A Real-time Robotic System for Sewing Personalized Stent Grafts

Tracking the road or a mobile object and also obstacle avoidance are very important components that must be considered in the process of developing a robotic system. In this paper we propose a mobile platform for indoor navigation, based on a cheap computing hardware, which is able to be configured in two scenarios: the first refers to the movement of the robot on a predetermined path and to avoidance the obstacles, while maintaining the final target, and the second refers to the possibility of identifying and tracking a target. The robotic system aggregates the information acquired from different sensors and combines the computing resources from the mobile platform with those from the central unit. MATLAB is used for all the implementations and tests, to develop algorithms and to create models and applications. The robot's communication with central unit is wireless. Experimental results show that the mobile platform is able to perform, in real time, the following tasks in indoor environment: the recognition of the object, localization and tracking and also the obstacles avoidance.

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Hierarchical auction-based mechanism for real-time resource retrieval in cloud mobile robotic system

2014 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2014.6907157 ◽

2014 ◽

Cited By ~ 12

Author(s):

Lujia Wang ◽

Ming Liu ◽

Max Q.-H Meng

Keyword(s):

Real Time ◽

Robotic System ◽

Time Resource

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A Robotic System for Real-Time Tumor Manipulation During Image Guided Breast Biopsy

Journal of Medical Devices ◽

10.1115/1.2932434 ◽

2008 ◽

Vol 2 (2) ◽

Author(s):

Vishnu G. Mallapragada ◽

Nilanjan Sarkar ◽

Tarun K. Podder

Keyword(s):

Real Time ◽

External Force ◽

Breast Biopsy ◽

Imaging Techniques ◽

Needle Insertion ◽

Robotic System ◽

Original Position ◽

Tissue Specimen ◽

Image Processing Algorithm ◽

Probe Orientation

Breast biopsy guided by imaging techniques is widely used to evaluate suspicious masses within the breast. Current procedure allows the physician to determine location and extent of a tumor in the patient breast before inserting the needle. There are several problems with this procedure: Complex interaction dynamics between needle and breast tissue will likely displace the tumor from its original position necessitating multiple insertions, causing surgeons’ fatigue, patient’s discomfort, and compromising integrity of the tissue specimen. We present a new concept for real-time manipulation of a tumor using a robotic system that monitors the image of the tumor to generate appropriate external force to position the tumor at a desired location. The objective is to demonstrate that it is possible to manipulate a tumor in real-time by applying controlled external force in an automated way such that the tumor does not deviate from the path of the needle. We have demonstrated efficacy of this approach on breast phantoms. The robotic system consists of an ultrasound probe for image acquisition, a guiding mechanism for automatic probe orientation, image processing algorithm for extracting tumor position and PID (proportional-integral-derivative) controlled actuators for tumor manipulation. We have successfully tested this system for accessing mobile lesions during multiple needle insertion trials. This approach has the potential to reduce the number of attempts a surgeon makes to capture the desired tissue specimen, minimize tissue damage, improve speed of biopsy, and reduce patient discomfort.

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