiation, maintenance, and termination, as well as locomotor speed. In addition, RS neurons convey turning commands to the spinal cord. In the context of interfacing neural networks and robotic devices, we explored in the present study whether the activity of salamander RS neurons could be used to control off-line, but in real time, locomotor speed and direction of a salamander robot. Using a salamander semi-intact preparation, we first provide evidence that stimulation of the RS cells on the left or right side evokes ipsilateral body bending, a crucial parameter involved during turning. We then identified the RS activity corresponding to these steering commands using calcium (Ca2+) imaging of RS neurons in an isolated brain preparation. Then, using a salamander robot controlled by a spinal cord model, we used the ratio of RS Ca2+ signals on left and right sides to control locomotion direction by modulating body bending. Moreover, we show that the robot locomotion speed can be controlled based on the amplitude of the Ca2+ response of RS cells, which is controlled by MLR stimulation strength as recently demonstrated in salamanders.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116936871","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9