A Virtual Reality System for Pre-Planning of Robotic-Assisted Prostate Biopsy

2015 ◽  
Vol 772 ◽  
pp. 585-590
Author(s):  
Florin Gîrbacia ◽  
Silviu Butnariu ◽  
Daniel Voinea ◽  
Bogdan Tzolea ◽  
Teodora Gîrbacia ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Virtual Environment ◽  
Virtual Reality System ◽  
Surgical Robots ◽  
Robotic Assisted ◽  
Biopsy Procedure ◽  
Planning Software ◽  
Operative Planning ◽  
Serial Robot ◽  
Needle Trajectory

Surgical robots for biopsy procedure require pre-operative planning of trajectories prior to be used for needle guiding procedures. Virtual Reality (VR) technologies allow to simulate robotic biopsy procedure and to generate accurate needle trajectories that avoid vital organs. The paper presents a serial robot which can be used for biopsy procedure and a needle trajectory planning software based on VR technologies. A virtual environment has been modelled and simulations for robotic-assisted biopsy of the prostate have been performed.

Methodology for the Identification of Needles Trajectories in Robotic Brachytherapy Procedure Using VR Technology

2013 ◽  
Vol 332 ◽  
pp. 503-508 ◽  
Author(s):  
Silviu Butnariu ◽  
Florin Gîrbacia
Keyword(s):  
Virtual Reality ◽  
Virtual Environment ◽  
Needle Placement ◽  
Surgical Robots ◽  
Planning Stage ◽  
Radioactive Seeds ◽  
Needle Trajectory

Surgical robots, including those for brachytherapy procedure, require preoperative registration prior to use for needle placement procedures. Using a virtual environment for programming the needles trajectories allows a safer procedure for robotic brachytherapy, by avoiding vital structures and providing efficient penetration placement of radioactive seeds. In this paper is proposed a methodology based on Virtual Reality (VR) technologies that can be used to generate and optimize the needle trajectory in the pre-planning stage of the robotic brachytherapy procedure.

scholarly journals Programming of Industrial Robots Using Virtual Reality and Digital Twins

2020 ◽  
Vol 10 (2) ◽  
pp. 486 ◽  
Author(s):  
Andrzej Burghardt ◽  
Dariusz Szybicki ◽  
Piotr Gierlak ◽  
Krzysztof Kurc ◽  
Paulina Pietruś ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Virtual Environment ◽  
Point Of View ◽  
Industrial Robots ◽  
Virtual Reality System ◽  
Digital Twins ◽  
Human Movements ◽  
Cad Models ◽  
Real Robot ◽  
Ceramic Casting

The article presents a method of programming robots using virtual reality and digital twins. The virtual environment is a digital twin of a robotic station, built based on CAD models of existing station elements. The virtual reality system is used to record human movements in a virtual environment, which are then reproduced by a real robot. The method developed is dedicated mainly to such situations in which it is necessary for the robot to reproduce the movements of a human performing a process that is complicated from the point of view of robotization. An example of using the method for programming a robot implementing the process of cleaning ceramic casting moulds is presented.

Automatic disassembly navigation for accurate virtual assembly path planning

2014 ◽  
Vol 34 (3) ◽  
pp. 244-254 ◽  
Author(s):  
Wanbin Pan ◽  
Yigang Wang ◽  
Peng Du
Keyword(s):  
Virtual Reality ◽  
Path Planning ◽  
Virtual Environment ◽  
Design Methodology ◽  
Virtual Assembly ◽  
New Method ◽  
Virtual Reality System ◽  
New Approach ◽  
Content Type ◽  
Human Interactions

Purpose – The purpose of this paper is to develop an automatic disassembly navigation approach for human interactions in the virtual environment to achieve accurate and effective virtual assembly path planning (VAPP). Design/methodology/approach – First, to avoid the error-prone human interactions, a constraint-based disassembly method is presented. Second, to automatically provide the next operable part(s), a disassembly navigation mechanism is adopted. Finally, the accurate assembly path planning can be obtained effectively and automatically by inversing the ordered accurate disassembly paths, which are obtained interactively in the virtual environment aided with the disassembly navigation matrix. Findings – The applications present that our approach can effectively avoid the error-prone interactive results and generate accurate and effective VAPP. Research limitations/implications – There are several works that could be conducted to make our approach more general in the future: to further study the basic disassembly direction deducing rules to make the process of determining disassembly direction totally automatic, to consider the hierarchy of the parts in virtual reality system and to consider the space for assembly/disassembly tools or operators. Originality/value – The approach has the following characteristics: a new approach to avoid the error-prone human interactions for accurate assembly path planning obtaining, a new constraint deducing method for determining the disassembly semantics automatically or semi-automatically is put forward and a new method for automatically identifying operable parts in VAPP is set forward.

Virtual Reality Techniques for Ancient Building Protection and the Establishment of Database - Taking Foshan Zumiao as an Example

2013 ◽  
Vol 351-352 ◽  
pp. 1480-1484
Author(s):  
Yue Qiong Li ◽  
Gang Zheng
Keyword(s):  
Virtual Reality ◽  
Virtual Environment ◽  
Multimedia Database ◽  
Virtual Reality System ◽  
Ultrahigh Resolution ◽  
Data Survey ◽  
Cultural Project ◽  
Set Up ◽  
Important Significance

Foshan Zumiao is one of the three major treasures of the Lingnan ancient buildings and the establishment of the Digital Zumiao is a cultural project of important significance. By means of the combination of the overall-view images obtained by high dynamical light rendering technique (HDR) and the images with digital back ultrahigh resolution, with the multimedia database as the bolster, the Digital Zumiao realizes the reflection of the entity space of the Zumiao building in the virtual environment. Based on this target and experienced the processes and works such as the data survey and acquisition of the Digital Zumiao, analysis and processing of images and word data, and the set up of multimedia database of the Digital Zumiao etc. the virtual reality system and the digitalizing system of the Digital Zumiao were established .

scholarly journals A Virtual Work Space for Both Hands Operations

1997 ◽  
Vol 9 (3) ◽  
pp. 213-219
Author(s):  
Masahiro Ishii ◽  
◽  
Motohiro Swawatari ◽  
Makoto Sato
Keyword(s):  
Virtual Reality ◽  
Virtual Environment ◽  
Sensory Integration ◽  
Virtual Work ◽  
Three Dimensional ◽  
Sensory Information ◽  
Spatial Relation ◽  
Visual Display ◽  
Virtual Reality System ◽  
Interface Device

Two-handed interactions are efficient to design a three dimensional (3D) object, hence a two-handed spatial interface device must facilitate such a design process in a virtual environment. In order to realize a virtual environment where an operator can use his/her both hands efficiently, it is necessary to implement a virtual reality system that is suitable to human's ability of sensory integration. We can unconsciously integrate many kinds of sensory information, e.g. visual and kinesthetic sensation. In this paper, we investigate human’s ability of sensory integration between visual sensation and kinesthesis of hands when they are in disagreement spatially, by changing the spatial relation among the operator, a visual display, and a 3D spatial interface device. Then, we implement a virtual reality system for two-handed interactions that can facilitate human’s smooth sensory integration.

scholarly journals Balance training at low physical fitness using virtual reality system

2020 ◽  
Vol 2 (1) ◽  
pp. 4-10 ◽  
Author(s):  
A. M. Kotov-Smolenskiy ◽  
A. S. Klochkov ◽  
A. E. Khizhnikova
Keyword(s):  
Virtual Reality ◽  
Physical Fitness ◽  
Virtual Environment ◽  
Sedentary Lifestyle ◽  
Balance Training ◽  
Control Group ◽  
Balance Function ◽  
Virtual Reality System ◽  
Eyes Closed ◽  
Physical Exercises

Background. Personal degrees of motor activity frequently is a determining factor of human health and longevity. A sedentary lifestyle is a precondition for the development of many diseases and adversely affect the harmonious physical development of a person. The result of poor physical fitness is reduced movement coordination and the balance function, which can cause falls and injuries. Today, it is not always possible for healthy people of working age and adolescents to organize physical education events, however, modern rehabilitation technologies can serve as a solution to this issue. Aims analysis of the effectiveness of balance training physical exercises performed in a virtual environment, in people with low physical fitness. Methods. In the experimental group, a set of physical exercises were performed in a virtual environment, in the control group in a real environment with additionally created pedagogical conditions aimed at the position of greater instability using gymnastic pads of different stiffness, and foam material bar. Results. The study involved 20 female volunteers (aged 16 to 17 years), who were divided into two equal groups, comparable in age (р 0.05). A statistical analysis of the data obtained at the end of the training course showed that experimental and control groups in the maximum torso deviation in the Romberg instrumental test (p = 0.11) when standing on toes with eyes closed (p = 0.24), and the stability time in the Bondarevsky test (p = 0.07) are no longer significantly different. Conclusions. Performing physical exercises with visual support for biological feedback in a virtual reality system can contribute to the intensification of the learning process, have a beneficial effect on the prevention of a sedentary lifestyle, and also contribute to the training of the balance function, as one of the most important human abilities that determine its motor capabilities.

Sign in / Sign up

Export Citation Format

Share Document