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检索条件"任意字段=3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics"

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2010 3rd ieee ras and embs international conference on biomedical robotics and biomechatronics, BioRob 2010

2010 3rd IEEE RAS and EMBS International Conference on Biome...

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2010 3rd ieee ras and embs international conference on biomedical robotics and biomechatronics, BioRob 2010

ISBN: (纸本)9781424477081

The proceedings contain 154 papers. The topics discussed include: highly precise master-slave robot system for super micro surgery;microarray- facilitated mechanical characterization of breast tissue pathology samples using contact-mode atomic force microscopy (AFM);study and fabrication of bioinspired octopus arm mockups tested on a multipurpose platform;palpation system for minimally invasive localization of occult tumors;interactive motion planning for steerable needles in 3D environments with obstacles;single-input single-output EMG-based musculoskeletal modeling for hand tremulous motion;development of a tool manipulator driven by a flexible shaft for single port endoscopic surgery;impulse based dynamic rolling in the rolling disk biped;toward a minimally invasive bladder pressure monitoring system: model bladder for in vitro testing;and a stochastic model for chemotactic motion of micro-beads propelled by attached bacteria.

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2010 3rd ieee ras and embs international conference on biomedical robotics and biomechatronics, BioRob 2010: Welcome message from the program co-chairs

2010 3rd IEEE RAS and EMBS International Conference on Biome...

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2010 3rd ieee ras and embs international conference on biomedical robotics and biomechatronics, BioRob 2010 2010年 2-2页

作者： Iseki, Hiroshi Nakamura, Yoshihiko

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Development of a Differential Actuator Concept for MR-Compatible Robotic Applications

Development of a Differential Actuator Concept for MR-Compat...

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3rd ieee ras and embs international conference on biomedical robotics and biomechatronics

作者： Esser, Christopher Zinn, Michael Univ Wisconsin Dept Mech Engn Madison WI 53706 USA

ISBN: (纸本)9781424477098

In recent years, the use of robotics to augment MRI diagnostic and interventional procedures has increased significantly. However, the demanding MRI environment precludes the use of most common actuation approaches. Alternative actuation concepts have been proposed but these solutions do not lend themselves to linear control topologies. We present a new actuation method, using the motion of parallel ultrasonic motors combined through a differential mechanism, to address these limitations. A prototype of this device is constructed and evaluated. Results demonstrate the viability of the proposed approach while helping to clarify design improvements to further increase its utility.

关键词： MRI compatible robotic applications MRI diagnostic systems biocontrol biomedical MRI differential actuator control medical robotics mobile robots parallel ultrasonic motors ultrasonic motors

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Flight Forces and Altitude Regulation of 12 gram I-Bird

Flight Forces and Altitude Regulation of 12 gram I-Bird

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3rd ieee ras and embs international conference on biomedical robotics and biomechatronics

作者： Baek, Stanley S. Fearing, Ronald S. Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9781424477098

Ornithopter flight forces are typically measured with the body fixed to a force sensor. Here, we demonstrate the identification of free flight aerodynamic forces at a stable equilibrium point of an ornithopter and compare them with the tethered flight aerodynamic forces. For this demonstration, we have developed a closed-loop altitude regulation for the ornithopter using an external camera and custom made onboard electronics. The results show that the tethered aerodynamic force measurement of a 12 gram ornithopter with zero induced velocity underestimates the total flight force by 24.8 mN.

关键词： I-bird aerodynamics aerospace robotics altitude regulation external camera flight forces force sensor force sensors free flight aerodynamic forces onboard electronics ornithopter tethered flight aerodynamic forces

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Experimental Study and Model of the Physical Chemical Properties of Liposome under Ultrasonic Irradiation

Experimental Study and Model of the Physical Chemical Proper...

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3rd ieee ras and embs international conference on biomedical robotics and biomechatronics

作者： Furukawa, Roberto Univ Nacl Ingn Dept Mech Engn Lima Peru

ISBN: (纸本)9781424477098

In the current method of drug administration for optimal dose and to the affected area (Drug Delivery System: DDS), a research of the study on permeability effect of liposome under external stimulation is conduced. Different conditions of ultrasonic irradiation are considered for experimental research such as time of irradiation, frequency of irradiation, position of the probe, water level, different concentration of liposomes and light. Due to a better understand of each stage of the process, a physical chemistry model is developed.

关键词： biochemistry biological effects of acoustic radiation biomedical ultrasonics biomembrane transport cell membrane cellular effects of radiation chemical properties drug administration drug delivery system drug delivery systems lipid bilayers lipids liposome medical treatment optimal dose permeability permeability effect physical properties ultrasonic irradiation frequency water level

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An Upper-Limb Power-Assist Exoskeleton Robot With Task-Oriented Perception-Assist

An Upper-Limb Power-Assist Exoskeleton Robot With Task-Orien...

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3rd ieee ras and embs international conference on biomedical robotics and biomechatronics

作者： Kiguchi, Kazuo Kose, Yasunori Hayashi, Yoshiaki Saga Univ Dept Adv Syst Engn Saga 8408502 Japan

ISBN: (纸本)9781424477098

Many kinds of power-assist exoskeleton robots have been developed to assist the motion in rehabilitation and daily living of physically weak persons. A method of perception-assist has been proposed to assist not only user's motion but also the interaction with an environment, by applying the modification force to the user's motion if it is necessary. In this paper, task-oriented perception-assist is proposed to assist the daily task of physically weak persons with an upper-limb power-assist exoskeleton robot. The performing task is estimated by grasping tool in the proposed method. The effectiveness of the proposed method has been evaluated by performing experiments.

关键词： electromyography medical robotics medical signal processing patient rehabilitation task-oriented perception-assist upper-limb power-assist exoskeleton robot

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Novel Experimental platform for evaluating newly developed medical devices using patient companion animals

Novel Experimental platform for evaluating newly developed m...

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3rd ieee ras and embs international conference on biomedical robotics and biomechatronics

作者： Suzuki, Takashi Yoshimitsu, Kitaro Wada, Akihide Ishii, Hiroshi Muragaki, Yoshihiro Iseki, Hiroshi Tokyo Womens Med Univ Inst Adv Biomed Engn & Sci Tokyo Japan

ISBN: (纸本)9781424477098

This study firstly describes current status of surgical robot development and various social barriers for clinical application such as pre-clinical evaluation study, governmental authorization, and commercialization. And then a novel experimental platform as an evaluation environment of newly developed medical devices is proposed. As model cases of evaluation study, MR scanning and surgeries were conducted in "intelligent animal operating room".

关键词： MR scanning biomedical MRI clinical application commercialization developed medical devices governmental authorization intelligent animal operating room medical robotics patient companion animals pre-clinical evaluation social barriers surgery surgery surgical robot development

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Pressure Pulse Driven Method for Precise Bending Control of Hydraulic Active Catheter

Pressure Pulse Driven Method for Precise Bending Control of ...

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3rd ieee ras and embs international conference on biomedical robotics and biomechatronics

作者： Ikuta, Koji Matsuda, Yoshikatsu Yajima, Daisuke Ota, Yusuke Univ Tokyo Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan Nagoya Univ Nagoya Aichi Japan Nagaoka Univ Technol Chikusa ku Nagoya Aichi Japan Chiba Inst Technol Chiba Japan

ISBN: (纸本)9781424477098

We aimed to develop an active catheter that could be used safely in human blood vessels. We proposed and developed a micro valve for a water pressure-driven system with multi-degrees of freedom, to produce an active catheter that is compact and not driven electrically. In this paper, we proposed a new control method that uses pressure pulses to bend the active segment precisely. We designed the new valve to achieve this control method and experimentally verified the precise bending motion and simultaneous drive of two active segments

关键词： bending bending control blood vessels catheters human blood vessels hydraulic active catheter hydraulic actuators mechanical variables control medical control systems multidegrees of freedom pressure pulses water pressure-driven system

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A Computational Method for Physical Rehabilitation Assessment

A Computational Method for Physical Rehabilitation Assessmen...

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3rd ieee ras and embs international conference on biomedical robotics and biomechatronics

作者： Brooks, Douglas Howard, Ayanna M. Georgia Tech HumAnS Lab Dept Elect & Comp Engn Atlanta GA 30308 USA

ISBN: (纸本)9781424477098

The objective of this research effort is to advance the process of quantifying physical rehabilitation techniques by developing and validating the core technologies needed to integrate therapy instruction with human-robot interaction in order to improve upper-arm rehabilitation. The method presented uses computer vision techniques such as Motion History Imaging (MHI), edge detection, and Random Sample Consensus (RANSAC) to quantify movements through robot observation. The results are compared with ground truth data retrieved via the Trimble 5606 Robotic Total Station for the purpose of assessing the efficiency of this approach.

关键词： Trimble 5606 Robotic Total Station biomechanics computer vision techniques edge detection handicapped aids human movement human-robot interaction medical diagnostic computing medical robotics motion history imaging patient rehabilitation patient treatment physical rehabilitation assessment random sample consensus therapy instruction upper-arm rehabilitation

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Polyarticulated Architecture for the Emulation of an Isocentric Joint in Orthetic Applications

Polyarticulated Architecture for the Emulation of an Isocent...

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3rd ieee ras and embs international conference on biomedical robotics and biomechatronics

作者： Amigo, L. E. Casals, A. Amat, J. Univ Politecn Cataluna Inst Bioengn Catalonia E-08028 Barcelona Spain Univ Politecn Cataluna Biomed Engn Res Ctr E-08028 Barcelona Spain

ISBN: (纸本)9781424477098

The design of orthotic devices that tries to fit to the anthropomorphic structure of human limbs faces the problem of achieving the highest approximation to the anatomical kinematics. This paper studies the main characteristics and performances of orthotic devices, mainly focusing on the upper limbs, and proposes a solution to the problem of the superposition of rotation and displacement of some joints, as the shoulder, elbow or knee. A 3 DoF virtual joint is proposed to emulate a human joint, solving the isocentricity and size adaptation of most current orthosis.

关键词： anatomical kinematics biomechanics human limbs isocentric joint isocentricity kinematics medical robotics orthotic devices orthotics polyarticulated architecture robot kinematics rotation superposition size adaptation upper limbs virtual joint

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