scholarly journals A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case

2021 ◽  
Vol 8 ◽  
Author(s):  
Fanny Ficuciello ◽  
Alberto Villani ◽  
Tommaso Lisini Baldi ◽  
Domenico Prattichizzo
Keyword(s):  
Laparoscopic Surgery ◽  
Control Strategy ◽  
High Performance ◽  
Degrees Of Freedom ◽  
User Study ◽  
Mapping Method ◽  
Human Hand ◽  
Robot Assisted ◽  
Da Vinci Robot ◽  
End Effector

This work presents a novel technique to control multi-functional hand for robot-assisted laparoscopic surgery. We tested the technique using the MUSHA multi-functional hand, a robot-aided minimally invasive surgery tool with more degrees of freedom than the standard commercial end-effector of the da Vinci robot. Extra degrees of freedom require the development of a proper control strategy to guarantee high performance and avoid an increasing complexity of control consoles. However, developing reliable control algorithms while reducing the control side’s mechanical complexity is still an open challenge. In the proposed solution, we present a control strategy that projects the human hand motions into the robot actuation space. The human hand motions are tracked by a LeapMotion camera and mapped into the actuation space of the virtualized end-effector. The effectiveness of the proposed method was evaluated in a twofold manner. Firstly, we verified the Lyapunov stability of the algorithm, then an user study with 10 subjects assessed the intuitiveness and usability of the system.

Smart Prosthetic Hand with Object Slippage Detection, Measurement, and Control

2014 ◽  
Vol 5 (3) ◽  
pp. 25-48
Author(s):  
Girish Sriram ◽  
Alex Jensen ◽  
Steve C. Chiu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Sensory Feedback ◽  
Position Control ◽  
Tactile Feedback ◽  
Human Hand ◽  
Computing Platform ◽  
Emg Signal ◽  
A New Technique

The human hand along with its fingers possess one of the highest numbers of nerve endings in the human body. It thus has the capacity for the richest tactile feedback for positioning capabilities. This article shares a new technique of controlling slippage. The sensing system used for the detection of slippage is a modified force sensing resistor (FSR®). The control system is a fuzzy logic control algorithm with multiple rules that is designed to be processed on a mobile handheld computing platform and integrated/working alongside a traditional Electromyography (EMG) or Electroencephalography (EEG) based control system used for determining position of the fingers. A 5 Degrees of Freedom (DOF) hand, was used to test the slippage control strategy in real time. First a reference EMG signal was used for getting the 5 DOF hand to grasp an object, using position control. Then a slip was introduced to see the slippage control strategy at work. The results based on the plain tactile sensory feedback and the modified sensory feedback are discussed.

Analysis of Hand-Arm Coordinate Motion on Constraint Tasks

1991 ◽  
Vol 3 (6) ◽  
pp. 497-505
Author(s):  
Shigeki Sugano ◽  
◽  
Hideyo Namimoto ◽  
Ichiro Kato
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Degrees Of Freedom ◽  
Control Mechanism ◽  
Human Motion ◽  
Degree Of Freedom ◽  
Human Hand ◽  
Human Motion Analysis ◽  
Manipulator Control ◽  
Arm Coordination

This research was conducted to study the control strategy of manipulator based on clarifying the force control mechanism of the human hand-arm by analyzing human constraint tasks with respect to biomechanism. In this paper; we describe an investigation of hand-arm function share. In addition, we apply hand-arm coordination to manipulator control using experimental results of analyzing the human tasks of moving bead balls on a shaft, which is an example of a constraint task with one degree of freedom (d.o.f.). In the human motion analysis, 6 axes of force on the task object are measured and compared in the case of constraining the hands degree of freedom and making hand free as well as in the case of with or without forced displacement along the translational direction during motion. As a result, we found that human work was performed smoothly through absorption of rotational force using hand d.o.f. and translational force using arm d.o.f. Also, it was found that there are the direction of motion and the posture easily absorbable translational force. Finally, we propose to apply the human hand-arm coordination compliance control strategy setting translational compliance by arms and rotational compliance by hands, to manipulator with more than 7 degrees of freedom. Thus, the setting of optional compliance applicable to circumstance and the resulting force control due to this become possible.

scholarly journals Retrospective Analysis of the Efficacy of Da Vinci Robot-Assisted Pyeloplasty in the Treatment of Ureteropelvic Junction Obstruction in Children

2021 ◽  
Vol 2021 ◽  
pp. 1-6
Author(s):  
Yimeng Liu ◽  
Moudong Wu ◽  
Wei Wang ◽  
Xiong Zhan ◽  
Jinpu Peng ◽  
...  
Keyword(s):  
Laparoscopic Surgery ◽  
Ureteropelvic Junction Obstruction ◽  
Da Vinci ◽  
Perioperative Complications ◽  
Ureteropelvic Junction ◽  
Robot Assisted ◽  
Da Vinci Robot ◽  
Common Causes ◽  
Average Operative Time ◽  
The Right

Ureteropelvic junction obstruction (UPJO) is one of the common causes of hydronephrosis in children, and the purpose of this study was to observe the application effect of da Vinci robot-assisted laparoscopic treatment of UPJO and to investigate the safety, feasibility, and advantages of da Vinci robot-assisted laparoscopic surgery. 13 patients who underwent robot-assisted pyeloplasty (RAP) for UPJO admitted from May 2020 to March 2021 were retrospectively analyzed in our study. The clinical data among them revealed the intraoperative and postoperative indicators and complications as follows. UPJO was found on the left side in 9 patients and on the right side in 4 patients. The average operative time, blood loss, and hospital stay were 227.3 (175–310) min, 9.2 (5–30) mL, and 9.2 (6–14) days, respectively. Two cases of gross hematuria and two cases of minor urinary tract infection occurred after surgery, and the rest had no perioperative complications. The clinical treatment efficiency at postoperative follow-up was 100%. Our initial analysis showed that da Vinci robot-assisted laparoscopic surgery is a highly effective and safe option for the treatment of UPJO in children.

Vibration Suppression of the Flexible Joint Manipulator Based on Controllable Local Degrees of Freedom

2011 ◽  
Vol 66-68 ◽  
pp. 989-994
Author(s):  
Zhi Hui Gao ◽  
Jing Jing Yu ◽  
Yu Shu Bian
Keyword(s):  
Vibration Control ◽  
Control Strategy ◽  
Topological Structure ◽  
Degrees Of Freedom ◽  
Vibration Suppression ◽  
Dynamic Performance ◽  
End Effector ◽  
Flexible Joint ◽  
Local Degree ◽  
Flexible Joint Manipulator

In order to suppress vibration of the flexible-joint manipulator, a new topological structure of the manipulator with the controllable local degrees of freedom is suggested. By kinematic and dynamic analysis, it is found that arbitrary motions introduced by the controllable local degrees of freedom are independent of the nominal end-effector motion, but can greatly affect dynamic performance of the manipulator. As a result, a vibration control strategy is put forward based on the controllable local degree of freedom. By planning the branch link motion, the vibration of the flexible-joint manipulator can be reduced. The results of numerical simulations verify the effectiveness of the vibration control strategy proposed in this paper.

The Hannes hand prosthesis replicates the key biological properties of the human hand

2020 ◽  
Vol 5 (46) ◽  
pp. eabb0467
Author(s):  
M. Laffranchi ◽  
N. Boccardo ◽  
S. Traverso ◽  
L. Lombardi ◽  
M. Canepa ◽  
...  
Keyword(s):  
Daily Living ◽  
High Performance ◽  
Degrees Of Freedom ◽  
Biological Properties ◽  
Human Hand ◽  
Pilot Trials ◽  
Before And After ◽  
Human Likeness ◽  
Improved Performance ◽  
Industrial Designers

Replacing the human hand with artificial devices of equal capability and effectiveness is a long-standing challenge. Even the most advanced hand prostheses, which have several active degrees of freedom controlled by the electrical signals of the stump’s residual muscles, do not achieve the complexity, dexterity, and adaptability of the human hand. Thus, prosthesis abandonment rate remains high due to poor embodiment. Here, we report a prosthetic hand called Hannes that incorporates key biomimetic properties that make this prosthesis uniquely similar to a human hand. By means of an holistic design approach and through extensive codevelopment work involving researchers, patients, orthopaedists, and industrial designers, our proposed device simultaneously achieves accurate anthropomorphism, biomimetic performance, and human-like grasping behavior that outperform what is required in the execution of activities of daily living (ADLs). To evaluate the effectiveness and usability of Hannes, pilot trials on amputees were performed. Tests and questionnaires were used before and after a period of about 2 weeks, in which amputees could autonomously use Hannes domestically to perform ADLs. Last, experiments were conducted to validate Hannes’s high performance and the human likeness of its grasping behavior. Although Hannes’s speed is still lower than that achieved by the human hand, our experiments showed improved performance compared with existing research or commercial devices.

Improving Efficiency in Robot Assisted Belt Grinding of High Performance Materials

2014 ◽  
Vol 907 ◽  
pp. 139-149 ◽  
Author(s):  
Eckart Uhlmann ◽  
Florian Heitmüller
Keyword(s):  
Gas Turbines ◽  
High Performance ◽  
Scale Effects ◽  
Turbine Blades ◽  
Repair Process ◽  
Industrial Robots ◽  
Robot Assisted ◽  
Belt Grinding ◽  
Economy Of Scale ◽  
The Individual

In gas turbines and turbo jet engines, high performance materials such as nickel-based alloys are widely used for blades and vanes. In the case of repair, finishing of complex turbine blades made of high performance materials is carried out predominantly manually. The repair process is therefore quite time consuming. And the costs of presently available repair strategies, especially for integrated parts, are high, due to the individual process planning and great amount of manually performed work steps. Moreover, there are severe risks of partial damage during manually conducted repair. All that leads to the fact that economy of scale effects remain widely unused for repair tasks, although the piece number of components to be repaired is increasing significantly. In the future, a persistent automation of the repair process chain should be achieved by developing adaptive robot assisted finishing strategies. The goal of this research is to use the automation potential for repair tasks by developing a technology that enables industrial robots to re-contour turbine blades via force controlled belt grinding.

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