Concentric tube robots: Rapid, stable path-planning and guidance for surgical use
The complex, nonintuitive kinematics of concentric tube robots (CTRs) can make their
telemanipulation challenging. Collaborative control schemes that guide the operating …
telemanipulation challenging. Collaborative control schemes that guide the operating …
A controller to impose a RCM for hands-on robotic-assisted minimally invasive surgery
In Robotic-Assisted Minimally Invasive Surgery a long and thin instrument attached to the
robotic arm enters the human body through a tiny incision. To ensure that no injury occurs …
robotic arm enters the human body through a tiny incision. To ensure that no injury occurs …
A passive admittance controller to enforce remote center of motion and tool spatial constraints with application in hands-on surgical procedures
The restriction of feasible motions of a manipulator link constrained to move through an entry
port is a common problem in minimally invasive surgery procedures. Additional spatial …
port is a common problem in minimally invasive surgery procedures. Additional spatial …
Guaranteed active constraints enforcement on point cloud-approximated regions for surgical applications
In this work, a passive physical human-robot interaction (pHRI) controller is proposed to
intraoperatively ensure that sensitive tissues will not be damaged by the robot's tool. The …
intraoperatively ensure that sensitive tissues will not be damaged by the robot's tool. The …
Implicit active constraints for concentric tube robots based on analysis of the safe and dexterous workspace
The use of concentric tube robots has recognized advantages for accessing target lesions
while conforming to certain anatomical constraints. However, their complex kinematics …
while conforming to certain anatomical constraints. However, their complex kinematics …
Development and preliminary assessment of a robotic platform for neuroendoscopy based on a lightweight robot
M Niccolini, V Castelli, C Diversi, B Kang… - … Journal of Medical …, 2016 - Wiley Online Library
Background Ventriculostomy is a widely performed neurosurgical procedure; some risk
factors can be mitigated by computer/robot‐assisted approaches. Platforms fostering …
factors can be mitigated by computer/robot‐assisted approaches. Platforms fostering …
Implicit active constraints for safe and effective guidance of unstable concentric tube robots
Safe and effective telemanipulation of concentric tube robots is hindered by their complex,
non-intuitive kinematics. Guidance schemes in the form of attractive and repulsive …
non-intuitive kinematics. Guidance schemes in the form of attractive and repulsive …
Skeleton clustering by multi-robot monitoring for fall risk discovery
Y Deguchi, D Takayama, S Takano… - Journal of Intelligent …, 2017 - Springer
This paper tackles the problem of discovering subtle fall risks using skeleton clustering by
multi-robot monitoring. We aim to identify whether a gait has fall risks and obtain useful …
multi-robot monitoring. We aim to identify whether a gait has fall risks and obtain useful …
Manipulation of a whole surgical tool within safe regions utilizing barrier artificial potentials
Active constraint enforcement in robotic-assisted surgery is critical for reducing the intra-
operative risk of unintentionally damaging sensitive tissues by the surgical instrument. This …
operative risk of unintentionally damaging sensitive tissues by the surgical instrument. This …
Intra-operative image-guided interventional robotics—where are we now and where are we going?
Surgical robots are designed with the intention of allowing remote operation and
improvements in precision and steadiness. Beginning around three decades ago with the …
improvements in precision and steadiness. Beginning around three decades ago with the …