scholarly journals LAPKaans: Tool-Motion Tracking and Gripping Force-Sensing Modular Smart Laparoscopic Training System

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6937
Author(s):  
Luis H. Olivas-Alanis ◽  
Ricardo A. Calzada-Briseño ◽  
Victor Segura-Ibarra ◽  
Elisa V. Vázquez ◽  
Jose A. Diaz-Elizondo ◽  
...  
Keyword(s):  
Skill Acquisition ◽  
Motion Tracking ◽  
Training System ◽  
Force Sensing ◽  
Accurate Information ◽  
Motion System ◽  
Wide Range ◽  
Objective Feedback ◽  
Grasping Force ◽  
Tool Motion

Laparoscopic surgery demands highly skilled surgeons. Traditionally, a surgeon’s knowledge is acquired by operating under a mentor-trainee method. In recent years, laparoscopic simulators have gained ground as tools in skill acquisition. Despite the wide range of laparoscopic simulators available, few provide objective feedback to the trainee. Those systems with quantitative feedback tend to be high-end solutions with limited availability due to cost. A modular smart trainer was developed, combining tool-tracking and force-using employing commercially available sensors. Additionally, a force training system based on polydimethylsiloxane (PDMS) phantoms for sample stiffness differentiation is presented. This prototype was tested with 39 subjects, between novices (13), intermediates (13), and experts (13), evaluating execution differences among groups in training exercises. The estimated cost is USD $200 (components only), not including laparoscopic instruments. The motion system was tested for noise reduction and position validation with a mean error of 0.94 mm. Grasping force approximation showed a correlation of 0.9975. Furthermore, differences in phantoms stiffness effectively reflected user manipulation. Subject groups showed significant differences in execution time, accumulated distance, and mean and maximum applied grasping force. Accurate information was obtained regarding motion and force. The developed force-sensing tool can easily be transferred to a clinical setting. Further work will consist on a validation of the simulator on a wider range of tasks and a larger sample of volunteers.

Explanation Beyond Causation

2018 ◽  
Keyword(s):  
Philosophy Of Science ◽  
Case Studies ◽  
Philosophical Study ◽  
Accurate Information ◽  
Contemporary Philosophy ◽  
Causal Information ◽  
Causal Explanations ◽  
Turn On ◽  
Detailed Case ◽  
Wide Range

Explanations are very important to us in many contexts: in science, mathematics, philosophy, and also in everyday and juridical contexts. But what is an explanation? In the philosophical study of explanation, there is long-standing, influential tradition that links explanation intimately to causation: we often explain by providing accurate information about the causes of the phenomenon to be explained. Such causal accounts have been the received view of the nature of explanation, particularly in philosophy of science, since the 1980s. However, philosophers have recently begun to break with this causal tradition by shifting their focus to kinds of explanation that do not turn on causal information. The increasing recognition of the importance of such non-causal explanations in the sciences and elsewhere raises pressing questions for philosophers of explanation. What is the nature of non-causal explanations—and which theory best captures it? How do non-causal explanations relate to causal ones? How are non-causal explanations in the sciences related to those in mathematics and metaphysics? This volume of new essays explores answers to these and other questions at the heart of contemporary philosophy of explanation. The essays address these questions from a variety of perspectives, including general accounts of non-causal and causal explanations, as well as a wide range of detailed case studies of non-causal explanations from the sciences, mathematics and metaphysics.

A calligraphy training system based on skill acquisition through haptization

2011 ◽  
Vol 2 (4) ◽  
pp. 271-284 ◽  
Author(s):  
Hiroaki Nishino ◽  
Kouta Murayama ◽  
Kazuya Shuto ◽  
Tsuneo Kagawa ◽  
Kouichi Utsumiya
Keyword(s):  
Skill Acquisition ◽  
Training System

scholarly journals Evaluation of the SteamVR Motion Tracking System with a Custom-Made Tracker

2021 ◽  
Vol 11 (14) ◽  
pp. 6390
Author(s):  
Marcin Maciejewski
Keyword(s):  
Motion Tracking ◽  
Tracking System ◽  
Training System ◽  
Random Errors ◽  
Operational Conditions ◽  
Custom Made ◽  
Systematic And Random Errors ◽  
Position And Orientation ◽  
Motion Tracking System ◽  
System Operating

The paper presents the research of the SteamVR tracker developed for a man-portable air-defence training system. The tests were carried out in laboratory conditions, with the tracker placed on the launcher model along with elements ensuring the faithful reproduction of operational conditions. During the measurements, the static tracker was moved and rotated in a working area. The range of translations and rotations corresponded to the typical requirements of a shooting simulator application. The results containing the registered position and orientation values were plotted on 3D charts which showed the tracker’s operation. Further analyses determined the values of the systematic and random errors for measurements of the SteamVR system operating with a custom-made tracker. The obtained results with random errors of 0.15 mm and 0.008° for position and orientation, respectively, proved the high precision of the measurements.

Position Domain PD Control for Contour Tracking

2010 ◽  
Author(s):  
P. R. Ouyang ◽  
Truong Dam
Keyword(s):  
Motion Tracking ◽  
Control Method ◽  
Tracking Error ◽  
Original System ◽  
Contour Tracking ◽  
Pd Control ◽  
Tracking Errors ◽  
Motion System ◽  
Common Control ◽  
The Time Domain

For multi-axis motion control applications, contour tracking is one of the most common control problems encountered by industrial manipulators and robots. In this paper, a position domain PD control method is proposed for the purpose of improving the contour tracking performance. To develop the new control method, the multi-axis motion system is viewed as a master-slave motion system where the master motion is sampled equidistantly and used as an independent variable, while the slave motions are described as functions of the master motion according to the contour tracking requirements. The dynamic model of the multi-axis motion system is developed in the position domain based on the master motion by transforming the original system dynamic equations from the time domain to the position domain. In this control methodology, the master motion will yield zero tracking error for the position as it is used as reference, and only the slave motion tracking errors will affect the final contour tracking errors. The proposed position domain PD controller is successfully examined in a Cartesian robotic system for linear motion tracking and circular contour tracking.

Sugar-templated conductive polyurethane-polypyrrole sponges for wide-range force sensing

2020 ◽  
Vol 383 ◽  
pp. 123103 ◽  
Author(s):  
Yuqin Wan ◽  
Ning Qin ◽  
Yifan Wang ◽  
Qingbai Zhao ◽  
Qiang Wang ◽  
...  
Keyword(s):  
Force Sensing ◽  
Wide Range ◽  
Range Force

Setting up A Career Resource Centre

1997 ◽  
Vol 6 (1) ◽  
pp. 16-17 ◽  
Author(s):  
Karin Hosking
Keyword(s):  
Career Counselling ◽  
Accurate Information ◽  
Occupational Information ◽  
University Of Technology ◽  
Wide Range ◽  
The University

Many careers services are realising the increasing importance of access to accurate information, and are further developing resource centres that clients can use to research their work and study options. When the Careers and Appointments Service at the University of Technology, Sydney (UTS) was re-established in early 1995, a career resource centre was created to support career counselling activities, and to give students access to a wide range of employer and occupational information. This case study outlines the tasks undertaken in setting up the centre, and reflects on issues involved.

The Control of Hexapod Parallel Mechanism

2012 ◽  
Vol 195-196 ◽  
pp. 1030-1034
Author(s):  
Chun Ping Pan ◽  
Hsin Guan
Keyword(s):  
Tracking Error ◽  
Joint Space ◽  
Variable Load ◽  
Phase Lag ◽  
Parallel Mechanisms ◽  
Nonlinear Controller ◽  
Cartesian Space ◽  
Motion System ◽  
Wide Range ◽  
System Output

In order to enhance the innervations fidelity of simulators, an adaptive nonlinear controller is developed, which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problem of rapid tracking under the condition of the wide range, nonlinear and variable load is solved. After the adaptive nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator, the dynamic-static capabilities of motion system is tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increase and the phase lag reduce with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative controlling method in joint space. Therefore the adaptive nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space.

Industrial construction. Buildings and constructions. Corrosion protection and ecology

2020 ◽  
Author(s):  
Aleksey Zhukov ◽  
Vladimir Astashkin ◽  
Vil'en Zholudov ◽  
Vyacheslav Semenov
Keyword(s):  
Corrosion Protection ◽  
Building Materials ◽  
Training System ◽  
Industrial Construction ◽  
Technical Schools ◽  
Industrial Buildings ◽  
Wide Range ◽  
Modern Experience ◽  
The Cost ◽  
Selection Of

This monograph summarizes the modern experience of protection of industrial buildings and structures against aggressive impacts are considered characteristic of corrosion processes under the action of liquid, solid and gaseous environments on the main building materials. Provides a system of regulating the degree of aggressiveness for different parts of buildings and constructions basic provisions for the selection of chemically resistant structures and materials, design methodology section corrosion protection. Systematic design methods of protecting groundwater and soil against aggressive and toxic media, the methods of accounting for the cost of corrosion protection as applied to building elements. Designed for a wide range of engineering-technical workers (ITR), related to design, construction and exploitation of constructions and structures. Can also be used as a textbook for technical schools, colleges and training system engineers.

A Direct Numerical Simulation of the Unsteady Development of a Deformable Rising Bubble in a Quiescent Liquid

2008 ◽  
Author(s):  
Alpana Agarwal ◽  
C. F. Tai ◽  
J. N. Chung
Keyword(s):  
Weber Number ◽  
Bubble Dynamics ◽  
Stokes Equations ◽  
Control Volume ◽  
Density Ratio ◽  
Simulation Method ◽  
Liquid Pool ◽  
Accurate Information ◽  
Two Phase ◽  
Wide Range

An accurate finite-volume based numerical method for the simulation of an isothermal two-phase flow, consisting of a deformable bubble rising in a quiescent, unbounded liquid, is presented. This direct simulation method is built on a sharp interface concept and developed on an Eulerian, Cartesian fixed grid with a cut-cell scheme and marker points to track the moving interface. The unsteady Navier-Stokes equations in both liquid and gas phases are solved separately. The mass continuity and momentum flux conditions are explicitly matched at the true phase boundary to determine the interface shape and movement of the bubble. The highlights of this method are that it utilizes a combined Eulerian-Lagrangian approach, and is capable of treating the interface as a sharp discontinuity. A fixed underlying grid is used to represent the control volume. The interface, however, is denoted by a separate set of marker particles which move along with the interface. A quadratic curve fitting algorithm with marker points is used to yield smooth and accurate information of the interface curvatures. This numerical scheme can handle a wide range of density and viscosity ratios. The bubble is assumed to be spherical and at rest initially, but deforms as it rises through the liquid pool due to buoyancy. Additionally, the flow is assumed to be axisymmetric and incompressible. The bubble deformation and dynamic motion are characterized by the Reynolds number, the Weber number, the density ratio and the viscosity ratio. The effects of these parameters on the translational bubble dynamics and shape are given and the physical mechanisms are explained and discussed. Results for the shape, velocity profile and various forces acting on the bubble are presented here as a function of time until the bubble reaches terminal velocity. The range of Reynolds numbers investigated is 1 < Re < 100, and that of Weber number is 1 < We < 10.

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