... International Symposium on Medical Robotics. International Symposium on Medical Robotics最新文献_第3页

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. 机器人辅助眼科手术的巩膜力控制:自适应力控制与听觉反馈。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2019-04-01 Epub Date: 2019-05-09 DOI: 10.1109/ISMR.2019.8710205

Ali Ebrahimi, Changyan He, Niravkumar Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita

{"title":"Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback.","authors":"Ali Ebrahimi, Changyan He, Niravkumar Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita","doi":"10.1109/ISMR.2019.8710205","DOIUrl":"https://doi.org/10.1109/ISMR.2019.8710205","url":null,"abstract":"Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeons tactile perception of useful and familiar tool-to-sclera forces. While the large mass and inertia of eye surgical robot prevents surgeon microtremor, loss of perception of small scleral forces may put the sclera at risk of injury. In this paper, we have applied and compared two different methods to assure the safety of sclera tissue during robot-assisted eye surgery. In the active control method, an adaptive force control strategy is implemented on the Steady-Hand Eye Robot in order to control the magnitude of scleral forces when they exceed safe boundaries. This autonomous force compensation is then compared to a passive force control method in which the surgeon performs manual adjustments in response to the provided audio feedback proportional to the magnitude of sclera force. A pilot study with three users indicate that the active control method is potentially more efficient.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2019 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ISMR.2019.8710205","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37902343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13

Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions. mri引导下经皮介入治疗的远程驱动针驱动装置。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2019-01-01 Epub Date: 2019-05-09 DOI: 10.1109/ismr.2019.8710176

Di Wu, Gang Li, Niravkumar Patel, Jiawen Yan, Reza Monfaredi, Kevin Cleary, Iulian Iordachita

{"title":"Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions.","authors":"Di Wu, Gang Li, Niravkumar Patel, Jiawen Yan, Reza Monfaredi, Kevin Cleary, Iulian Iordachita","doi":"10.1109/ismr.2019.8710176","DOIUrl":"https://doi.org/10.1109/ismr.2019.8710176","url":null,"abstract":"In this paper we introduce a remotely actuated MRI-compatible needle driving device for pain injections in the lower back. This device is able to manipulate the needle inside the closed-bore MRI scanner under the control of the interventional radiologist inside both the scanner room and the console room. The device consists of a 2 degrees of freedom (DOF) needle driver and an actuation box. The 2-DOF needle driver is placed inside the scanner bore and driven by the actuation box settled at the end of the table through a beaded chain transmission. This novel remote actuation design could reduce the weight and profile of the needle driver that is mounted on the patient, as well as minimize the potential imaging noise introduced by the actuation electronics. The actuation box is designed to perform needle intervention in both manual and motorized fashion by utilizing a mode switch mechanism. A mechanical hard stop is also incorporated to improve the device's safety. The bench-top accuracy evaluation of the device demonstrated a small mean needle placement error (< 1 mm) in a phantom study.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2019 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ismr.2019.8710176","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38326367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Study on Structure Design and Simulation of Upper-Limb Assist Robot 上肢辅助机器人结构设计与仿真研究

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2018-01-01 DOI: 10.1109/IISR.2018.8535651

Xiaolei Cao, Hui Li, Zhihong Jiang, Jianning Hua, Peng Sun, Rufen Wang

引用次数: 0

Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station 基于双力矩前馈控制的空间站机器人航天员安全运动轨迹规划

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2018-01-01 DOI: 10.1109/IISR.2018.8535762

Zhihong Jiang, Jiafeng Xu, Hui Li, Qiang Huang

引用次数: 0

Feature extraction and optimisation for sleep apnea 睡眠呼吸暂停的特征提取与优化

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295888

W. Y. Leong

引用次数: 4

Compressive properties of nanoclay/epoxy nanocomposites 纳米粘土/环氧纳米复合材料的压缩性能

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2012-01-01 DOI: 10.1016/J.PROENG.2012.07.357

A. Jumahat, Constantinos Soutis, J. Mahmud, N. Ahmad

引用次数: 72