A Microsurgical Robotic System that Induces a Multisensory Illusion

2016 ◽  
Vol 13 (04) ◽  
pp. 1650018 ◽  
Author(s):  
Jumpei Arata ◽  
Kazuo Kiguchi ◽  
Masashi Hattori ◽  
Masamichi Sakaguchi ◽  
Ryu Nakadate ◽  
...  
Keyword(s):  
Time Delay ◽  
Robotic Surgery ◽  
Haptic Feedback ◽  
Robotic System ◽  
Degree Of Freedom ◽  
System Response ◽  
Prototype Implementation ◽  
Hand Coordination ◽  
The Given

Intuitiveness in robotic surgery is highly desirable when performing highly elaborate surgical tasks using surgical master–slave systems (MSSs), such as suturing. To increase the operability of such systems, the time delay of the system response, haptic feedback, and eye–hand coordination are the issues that have received the most attention. In addition to these approaches, we propose a surgical robotic system that induces a multisensory illusion. In our previous study, we reported that a robotic instrument we devised enhances the multisensory illusion. In this paper, we determine the requirements for inducing this multisensory illusion in a multi-degree-of-freedom (DOF) MSS, and the first stage of prototype implementation based on the given requirements is described.

Parallel and sequential structures of manipulators in robotic surgery

2019 ◽  
Vol 485 (2) ◽  
pp. 166-170
Author(s):  
E. I. Veliev ◽  
R. F. Ganiev ◽  
V. A. Glazunov ◽  
G. S. Filippov
Keyword(s):  
Robotic Surgery ◽  
Robotic System ◽  
Parallel Structure ◽  
Manipulation System ◽  
Surgical Manipulation ◽  
Surgical Operations

The problems of modern robotics associated with the requirements for devices designed for various purposes are considered. The daVinci robotic surgical manipulation system is analyzed. The developed robotic system with a parallel structure designed for various kinds of surgical operations is proposed.

Switched control of an N-degree-of-freedom input delayed wearable robotic system

Automatica ◽  
2021 ◽  
Vol 125 ◽  
pp. 109455
Author(s):  
Zhiyu Sheng ◽  
Ziyue Sun ◽  
Vahidreza Molazadeh ◽  
Nitin Sharma
Keyword(s):  
Robotic System ◽  
Degree Of Freedom ◽  
Switched Control

scholarly journals Surgical Audio Guidance: Feasibility Check for Robotic Surgery Procedures

2020 ◽  
Vol 6 (3) ◽  
pp. 571-574
Author(s):  
Anna Schaufler ◽  
Alfredo Illanes ◽  
Ivan Maldonado ◽  
Axel Boese ◽  
Roland Croner ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Haptic Feedback ◽  
Acoustic Emissions ◽  
Surgical Instruments ◽  
Additional Information ◽  
Tissue Interactions ◽  
Haptic Interactions ◽  
Visual Clues ◽  
To Receive ◽  
Expected Signal

AbstractIn robot-assisted procedures, the surgeon controls the surgical instruments from a remote console, while visually monitoring the procedure through the endoscope. There is no haptic feedback available to the surgeon, which impedes the assessment of diseased tissue and the detection of hidden structures beneath the tissue, such as vessels. Only visual clues are available to the surgeon to control the force applied to the tissue by the instruments, which poses a risk for iatrogenic injuries. Additional information on haptic interactions of the employed instruments and the treated tissue that is provided to the surgeon during robotic surgery could compensate for this deficit. Acoustic emissions (AE) from the instrument/tissue interactions, transmitted by the instrument are a potential source of this information. AE can be recorded by audio sensors that do not have to be integrated into the instruments, but that can be modularly attached to the outside of the instruments shaft or enclosure. The location of the sensor on a robotic system is essential for the applicability of the concept in real situations. While the signal strength of the acoustic emissions decreases with distance from the point of interaction, an installation close to the patient would require sterilization measures. The aim of this work is to investigate whether it is feasible to install the audio sensor in non-sterile areas far away from the patient and still be able to receive useful AE signals. To determine whether signals can be recorded at different potential mounting locations, instrument/tissue interactions with different textures were simulated in an experimental setup. The results showed that meaningful and valuable AE can be recorded in the non-sterile area of a robotic surgical system despite the expected signal losses.

Power Spectra Density Replication Control Strategy for 2-Axis Hydraulic Shaker Based on HV Estimator

2014 ◽  
Vol 596 ◽  
pp. 610-615
Author(s):  
Yu Chen ◽  
Qiang Li Luan ◽  
Zhang Wei Chen ◽  
Hui Nong He
Keyword(s):  
Response Function ◽  
Control Algorithm ◽  
Power Spectra ◽  
Time History ◽  
Good Effect ◽  
System Response ◽  
Power Spectral ◽  
Iterative Correction ◽  
Replication Control ◽  
The Given

Hydraulic shaker, equipment of simulating laboratory vibration environment, can accurately replicate the given power spectral density (PSD) and time history with an appropriate control algorithm. By studying method Hv estimator of frequency response function (FRF) estimation, a FRF identification strategy based on the Hv estimator is designed to increase the convergence rapidity and improve the system response function specialty. The system amplitude-frequency characteristics in some frequency points or frequency bands have large fluctuation. To solve this issue, a step-varying and frequency-sectioning iterative correction control algorithm is proposed for the control of 2-axial exciter PSD replication tests and the results show that the algorithm has a good effect on the control of hydraulic shaker, and can achieve reliable and high-precision PSD replication.

scholarly journals New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

2021 ◽  
Vol 10 (3) ◽  
pp. 192
Author(s):  
Hachmia Faqihi ◽  
Khalid Benjelloun ◽  
Maarouf Saad ◽  
Mohammed Benbrahim ◽  
M. Nabil Kabbaj
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Degree Of Freedom ◽  
Delay Estimation ◽  
The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

Direct Optimization of Multi-Degree-of-Freedom Mechanisms for Near Time Optimal Motions Along Specified Paths

1991 ◽  
Author(s):  
Satish Sundar ◽  
Zvi Shiller
Keyword(s):  
Design Method ◽  
Close Correlation ◽  
Optimization Methods ◽  
Degree Of Freedom ◽  
Design Parameters ◽  
Direct Optimization ◽  
Fitting Procedure ◽  
Time Optimal ◽  
Approximate Cost ◽  
The Given

Abstract A design method for selecting system parameters of multi-degree-of-freedom mechanisms for near minimum time motions along specified paths is presented. The time optimization problem is approximated by a simple curve fitting procedure that fits, what we call, the acceleration lines to the given path. The approximate cost function is explicit in the design parameters, facilitating the formulation of the design problem as a constrained optimization. Examples for optimizing the dimensions of a five-bar planar mechanism demonstrate close correlation between the approximate and the exact solutions and better computational efficiency than the previous unconstrained optimization methods.

Experimental Validation of Existing Numerical Models for the Interaction of Fluid Transients With In-Line Air Pockets

2019 ◽  
Vol 141 (12) ◽  
Author(s):  
Jane Alexander ◽  
Pedro J. Lee ◽  
Mark Davidson ◽  
Huan-Feng Duan ◽  
Zhao Li ◽  
...  
Keyword(s):  
Time Delay ◽  
Wave Speed ◽  
Numerical Models ◽  
Diagnostic Process ◽  
Air Pocket ◽  
Fluid Transients ◽  
Entrapped Air ◽  
Air Pockets ◽  
The Given ◽  
Potential Tool

Entrapped air in pipeline systems can compromise the operation of the system by blocking flow and raising pumping costs. Fluid transients are a potential tool for characterizing entrapped air pockets, and a numerical model which is able to accurately predict transient pressures for a given air volume represents an asset to the diagnostic process. This paper presents a detailed study on our current capability for modeling and predicting the dynamics of an inline air pocket, and is one of a series of articles within a broader context on air pocket dynamics. This paper presents an assessment of the accuracy of the variable wave speed and accumulator models for modeling air pockets. The variable wave speed model was found to be unstable for the given conditions, while the accumulator model is affected by amplitude and time-delay errors. The time-delay error could be partially overcome by combining the two models.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

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