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An approach to robotic guidance of an uncalibrated endoscope in beating heart surgery

An approach to robotic guidance of an uncalibrated endoscope...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Aleksandra Popovic Paul Thienphrapa Philips Research North America Briarcliff Manor NY USA Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA

Minimally invasive cardiac surgery is performed under direct vision provided by an endoscope. During cardiac bypass surgery, counterintuitive control and small field-of-view endoscopic visualization is not sufficient to localize all relevant structures of the heart. This work presents a first step towards enhanced endoscopic visualization in cardiac surgery by allowing image based steering of the endoscope without the need of camera calibration. In the envisioned clinical scenario, a surgeon or an endoscopy assistant selects a point or an area in the live endoscope video stream and the robotic system steers the endoscope towards the selected target on a beating heart. Experiments in a simulated setup have shown that the algorithm successfully performs various feature tracking tasks within the requirements. The results from these experiment led to an improvement of the algorithm to enhance the final stage of feature capturing. With the lessons learned in the simulated setup, next series of experiments have been performed in a clinical-like setting on a beating heart phantom. The experiments show that all reasonable target features can be reached within 1.2 s and 7 pixels of accuracy at a safe and conservative robot speed.

关键词： Endoscopes Surgery Robot kinematics Heart Jacobian matrices Cameras

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Magnetic targeting of aggregated nanoparticles for advanced lung therapies: A robotics approach

Magnetic targeting of aggregated nanoparticles for advanced ...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Panagiotis Vartholomeos Constantinos Mavroidis Nobuhiko Hata Surgical Planning Laboratory Harvard Medical School Brigham and Women's Hospital Boston MA USA Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA USA

This paper studies the use of the innovative concept of MRI-targeted drug delivery platform for robotic targeting of magnetized aerosol in the lungs. The goal is to increase dramatically the therapeutic effectiveness by increasing the aerosol drug concentration in the lesion while reducing its presence in healthy lung tissues. For this purpose, a parametric analysis is conducted to specify the magnetic forces required to efficiently target magnetized liposomal agents to the lungs. The force capabilities of the MRI system are assessed and their limitations with respect to magnetic targeting are identified. To overcome these limitations, the paper proposes a novel approach: to scale-up the MRI magnetic forces by using the MRI magnetic field to generate agglomerations of the aerosolized liposomal agents (or agglomerations of aerosol droplets). The formation of agglomerations increases the magnetic volume and thus increases the magnetic forces. Furthermore the paper presents a dynamic simulation platform, developed by the authors, to assess the feasibility of the concept and to investigate ways to control the size geometry and break-up rate of the agglomerations. The dynamic models of this computational tool are described in detail. The simulation results predict aggregation patterns, whose size and orientation can be controlled by external magnetic fields.

关键词： Magnetic resonance imaging Magnetic forces Magnetic fields Coils Lungs Lesions Force

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Interactive motion planning for steerable needles in 3D environments with obstacles

Interactive motion planning for steerable needles in 3D envi...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Sachin Patil Ron Alterovitz Department of Computer Science University of North Carolina Chapel Hill USA

Bevel-tip steerable needles for minimally invasive medical procedures can be used to reach clinical targets that are behind sensitive or impenetrable areas and are inaccessible to straight, rigid needles. We present a fast algorithm that can compute motion plans for steerable needles to reach targets in complex, 3D environments with obstacles at interactive rates. The fast computation makes this method suitable for online control of the steerable needle based on 3D imaging feedback and allows physicians to interactively edit the planning environment in real-time by adding obstacle definitions as they are discovered or become relevant. We achieve this fast performance by using a Rapidly Exploring Random Tree (RRT) combined with a reachability-guided sampling heuristic to alleviate the sensitivity of the RRT planner to the choice of the distance metric. We also relax the constraint of constant-curvature needle trajectories by relying on duty-cycling to realize bounded-curvature needle trajectories. These characteristics enable us to achieve orders of magnitude speed-up compared to previous approaches; we compute steerable needle motion plans in under 1 second for challenging environments containing complex, polyhedral obstacles and narrow passages.

关键词： Needles Trajectory Planning Three dimensional displays Measurement Kinematics Imaging

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A tendon-based parallel robot applied to motor learning in sports

A tendon-based parallel robot applied to motor learning in s...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Georg Rauter Joachim von Zitzewitz Alexander Duschau-Wicke Heike Vallery Robert Riener Sensory-Motor Systems SMS Lab Institute of Robotics and Intelligent Systems Zurich Switzerland Hocoma AG Volketswil Switzerland Medical Faculty University of Zurich Zurich Switzerland

Research in multimodal motor learning in sports is highly demanding with respect to the equipment, especially when the same equipment has to be reconfigured for different applications. In our multimodal motion synthesis lab (M 3 -lab) we apply visual, auditory, and haptic displays as well as feedback to enhance human motor learning. The demands on our haptic display, a tendon-based parallel robot (TBPR), are particularly high: a large workspace needs to be covered, the robotic device must be versatile, the visual and auditory modality should not be affected, high velocities and forces have to be realizable to render different sports applications, and user-cooperative control strategies should be applicable. In a first sports application, the TBPR is used as a haptic display for a rowing simulator. Until now, the TBPR could only display horizontal forces at the oar blade of the rowing simulator. In this paper, the rowing forces are extended to all three directions. To realize this extension of force directions over the entire workspace, the TBPR has to be actuated redundantly. This redundancy poses additional challenges for the implementation of assistive control strategies presented in this paper: a position control strategy and the Generalized Elastic Path control strategy (a passive strategy using a potential field to compliantly keep the user on a path). These two control strategies have been successfully evaluated with respect to our requirements in terms of accuracy and stability. The presented TBPR can now be used to investigate the impact of different haptic feedbacks on rowing performance.

关键词： Robots Force Humans Rendering (computer graphics) Haptic interfaces Blades Adaptation model

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Effects on human motor strategies of physical interaction with a force-controlled wrist rehabilitation robot

Effects on human motor strategies of physical interaction wi...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Maria Scorcia Domenico Formica Nevio Luigi Tagliamonte Domenico Campolo Eugenio Guglielmelli Laboratory of Biomedical Robotics and Biomicrosystems Faculty of Biomedical Engineering Universitá Campus Bio-Medico di Roma Rome Italy School of Mechanical & AeroSpace Engineering Nanyang Technological University Singapore

In this work we analyze the effects of a force control scheme, implemented on a robot for wrist rehabilitation (InMotion by Interactive Motion Inc.) to reduce the perceived mechanical impedance, on human motor strategies during pointing tasks. Previous studies showed that mechanical impedance of the robot interferes with natural motor strategies. Three healthy subjects performed pointing tasks in three different operative ways: i) with a lightweight hand-held device (capable of measuring wrist rotations without introducing negligible loading effects); ii) with the InMotion controlled using the default control with the impedance parameters set to zero; iii) with the same robot, controlled using a direct force control scheme, which reduces the perceived mechanical impedance. In order to study the effects of the force control on the intrinsic kinematic constraints, we assessed wrist rotations with the same protocol we already used to study wrist motor strategies during redundant pointing tasks. The thickness of Donders surfaces (see and for details) indicates how much a soft constraint (such as Donders Law) applies to wrist kinematics during pointing tasks. The effects of force control can be primarily found in the variability of the fitted surfaces as well as in their thickness values. In particular, thickness values, which for the uncontrolled robot are one order of magnitude smaller than the physiological values (suggesting that the constraint has a mechanical origin rather than a neural one), return back into the physiological range in the case of the force-controlled robot.

关键词： Wrist Robot sensing systems Surface impedance Force control Impedance Humans

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Calibration of a 6-DOF parallel micromanipulator for nanomanipulation

Calibration of a 6-DOF parallel micromanipulator for nanoman...

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IEEE international Nanoelectronics conference (INEC)

作者： Lefeng Wang Weibin Rong Mao Feng Taochou Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424435432;9781424435449

Nanomanipulation is a key enabling technology for many nanometer scale applications. To realize the full 6-DOF nanomanipulation, parallel micromanipulators have manys advantages comparing to the serial ones. Due to the machining and assembly errors, kinematic calibration is necessary to improve the accuracy further. For the 3-limb 6-dof manipulator in this paper, the error model of it was first developed based on the inverse solutions. The scheme for detecting the positions and poses of the end-effector was also determined. The least square method was used to identify the main parameters of the parallel manipulator, and the identified dimensions were used to control the manipulator. The experiments results verify the effectiveness of the calibration processes.

关键词： Calibration Micromanipulators Equations Capacitance Capacitive sensors Machining Assembly Kinematics Least squares methods Displacement measurement

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Single-input single-output EMG-based musculoskeletal modeling for hand tremulous motion

Single-input single-output EMG-based musculoskeletal modelin...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Ruwadi Philippe Poignet Han Ming Li Ang Wei Tech BioRobotics Group School of Mechanical and AeroSpace Engineering Nanyang Technological University Singapore Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Robotics Department Université Montpellier II France

Musculoskeletal system modeling is one of the most challenging problems in rehabilitation engineering, especially when body part position or motion control is involved. Musculoskeletal system is known to be highly nonlinear due to complicated actuation mechanism of the muscle fiber to generate observable / measurable motion. Numerous researchers have proposed models with different approaches to meet the requirements for various applications. Complicated models are usually corresponding to complicated model parameters identification methods or procedures. A simple procedure for identification of the model parameters is preferred in most of modeling related to control problems. In this paper, we propose a simplification of the EMG-based musculoskeletal model for hand tremulous motion to a single-input single-output (SISO) model. A signal processing sequence to preprocess the EMG signal was performed using normalization, rectification, filtering and subtraction to merge the two signals captured from agonist-antagonist muscle groups responsible for the tremulous motion. The proposed SISO model was validated in a simulation using data captured from healthy subject performing 1 degree of freedom (DOF) flexion-extension tremor-like motion with predetermined frequency. Results show that the SISO model is fit for simulating 1 DOF tremulous motion in the hand. Another important result that can be drawn from this work is the reduction in the electromechanical delay (EMD) with increase of motion frequency.

关键词： Electromyography Muscles Signal processing Mathematical model Data models Joints

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A Multiagent Approach for Development of a Flexible and Adaptive Robotic Assembly Work Cell

A Multiagent Approach for Development of a Flexible and Adap...

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2010 The 3rd international conference on Computational Intelligence and Industrial Application (PACIIA2010)

作者： Marko vaco Bojan ekoranja Bojan Jerbi Department of Robotics and Production System Automation Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Complex assembly tasks of specific products in industry are mostly realized in a traditional *** one hand specialized and dedicated machines are used to solve major parts of assembly *** the other hand where machines cannot be implemented human labor is utilized at the factory *** setup of such assembly systems is often oriented toward one product and a predefined work *** tedious human work is one of the essential benefits of the presented work *** high level flexibility and adaptivity to an assembly process can be proven as a major investment in *** products from electronic industry can be assembled on the developed framework which boosts *** presented approach has been tested and evaluated on an industrial setup supported by a multiagent control architecture consisting of three 6 DOF robots.

关键词： Multiagent industrial robotics,flexible assembly

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A novel Modelica signal analysis tool towards design of more electric aircraft

A novel Modelica signal analysis tool towards design of more...

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international conference on Computer Science and Information Technology (CSIT)

作者： Y. Ji J. Bals Department of System Dynamics and Control German AeroSpace Center Institute of Robotics and Mechatronics Wessling Germany

The development of future more electric aircraft systems is a challenging process: The respective subsystems are highly integrated to achieve an optimum efficiency and performance both at aircraft and at systems level. For master this multi-disciplinary challenge, the use of powerful modeling and simulation technologies such as Modelica in all phases of the system development process is a key success factor. In this paper, a novel Modelica signal analysis tool - Modelica Scope that is suitable for the virtual testing activities in the verification and validation phase is presented. The Modelica Scope tool is implemented in the Modelica language incorporating diverse signal measurement and analysis capabilities and can be easily integrated in all simulation environments supporting Modelica such as Dymola, SimulationX etc. The motivation, design concept as well as implementation and distinct features of the tool are discussed and illustrated.

关键词： Mathematical model Computer languages Analytical models Lead MATLAB

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Service Level Analysis method - SLAM

Service Level Analysis method - SLAM

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international conference on Computer Science and Information Technology (CSIT)

作者： Gianmario Motta Giovanni Pignatelli Thiago Barroero Antonella Longo Department of Informatics & Systems University of Pavia Pavia Italy Innovation Engineering Department University of Salerno Lecce Italy

We illustrate a conceptual framework for business oriented Service Level Management (SLM). Currently IT systems are complex objects that support business operations. To be meaningful, a control system should link business and IT performances. This need, though recognized by most IT management frameworks, is not specifically analyzed. Defining a methodology capable to identify this link is the purpose of our work. The proposed methodology identifies relevant IT systems supporting business activities. The key novelty is that the integration between business Key Performance Indicators (KPIs) and IT systems KPIs is performed through a new uptake of Use Case approach. The paper illustrates the conceptual framework, the method and its use in a large transportation organization. The proposed approach has been successfully used by an organization.

关键词： Business Analytical models Manuals Monitoring Inspection Transportation

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