2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)最新文献_第7页

64-channel double-layered sieve electrode with increased porosity for improved axon regeneration and high spatial resolution 增加孔隙率的64通道双层筛电极，改善轴突再生和高空间分辨率

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523786

Jinwoo Jeong, Woohyun Jung, Ockchul Kim, Jun-Uk Chu, I. Youn, Keehoon Kim, Sang-Rok Oh, J. Park, Jinseok Kim

引用次数: 10

Human-robot collaboration for tooling path guidance 用于工装路径引导的人机协作

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523818

Han Bo, Dhanya Menoth Mohan, Muhammad Azhar, Kana Sreekanth, D. Campolo

引用次数: 14

First step towards an automated designed Multi-Arm Snake-Like Robot for minimally invasive surgery 迈向自动化设计的多臂蛇形机器人的第一步，用于微创手术

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523661

Y. Krieger, Daniel B. Roppenecker, J. Stolzenburg, T. Lüth

{"title":"First step towards an automated designed Multi-Arm Snake-Like Robot for minimally invasive surgery","authors":"Y. Krieger, Daniel B. Roppenecker, J. Stolzenburg, T. Lüth","doi":"10.1109/BIOROB.2016.7523661","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523661","url":null,"abstract":"The development of minimally invasive surgery will lead to the further reduction of incisions regarding single-port surgery using only one single artificial or natural incision. Thus, it appears that instruments and workflow have to be designed in a way that provides a dexterous manipulation of instruments inside the body. The aim should be to support the surgeon with a system most suitable to the specific application. This article presents the concept of designing an individualized robot for minimally invasive surgery (e.g. partial nephrectomy) on basis of our Multi-Arm Snake-Like Robot. The system is designed as overtube for standard optics in minimally invasive surgery and possesses articulated arms to manipulate standard instruments enabling the physician to manipulate tissue from two sides (triangulation of the instruments). By using additive manufacturing and new design algorithms, we were able to design robotic structures adaptable to different clinical applications such as endoscopic or laparoscopic interventions. This paper presents the first step towards a patient, surgeon and task specific automated design of disposable robots.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129146097","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: 15

Ultrasound-guided stabilization of a robotically-actuated delivery sheath (RADS) for beating heart mitral valve motions 超声引导稳定心脏二尖瓣运动的机器人驱动递送鞘(RADS)

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523601

G. J. Vrooijink, M. Jansen, M. Tolhuisen, J. G. Grandjean, S. Misra

{"title":"Ultrasound-guided stabilization of a robotically-actuated delivery sheath (RADS) for beating heart mitral valve motions","authors":"G. J. Vrooijink, M. Jansen, M. Tolhuisen, J. G. Grandjean, S. Misra","doi":"10.1109/BIOROB.2016.7523601","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523601","url":null,"abstract":"Minimally invasive mitral valve (MV) repair surgery significantly reduces trauma compared to an open heart procedure, which enables fast recovery and treatment to high-risk patients. However, limited vision and dexterity of the instrument at the treatment location poses a challenge for minimally invasive surgery. Additionally, MV repair surgery performed without cardiopulmonary bypass often requires the surgeon to deal with beating heart motions. By autonomous stabilization of the instrument, a virtually-still treatment location could be provided. This allows the surgeon to perform surgery as if the heart was stopped. In this study, we present and evaluate a framework that assists the surgeon by stabilizing the instrument for the beating heart MV motions. Our work contributes a robotically-actuated delivery sheath (RADS), which is stabilized in a realistic and functional MV model embedded in a heart motion system. The heart motion system is mounted on a six degrees-of-freedom Stewart platform, which reproduces beating heart MV motions based on pre-operative patient data obtained from three-dimensional magnetic resonance and ultrasound images. Experimental results shows stabilization of the RADS in a beating heart MV model with a mean absolute tracking error of 1.31 mm. The presented framework for stabilization of the RADS in the beating heart could be applicable to a wide variety of existing and potential future cardiovascular interventions.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129187550","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: 1

Design of a micromanipulator based on miniature LINAPOD 基于微型LINAPOD的微机械臂设计

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523640

Dongwoo Koo, Joong-kwang Ko, Cheol Song

引用次数: 0

Real-time classification of multi-modal sensory data for prosthetic hand control 假手控制多模态传感数据实时分类

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523681

I. Kyranou, Agamemnon Krasoulis, M. S. Erden, K. Nazarpour, S. Vijayakumar

{"title":"Real-time classification of multi-modal sensory data for prosthetic hand control","authors":"I. Kyranou, Agamemnon Krasoulis, M. S. Erden, K. Nazarpour, S. Vijayakumar","doi":"10.1109/BIOROB.2016.7523681","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523681","url":null,"abstract":"Recent work on myoelectric prosthetic control has shown that the incorporation of accelerometry information along with surface electromyography (sEMG) has the potential of improving the performance and robustness of a prosthetic device by increasing the classification accuracy. In this study, we investigated whether myoelectric control could further benefit from the use of additional sensory modalities such as gyroscopes and magnetometers. We trained a multi-class linear discriminant analysis (LDA) classifier to discriminate between six hand grip patterns and used predictions to control a robotic prosthetic hand in real-time. We recorded initial training data by using a total number of 12 sEMG sensors, each of which integrated a 9 degree-of-freedom inertial measurement unit (IMU). For classification, four different decoding schemes were used; 1) sEMG and IMU from all sensors 2) sEMG from all sensors, 3) IMU from all sensors and, finally, 4) sEMG and IMU from a nearly optimal subset of sensors. These schemes were evaluated based on offline classification accuracy on the training data, as well as with task-related metrics such as completion rates and times for a pick-and-place real-time experiment. We found that the classifier trained with all the sensory modalities and sensors (condition 1) attained the best decoding performance by achieving a 90.4% completion rate with an average completion time of 41.9 sec in real-time experiments. We also found that classifiers incorporating sEMG and IMU information outperformed on average the ones that only used sEMG signals, even when the amount of sensors used was less than half in the former case. These results suggest that using extra modalities along with sEMG might be more beneficial than including additional sEMG sensors.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121171631","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: 32

Robotically assisted ankle rehabilitation for pediatrics 儿科机器人辅助踝关节康复

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523693

R. Monfaredi, Sally Evans, Catherine Coley, Anna Silverman, Aseem Jain, Emmanuel Wilson, K. Cleary

引用次数: 3

A compliant modular robotic hand with fabric force sensor for multiple versatile grasping modes 一种具有织物力传感器的柔性模块化机械手，可用于多种通用抓取模式

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523799

J. Low, Wang Wei Lee, P. M. Khin, S. Kukreja, Hongliang Ren, N. Thakor, C. Yeow

{"title":"A compliant modular robotic hand with fabric force sensor for multiple versatile grasping modes","authors":"J. Low, Wang Wei Lee, P. M. Khin, S. Kukreja, Hongliang Ren, N. Thakor, C. Yeow","doi":"10.1109/BIOROB.2016.7523799","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523799","url":null,"abstract":"This paper presents the development of a compliant, modular, reconfigurable, and sensorized robotic hand with multiple grasping capabilities. Each finger consists of a soft pneumatic actuator with embedded fabric force sensor and a detachable casing. The casing has a through hole for housing the actuator and special connectors for attachment to other casings. One casing each from the thumb and finger parts has a protrusion for connecting both parts together via a screw tightening system. The through-hole design allows different grasping length to be achieved and the inflated pneumatic channel of the actuator locks it in place. The modular robotic hand is capable of various versatile grasping tasks by simply changing the bending direction of the actuator, the distance between the thumb and finger parts, the grasping length of the actuator, or attaching/detaching additional fingers to the hand. (1) Hook grasping with single finger, (2) pinching with pad opposition, (3) reverse grasping for holding a pipe-like object, (4) wrap grasping with palm opposition, as well as (5) picking up an object through its handle with one thumb and two or more fingers were illustrated. These studies show the capability of the compliant modular robotic hand in performing various types of grasping by simply using different configurations of the casings. The excellent payload-to-weight ratio of the robotic hand was demonstrated. Also, the fabric force sensor that was embedded in the soft actuator indicated the difference in grasping forces that were applied to different objects during hook grasping. The modular robotic hand has the potential to broaden or substitute the usage of existing robotic hands, especially in applications where soft versatile configurable grasping is desired.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"54 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128935897","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: 13

Experimental study of robot-assisted exercise training for knee rehabilitation based on a practical EMG-driven model 基于肌电驱动模型的机器人辅助膝关节康复运动训练实验研究

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523727

Long Peng, Z. Hou, Liang Peng, Weiqun Wang

引用次数: 14

Discrete-time Integral Sliding Mode Control of a smart joint for minimally invasive surgeries 用于微创手术的智能关节离散时间积分滑模控制

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523657

Saher Jabeen, A. Yeganeh, G. M. Simsek, G. G. Yapici, K. Abidi, O. Bebek

{"title":"Discrete-time Integral Sliding Mode Control of a smart joint for minimally invasive surgeries","authors":"Saher Jabeen, A. Yeganeh, G. M. Simsek, G. G. Yapici, K. Abidi, O. Bebek","doi":"10.1109/BIOROB.2016.7523657","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523657","url":null,"abstract":"In this work, a shape memory alloy(SMA) actuator based joint (smart joint) is controlled using a discrete-time integral sliding mode (DISM) control to guide the motion of an active catheter. Controller is designed on the base of a simplified physical model of a single SMA actuator which eliminates the necessity of obtaining an accurate model. SMAs are nonlinear actuators and for this reason, a disturbance observer (DOB) is integrated in to the controller to compensate the model uncertainties and external disturbances to the system. A linearized model is used to design the controller. Bandwidth of SMA actuator is small (response frequency is less than 0.1Hz) and hardware communication frequency is 20Hz. Due to high sampling time (τ= 50ms) it is idealized to design a discrete-time controller, as switching frequency of the controller variable is then limited by τ-1. An experimental setup is designed to test the proposed controller with position feedback. In experimental results, DISM controller with DOB is shown to be robust against system model uncertainties and external disturbances. Different frequency responses are compared and it is shown that the response of 0.04 Hz can be achieved with rms tracking error of 0.0112 radians.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129238073","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: 2