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1
Stone, Richard T., Ann Bisantz, James Llinas, and Victor Paquet. "Improving Tele-robotic Navigation through Augmented Reality Devices." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 53, no. 18 (October 2009): 1432–36. http://dx.doi.org/10.1177/154193120905301856.
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PANCALDI, Lucio, and Mahmut Selman SAKAR. "Flow Driven Robotic Navigation of Endovascular Microscopic Devices." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2021.7 (2021): OS1–5. http://dx.doi.org/10.1299/jsmeicam.2021.7.os1-5.
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Menon, S. R., S. G. Kapoor, and R. B. Blackmon. "Navigation planning for mobile robotic devices in modular warehouses." International Journal of Advanced Manufacturing Technology 3, no. 4 (August 1988): 47–62. http://dx.doi.org/10.1007/bf02601833.
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Hersh, Marion A., and Michael A. Johnson. "A Robotic Guide for Blind People. Part 1. A Multi-National Survey of the Attitudes, Requirements and Preferences of Potential End-Users." Applied Bionics and Biomechanics 7, no. 4 (2010): 277–88. http://dx.doi.org/10.1155/2010/252609.
Повний текст джерелаАнотація:
This paper reports the results of a multi-national survey in several different countries on the attitudes, requirements and preferences of blind and visually impaired people for a robotic guide. The survey is introduced by a brief overview of existing work on robotic travel aids and other mobile robotic devices. The questionnaire comprises three sections on personal information about respondents, existing use of mobility and navigation devices and the functions and other features of a robotic guide. The survey found that respondents were very interested in the robotic guide having a number of different functions and being useful in a wide range of circumstances. They considered the robot's appearance to be very important but did not like any of the proposed designs. From their comments, respondents wanted the robot to be discreet and inconspicuous, small, light weight and portable, easy to use, robust to damage, require minimal maintenance, have a long life and a long battery life.
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Krieg, Sandro M., and Bernhard Meyer. "First experience with the jump-starting robotic assistance device Cirq." Neurosurgical Focus 45, videosuppl1 (July 2018): V3. http://dx.doi.org/10.3171/2018.7.focusvid.18108.
Повний текст джерелаАнотація:
Since spinal navigation became applicable, including robotic assistance into standard navigational setups seems reasonable. A newly released modular robotic assistance for drill stabilization (Cirq, Brainlab) was used in a 74-year-old man undergoing dynamic stabilization of L3–4 via navigated transfascial pedicle screws. The authors demonstrate the second worldwide surgery with this device and the second case performed in their department. They provide insight in its applicability to estimate its further potential in spinal robotics. Although being just the first step of this universal platform, the authors already see clinical benefit by its ease of use and drill support.The video can be found here: https://youtu.be/oN2ZiHFRFkU.
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Kamburugamuve, Supun, Leif Christiansen, and Geoffrey Fox. "A Framework for Real Time Processing of Sensor Data in the Cloud." Journal of Sensors 2015 (2015): 1–11. http://dx.doi.org/10.1155/2015/468047.
Повний текст джерелаАнотація:
We describe IoTCloud, a platform to connect smart devices to cloud services for real time data processing and control. A device connected to IoTCloud can communicate with real time data analysis frameworks deployed in the cloud via messaging. The platform design is scalable in connecting devices as well as transferring and processing data. With IoTCloud, a user can develop real time data processing algorithms in an abstract framework without concern for the underlying details of how the data is distributed and transferred. For this platform, we primarily consider real time robotics applications such as autonomous robot navigation, where there are strict requirements on processing latency and demand for scalable processing. To demonstrate the effectiveness of the system, a robotic application is developed on top of the framework. The system and the robotics application characteristics are measured to show that data processing in central servers is feasible for real time sensor applications.
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Gopesh, Tilvawala, Jessica H. Wen, David Santiago-Dieppa, Bernard Yan, J. Scott Pannell, Alexander Khalessi, Alexander Norbash, and James Friend. "Soft robotic steerable microcatheter for the endovascular treatment of cerebral disorders." Science Robotics 6, no. 57 (August 18, 2021): eabf0601. http://dx.doi.org/10.1126/scirobotics.abf0601.
Повний текст джерелаАнотація:
Catheters used for endovascular navigation in interventional procedures lack dexterity at the distal tip. Neurointerventionists, in particular, encounter challenges in up to 25% of aneurysm cases largely due to the inability to steer and navigate the tip of the microcatheters through tortuous vasculature to access aneurysms. We overcome this problem with submillimeter diameter, hydraulically actuated hyperelastic polymer devices at the distal tip of microcatheters to enable active steerability. Controlled by hand, the devices offer complete 3D orientation of the tip. Using saline as a working fluid, we demonstrate guidewire-free navigation, access, and coil deployment in vivo, offering safety, ease of use, and design flexibility absent in other approaches to endovascular intervention. We demonstrate the ability of our device to navigate through vessels and to deliver embolization coils to the cerebral vessels in a live porcine model. This indicates the potential for microhydraulic soft robotics to solve difficult access and treatment problems in endovascular intervention.
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Shabayek, Abd El Rahman, Olivier Morel, and David Fofi. "Polarization-based Robot Orientation and Navigation." International Journal of Systems Biology and Biomedical Technologies 3, no. 1 (January 2015): 73–89. http://dx.doi.org/10.4018/ijsbbt.2015010104.
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From insects in your garden to creatures in the sea, inspiration can be drawn from nature to design a whole new class of smart robotic devices. These smart machines may move like living creatures. They can be launched toward a specific target for a pre-defined task. Bio-inspiration is developing to meet the needs of many challenges particularly in machine vision. Some species in the animal kingdom like cephalopods, crustaceans and insects are distinguished with their visual capabilities which are strongly improved by means of polarization. This work surveys the most recent research in the area of bio-inspired polarization based robot orientation and navigation. Firstly, the authors will briefly discuss the polarization based orientation and navigation behavior in the animal kingdom. Secondly, a comprehensive cover of its mapping into robotics navigation and orientation estimation will be given. Finally, the future research directions will be discussed.
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Perez, Elisa, Carlos Soria, Oscar Nasisi, Teodiano Freire Bastos, and Vicente Mut. "Robotic wheelchair controlled through a vision-based interface." Robotica 30, no. 5 (August 8, 2011): 691–708. http://dx.doi.org/10.1017/s0263574711000919.
Повний текст джерелаАнотація:
SUMMARYIn this work, a vision-based control interface for commanding a robotic wheelchair is presented. The interface estimates the orientation angles of the user's head and it translates these parameters in command of maneuvers for different devices. The performance of the proposed interface is evaluated both in static experiments as well as when it is applied in commanding the robotic wheelchair. The interface calculates the orientation angles and it translates the parameters as the reference inputs to the robotic wheelchair. Control architecture based on the dynamic model of the wheelchair is implemented in order to achieve safety navigation. Experimental results of the interface performance and the wheelchair navigation are presented.
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Duke, Jennifer D., and Janani Reisenauer. "Review: Technology and Techniques for Robotic-assisted Bronchoscopy." Journal of Lung Health and Diseases 6, no. 1 (April 6, 2022): 1–5. http://dx.doi.org/10.29245/2689-999x/2022/1.1179.
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With recent advancements in robotic bronchoscopy for peripheral pulmonary nodule biopsy, there has been notable improvements in reach, stability, and precision. Since 2017, the United States Food and Drug Administration (FDA) has approved two robotic devices, the Ion™ Endoluminal System (“Ion”) (Intuitive Surgical©, Sunnyvale, CA, USA) and the Monarch robotic system (Auris Health Inc, Redwood City, CA), for peripheral navigation and biopsy of lung lesions. We review these two robotic bronchoscopy systems and the literature that supports their use.
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Upadhyay, Jatin, Abhishek Rawat, Dipankar Deb, Vlad Muresan, and Mihaela-Ligia Unguresan. "An RSSI-Based Localization, Path Planning and Computer Vision-Based Decision Making Robotic System." Electronics 9, no. 8 (August 17, 2020): 1326. http://dx.doi.org/10.3390/electronics9081326.
Повний текст джерелаАнотація:
A robotic navigation system operates flawlessly under an adequate GPS signal range, whereas indoor navigation systems use the simultaneous localization and mapping system or other vision-based localization systems. The sensor used in indoor navigation systems is not suitable for low power and small scale robotic systems. The wireless area network transmitting devices have fixed transmission power, and the receivers get the different values of signal strength based on their surrounding environments. In the proposed method, the received signal strength index (RSSI) values of three fixed transmitter units are measured every 1.6 m in mesh format and analyzed by the classifiers, and robot position can be mapped in the indoor area. After navigation, the robot analyzes objects and detects and recognize human faces with the help of object recognition and facial recognition-based classification methods respectively. This robot detects the intruder with the current position in an indoor environment.
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Škultéty, Emil, Elena Pivarčiová, and Ladislav Karrach. "Design of an Inertial Measuring Unit for Control of Robotic Devices." Materials Science Forum 952 (April 2019): 313–22. http://dx.doi.org/10.4028/www.scientific.net/msf.952.313.
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Industrial robots are increasingly used to automate technological processes, such as machining, welding, paint coating, assembly, etc. Automation rationalizes material flows, integrates production facilities and reduces the need for manufacturing inventory, provides cost savings for human maintenance. Technology development and growing competition have an influence on production growth and increase of product quality, and thus the new possibilities in innovation of industrial robot are searched for. One of the possibilities is applying of an inertial navigation system into robot control. This article focuses on new trends in manufacturing technology: design of Inertial Measurement Unit (IMU) for a robotic application control. The Arduino platform is used for the IMU as a hardware solution. The advantage of this platform is low cost and wide range of sensors and devices that are compatible with this platform. For scanning, the MEMS sensor MPU6050 is used, which includes a 3-axis gyroscope and an accelerometer in one chip. New trends in manufacturing facilities, especially robotics innovation and automation, will enable the productivity to grow in production processes.
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Ivashchenko, A. V., A. E. Yablokov, E. I. Balandin, V. P. Tlustenko, and Yu E. Antonyan. "Techniques for dental implants positioning." Bulletin of the Russian Military Medical Academy 20, no. 2 (December 15, 2018): 240–43. http://dx.doi.org/10.17816/brmma12355.
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The modern techniques for dental implants positioning are analyzed. It is established that the duration of dental implants functioning depends on the accuracy of their positioning. The peculiarities of the influence of the human factor on the results of the installation of dental implants are revealed. It is shown that the «free hand» technique is the most inaccurate method. The accuracy of mechanical devices leaves an imprint on the results of dental implantation. Overall, the improvement of implant positioning techniques went along the way of eliminating the negative influence of the human factor on the results of the operation. For this purpose, a few mechanical devices and methods were proposed to approximate the result of the operation to the preoperative plan. Thus, the development of methods for positioning dental implants has gone from the«free hand» technique to robotic systems. Dental navigation platforms evolved along the path of improving the design and increasing the accuracy of implant positioning. In recent years there has been a sharp slowdown in the development of dental navigation systems and an increasing number of applications of robotic systems for the installation of dental implants. At the same time, the role of the implantologist gradually fades into the background, giving way to the dominant role for robotic systems that exceed the accuracy of the positioning of dental implants. In general, the use of mechanical and robotic devices in dental implantation makes it possible to achieve the best result in comparison with the «free hand» technique.
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Chan, Alvin Y., Lilit Mnatsakanyan, Mona Sazgar, Indranil Sen-Gupta, Jack J. Lin, Frank P. K. Hsu, and Sumeet Vadera. "Accuracy and Efficacy for Robotic Assistance in Implanting Responsive Neurostimulation Device Electrodes in Bilateral Mesial Temporal Lobe Epilepsy." Operative Neurosurgery 14, no. 3 (April 26, 2017): 267–72. http://dx.doi.org/10.1093/ons/opx085.
Повний текст джерелаАнотація:
Abstract BACKGROUND Responsive neurostimulation (RNS) is a relatively new treatment option that has been shown to be effective for patients with medically refractory focal epilepsy when resection is not possible, especially in bilateral mesial temporal onset. Robotic devices are becoming increasingly popular for use in stereotactic procedures such as stereoelectroencephalography, but have yet to be used when implanting RNS devices. OBJECTIVE To show that these 2 forms of advanced technology were compatible and could be used effectively in patient care. METHODS We implanted RNS devices in 3 patients with bilateral mesial temporal lobe epilepsy. Each patient was placed in the prone position, and electrode trajectories were planned via the robotic navigation system via a transoccipital approach. One lead was placed along each amygdalohippocampal complex. A small craniectomy was then created in the parietal region for RNS generator implantation. Actual and expected target locations and distance were calculated for each depth. There were no complications in this group. RESULTS RNS devices with bilateral leads were successfully implanted in all 3 patients, with bilateral mesial temporal lobe onset. Follow-up ranged from 3 to 6 mo, and there were no complications in this group. The median distance between the estimate and actual targets was 2.18 (range = 1.11-3.27) mm. CONCLUSION We show that implanting RNS devices with robotic assistance is feasible with excellent precision and accuracy. The advantages of using robotic assistance include higher flexibility, accuracy, precision, and consistency.
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Bogue, Robert. "Sensors for robotic perception. Part two: positional and environmental awareness." Industrial Robot: An International Journal 42, no. 6 (October 19, 2015): 502–7. http://dx.doi.org/10.1108/ir-07-2015-0133.
Повний текст джерелаАнотація:
Purpose – The purpose of this article is to illustrate how sensors impart perceptive capabilities to robots. This is the second part of a two-part article. This second part considers positional awareness and sensing in the external environment, notably but not exclusively by autonomous, mobile robots. Design/methodology/approach – Following a short introduction, this article first discusses positional sensing and navigation by mobile robots, including self-driving cars, automated guided vehicles, unmanned aerial vehicles (UAVs) and autonomous underwater vehicles (AUVs). It then considers sensing with UAVs and AUVs, and finally discusses robots for hazard detection. Brief concluding comments are drawn. Findings – This shows that sensors based on a multitude of techniques confer navigational capabilities to mobile robots, including LIDARs, radar, sonar, imaging and inertial sensing devices. UAVs, AUVs and mobile terrestrial robots can be equipped with all manner of sensors to create detailed terrestrial and underwater maps, monitor air and water quality, locate pollution and detect hazards. While existing sensors are used widely, many new devices are now being developed to meet specific requirements and to comply with size, weight and cost restraints. Originality/value – The use of mobile robots is growing rapidly, and this article provides a timely account of how sensors confer them with positional awareness and allow them to act as mobile sensing platforms.
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Goryanina, Ksenia I., Aleksndr D. Lukyanov, and Oleg I. Katin. "Review of robotic manipulators and identification of the main problems." MATEC Web of Conferences 226 (2018): 02015. http://dx.doi.org/10.1051/matecconf/201822602015.
Повний текст джерелаАнотація:
One of the main elements of automation of industrial enterprises is the use of robotic systems consisting of mechanical manipulators and control systems. In recent years, the market of service robotics has been actively developing. The main part of the market of professional service robots in value terms is occupied by medical devices. Agriculture and logistics are also actively developing areas. The success of the automation systems implementation depends on the solution of complex scientific and technical problems, primarily in the following areas: machine vision; sensor networks; navigation systems. Thus, one of the fundamental problems, the solution of which largely depends on the success in creating the perfect adaptive and intelligent robots, is the use of such types of sensors of sensory information, which allow obtaining a sufficiently large amount of information about the problem environment in a short time. This is a problem of creating means of perception.
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Leite, Daniel, Karla Figueiredo, and Marley Vellasco. "Prototype of Robotic Device for Mobility Assistance for the Elderly in Urban Environments." Sensors 20, no. 11 (May 28, 2020): 3056. http://dx.doi.org/10.3390/s20113056.
Повний текст джерелаАнотація:
This study aims to develop a prototype of an autonomous robotic device to assist the locomotion of the elderly in urban environments. Among the achievements presented are the control techniques used for autonomous navigation and the software tools and hardware applied in the prototype. This is an extension of a previous work, in which part of the navigation algorithm was developed and validated in a simulated environment. In this extension, the real prototype is controlled by an algorithm based on fuzzy logic to obtain standalone and more-natural navigation for the user of the device. The robotic device is intended to guide an elderly person in an urban environment autonomously, although it also has a manual navigation mode. Therefore, the device should be able to navigate smoothly without sudden manoeuvres and should respect the locomotion time of the user. Furthermore, because of the proposed environment, the device should be able to navigate in an unknown and unstructured environment. The results reveal that this prototype achieves the proposed objective, demonstrating adequate behaviour for navigation in an unknown environment and fundamental safety characteristics to assist the elderly.
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CORAGGIO, PAOLO, MASSIMO DE GREGORIO, and MANOLO FORASTIERE. "ROBOT NAVIGATION BASED ON NEUROSYMBOLIC REASONING OVER LANDMARKS." International Journal of Pattern Recognition and Artificial Intelligence 22, no. 05 (August 2008): 1001–14. http://dx.doi.org/10.1142/s0218001408006624.
Повний текст джерелаАнотація:
In this paper a neurosymbolic hybrid system for robot self-localization is proposed. This crucial issue in autonomous robotic research field has been tackled with slightly different approaches depending mainly on robot sensors and actuation devices, its available computational resources, and the environment in which it acts. The system we present has been designed for robot endowed with poor sensors (a 16-element sonar array, a camera just performing very light computation, odometric sensors) which acts in an office-like environment. In the proposed landmark based approach, we have considered as "natural" environmental features the corners formed by wall intersections, and corners formed by doors that are present in the scene. The whole problem, from landmark recognition to position estimation, is carried out by a unified neurosymbolic system.
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Choi, Julia, Stephanie Seraphina, and Kate Knudsen. "The Clean and Dirty of Redesigning Reprocessing Instructions for Use." Proceedings of the International Symposium on Human Factors and Ergonomics in Health Care 6, no. 1 (May 15, 2017): 150–53. http://dx.doi.org/10.1177/2327857917061032.
Повний текст джерелаАнотація:
Over the last decade, the human factors (HF) community has actively worked to improve use safety and effectiveness into design. Yet, an area that has been neglected is reprocessing of reusable devices. Intuitive Surgical, manufacturer of da Vinci robotics surgical systems, recently redesigned reprocessing instructions for use (IFU) incorporating an HF process and iterative design. It may appear that reprocessing is simply another design effort where the standard human factors process is applied. However, it is essential to consider the intersection of hospitals’ needs and limitations, the actual requirements for effective cleaning, disinfection, and sterilization, regulatory requirements, and the manufacturer’s maturity in developing instructions. The redesign effort involved a process based on user-centered design with interdisciplinary team inputs. The focus was on improving comprehension and performance through the use of simple illustrated steps, concise text, improved headings, workflow aids, and intuitive navigation. In addition, a workflow-based use error risk analysis identified critical tasks, and was used to guide the redesign. Eight (8) reprocessing IFUs were revised simultaneously for two (2) robotics platforms, adding to the challenge. The IFUs addressed reprocessing for robotic surgical endoscopes, instruments, and accessories. The reprocessing of robotic devices is complex, requiring multiple steps that are at times inconsistent between devices. An iterative process was used for drafting versions of the IFUs, conducting usability testing, making improvements to the IFUs, and then in retesting. A final validation test was conducted and provided evidence for the use safety and effectiveness of the IFUs. Throughout the redesign process, challenges were encountered, which required solutions through cross-functional alignment. As IFUs are part of the user experience, the process and design elements described may help guide the development of usable IFUs, and are shared in a broader context to help further improve experiences for user and patients.
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Pintér, Tomáš, and Pavol Božek. "Industrial Robot Control Using Inertial Navigation System." Advanced Materials Research 605-607 (December 2012): 1600–1604. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.1600.
Повний текст джерелаАнотація:
The paper deals with constructing the inertial navigation system (hereafter INS) which will be utilized for the calibration of a robotic workplace. The calibration is necessary for adapting the simulation of a production device model to real geometric conditions. The goal is to verify experimentally the proposed inertial navigation system in real conditions of the industrial robot operation.
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Berczeli, Marton, Ponraj Chinnadurai, Peter T. Legeza, Gavin W. Britz, and Alan B. Lumsden. "Transcarotid access for remote robotic endovascular neurointerventions: a cadaveric proof-of-concept study." Neurosurgical Focus 52, no. 1 (January 2022): E18. http://dx.doi.org/10.3171/2021.10.focus21511.
Повний текст джерелаАнотація:
OBJECTIVE The purpose of this proof-of-concept study was to demonstrate the setup and feasibility of transcarotid access for remote robotic neurointerventions in a cadaveric model. METHODS The interventional procedures were performed in a fresh-frozen cadaveric model using an endovascular robotic system and a robotic angiography imaging system. A prototype remote, robotic-drive system with an ethernet-based network connectivity and audio-video communication system was used to drive the robotic system remotely. After surgical exposure of the common carotid artery in a cadaveric model, an 8-Fr arterial was inserted and anchored. A telescopic guiding sheath and catheter/microcatheter combination was modified to account for the “workable” length with the CorPath GRX robotic system using transcarotid access. RESULTS To simulate a carotid stenting procedure, a 0.014-inch wire was advanced robotically to the extracranial internal carotid artery. After confirming the wire position and anatomy by angiography, a self-expandable rapid exchange nitinol stent was loaded into the robotic cassette, advanced, and then deployed robotically across the carotid bifurcation. To simulate an endovascular stroke recanalization procedure, a 0.014-inch wire was advanced into the proximal middle cerebral artery with robotic assistance. A modified 2.95-Fr delivery microcatheter (Velocity, Penumbra Inc.) was loaded into the robotic cassette and positioned. After robotic retraction of the wire, it was switched manually to a mechanical thrombectomy device (Solitaire X, Medtronic). The stentriever was then advanced robotically into the end of the microcatheter. After robotic unfolding and short microcatheter retraction, the microcatheter was manually removed and the stent retriever was extracted using robotic assistance. During intravascular navigation, the device position was guided by 2D angiography and confirmed by 3D cone-beam CT angiography. CONCLUSIONS In this proof-of-concept cadaver study, the authors demonstrated the setup and technical feasibility of transcarotid access for remote robot-assisted neurointerventions such as carotid artery stenting and mechanical thrombectomy. Using transcarotid access, catheter length modifications were necessary to achieve “working length” compatibility with the current-generation CorPath GRX robotic system. While further improvements in dedicated robotic solutions for neurointerventions and next-generation thrombectomy devices are necessary, the transcarotid approach provides a direct, relatively rapid access route to the brain for delivering remote stroke treatment.
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Keymeulen, Didier, Masaya Iwata, Yasuo Kuniyoshi, and Tetsuya Higuchi. "Online Evolution for a Self-Adapting Robotic Navigation System Using Evolvable Hardware." Artificial Life 4, no. 4 (October 1998): 359–93. http://dx.doi.org/10.1162/106454698568648.
Повний текст джерелаАнотація:
Great interest has been shown in the application of the principles of artificial life to physically embedded systems such as mobile robots, computer networks, home devices able continuously and autonomously to adapt their behavior to changes of the environments. At the same time researchers have been working on the development of evolvable hardware, and new integrated circuits that are able to adapt their hardware autonomously and in real time in a changing environment. This article describes the navigation task for a real mobile robot and its implementation on evolvable hardware. The robot must track a colored ball, while avoiding obstacles in an environment that is unknown and dynamic. Although a model-free evolution method is not feasible for real-world applications due to the sheer number of possible interactions with the environment, we show that a model-based evolution can reduce these interactions by two orders of magnitude, even when some of the robot's sensors are blinded, thus allowing us to apply evolutionary processes online to obtain a self-adaptive tracking system in the real world, when the implementation is accelerated by the utilization of evolvable hardware.
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Božek, Pavol, and Tomáš Pintér. "Gyroscopes and Accelerometers in the Robot Control." Applied Mechanics and Materials 248 (December 2012): 584–88. http://dx.doi.org/10.4028/www.scientific.net/amm.248.584.
Повний текст джерелаАнотація:
The paper deals with constructing the inertial navigation system (hereafter INS) which will be utilized for the calibration of a robotic workplace. The calibration is necessary for adapting the simulation of a production device model to real geometric conditions. The goal is to verify experimentally the proposed inertial navigation system in real conditions of the industrial robot operation.
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Ong, J. K., D. Kerr, and K. Bouazza-Marouf. "Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 217, no. 2 (March 1, 2003): 109–22. http://dx.doi.org/10.1177/095965180321700205.
Повний текст джерелаАнотація:
This paper presents a new solution for inspecting and repairing defects in live gas pipelines. The proposed approach is the development of a modular and semi-autonomous vehicle system. The robotic system has a drive mechanism, capable of navigating and adjusting its orientation in various configurations of pipelines. Other features of the system are cable-free communications, semi-autonomous motion control as well as integration of sensory devices. The robotic system is designed to traverse in 150–300 mm diameter pipes through straight and curved sections, junctions and reducers. The vehicle control and navigation technique is implemented using a two-mode controller consisting of a proportional-integral-derivative (PID) and fuzzy logic control. Unlike other available systems, the vehicle employs proprioceptive sensors to monitor its own states. The fuzzy logic controller is used to evaluate the sensor outputs such as speed, climbing angle and rate of change of climbing angle. This control technique allows the vehicle to drive and adapt in a partially observable gas pipe system. Laboratory experiment results are presented. The paper also describes a cable-free communication method for the system. A brief account of typical pipe environments and currently available inspection tools is presented as background information.
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Sierra M., Sergio D. Sierra, Mario Garzón, Marcela Múnera, and Carlos A. Cifuentes. "Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker." Sensors 19, no. 13 (June 30, 2019): 2897. http://dx.doi.org/10.3390/s19132897.
Повний текст джерелаАнотація:
The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.
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Pransky, Joanne. "The Pransky interview: Dr Howard Chizeck, founder, Olis Robotics; Professor, Electrical and Computer Engineering, University of Washington." Industrial Robot: the international journal of robotics research and application 46, no. 4 (June 17, 2019): 467–70. http://dx.doi.org/10.1108/ir-05-2019-0102.
Повний текст джерелаАнотація:
Purpose The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD and innovator regarding his pioneering efforts and his personal journey of bringing a technological invention to market. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Howard Chizeck, Professor of Electrical and Computer Engineering and Adjunct Professor of Bioengineering at the University of Washington (UW). Professor Chizeck is a research testbed leader for the Center for Neurotechnology (a National Science Foundation Engineering Research Center) and also co-director of the UW BioRobotics Laboratory. In this interview, Chizeck shares the details on his latest startup, Olis Robotics. Findings Howard Jay Chizeck received his BS and MS degrees from Case Western Reserve University and the ScD degree in Electrical Engineering and Computer Science from the Massachusetts Institute of Technology. He served as Chair of the Department of Systems, Control and Industrial Engineering at Case Western Reserve University and was also the Chair of the Electrical and Computer Engineering Department at the University of Washington. His telerobotic research includes haptic navigation and control for telerobotic devices, including robotic surgery and underwater systems. His neural engineering work involves the design and security of brain-machine interfaces and the development of devices to control symptoms of essential tremor and Parkinson’s disease. Originality/value Professor Chizeck was elected as a Fellow of the IEEE in 1999 “for contributions to the use of control system theory in biomedical engineering” and he was elected to the American Institute for Medical and Biological Engineering (AIMBE) College of Fellows in 2011 for “contributions to the use of control system theory in functional electrical stimulation assisted walking.” From 2008 to 2012, he was a member of the Science Technology Advisory Panel of the Johns Hopkins Applied Physics Laboratory. Professor Chizeck currently serves on the Visiting Committee of the Case School of Engineering (Case Western Reserve University). He is a founder and advisor of Controlsoft Inc (Ohio) and also is a founder and Chair of the Board of Directors of Olis Robotics, Inc., which was established in 2013 (under the name of BluHaptics) to commercialize haptic rendering, haptic navigation and other UW telerobotic technologies. He holds approximately 20 patents, and he has published more than 250 scholarly papers.
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Wu, Shuai, Qiji Ze, Jize Dai, Nupur Udipi, Glaucio H. Paulino, and Ruike Zhao. "Stretchable origami robotic arm with omnidirectional bending and twisting." Proceedings of the National Academy of Sciences 118, no. 36 (August 30, 2021): e2110023118. http://dx.doi.org/10.1073/pnas.2110023118.
Повний текст джерелаАнотація:
Inspired by the embodied intelligence observed in octopus arms, we introduce magnetically controlled origami robotic arms based on Kresling patterns for multimodal deformations, including stretching, folding, omnidirectional bending, and twisting. The highly integrated motion of the robotic arms is attributed to inherent features of the reconfigurable Kresling unit, whose controllable bistable deploying/folding and omnidirectional bending are achieved through precise magnetic actuation. We investigate single- and multiple-unit robotic systems, the latter exhibiting higher biomimetic resemblance to octopus’ arms. We start from the single Kresling unit to delineate the working mechanism of the magnetic actuation for deploying/folding and bending. The two-unit Kresling assembly demonstrates the basic integrated motion that combines omnidirectional bending with deploying. The four-unit Kresling assembly constitutes a robotic arm with a larger omnidirectional bending angle and stretchability. With the foundation of the basic integrated motion, scalability of Kresling assemblies is demonstrated through distributed magnetic actuation of double-digit number of units, which enables robotic arms with sophisticated motions, such as continuous stretching and contracting, reconfigurable bending, and multiaxis twisting. Such complex motions allow for functions mimicking octopus arms that grasp and manipulate objects. The Kresling robotic arm with noncontact actuation provides a distinctive mechanism for applications that require synergistic robotic motions for navigation, sensing, and interaction with objects in environments with limited or constrained access. Based on small-scale Kresling robotic arms, miniaturized medical devices, such as tubes and catheters, can be developed in conjunction with endoscopy, intubation, and catheterization procedures using functionalities of object manipulation and motion under remote control.
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Stieger, C., M. Caversaccio, A. Arnold, G. Zheng, J. Salzmann, D. Widmer, N. Gerber, et al. "Development of an auditory implant manipulator for minimally invasive surgical insertion of implantable hearing devices." Journal of Laryngology & Otology 125, no. 3 (November 16, 2010): 262–70. http://dx.doi.org/10.1017/s0022215110002185.
Повний текст джерелаАнотація:
AbstractObjective:To present the auditory implant manipulator, a navigation-controlled mechanical and electronic system which enables minimally invasive (‘keyhole’) transmastoid access to the tympanic cavity.Materials and methods:The auditory implant manipulator is a miniaturised robotic system with five axes of movement and an integrated drill. It can be mounted on the operating table. We evaluated the surgical work field provided by the system, and the work sequence involved, using an anatomical whole head specimen.Results:The work field provided by the auditory implant manipulator is considerably greater than required for conventional mastoidectomy. The work sequence for a keyhole procedure included pre-operative planning, arrangement of equipment, the procedure itself and post-operative analysis.Conclusion:Although system improvements are necessary, our preliminary results indicate that the auditory implant manipulator has the potential to perform keyhole insertion of implantable hearing devices.
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Yu, Lingtao, Zhengyu Wang, Liqiang Sun, Wenjie Wang, Lan Wang, and Zhijiang Du. "A new forecasting kinematic algorithm of automatic navigation for a laparoscopic minimally invasive surgical robotic system." Robotica 35, no. 5 (February 11, 2016): 1192–222. http://dx.doi.org/10.1017/s0263574715001137.
Повний текст джерелаАнотація:
SUMMARYThis paper presents a novel forecasting kinematic algorithm for autonomously navigating the 3D visual window of laparoscopic minimally invasive surgical robotic system (LMISRS). By the application of the proposed technique, a constant distribution area ratio of the micro devices can be guaranteed in the visual window; real-time concurrency motion of the visual window of the laparoscope and the mark points of the instruments is realized, i.e. the visual window can keep tracking the movement of the marks automatically, so that the user does not have to switch between the master-slave controlling targets. The implementation of the new technique is summarized as follows: the robotic kinematics and space analytic geometry are thoroughly analyzed and modeled, and a “following kinematic algorithm” is proposed for the visual window of the laparoscope, which tracks the mark points of the instrument arms; a “forecasting kinematic algorithm” is established by using a combination of the “following kinematic algorithm”, the basic visual parameters of 3D visual field, the Verhulst Grey Model and the filtered amendment method. The proposed technique is verified by a series of simulations by using two groups of marks' motion trails with different sampling times, indicating that the technique is accurate, feasible and robust.
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Garcia A., Daniel E., Sergio D. Sierra M., Daniel Gomez-Vargas, Mario F. Jiménez, Marcela Múnera, and Carlos A. Cifuentes. "Semi-Remote Gait Assistance Interface: A Joystick with Visual Feedback Capabilities for Therapists." Sensors 21, no. 10 (May 19, 2021): 3521. http://dx.doi.org/10.3390/s21103521.
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The constant growth of pathologies affecting human mobility has led to developing of different assistive devices to provide physical and cognitive assistance. Smart walkers are a particular type of these devices since they integrate navigation systems, path-following algorithms, and user interaction modules to ensure natural and intuitive interaction. Although these functionalities are often implemented in rehabilitation scenarios, there is a need to actively involve the healthcare professionals in the interaction loop while guaranteeing safety for them and patients. This work presents the validation of two visual feedback strategies for the teleoperation of a simulated robotic walker during an assisted navigation task. For this purpose, a group of 14 clinicians from the rehabilitation area formed the validation group. A simple path-following task was proposed, and the feedback strategies were assessed through the kinematic estimation error (KTE) and a usability survey. A KTE of 0.28 m was obtained for the feedback strategy on the joystick. Additionally, significant differences were found through a Mann–Whitney–Wilcoxon test for the perception of behavior and confidence towards the joystick according to the modes of interaction (p-values of 0.04 and 0.01, respectively). The use of visual feedback with this tool contributes to research areas such as remote management of therapies and monitoring rehabilitation of people’s mobility.
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Božek, Pavol, Elena Pivarčiová, and Aleksander Korshunov. "Reverse Validation in the Robots Control." Applied Mechanics and Materials 816 (November 2015): 125–31. http://dx.doi.org/10.4028/www.scientific.net/amm.816.125.
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The paper comments on the new possibilities of utilizing the inertial navigation system in robototechnics. It deals with the application of a new inertial measurement system for a robotic workplace calibration. The calibration is necessary so that the simulation model of the production device can adjust to the real geometric conditions.
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Gong, Jian, Xinyu Zhang, Yuanjun Huang, Ju Ren, and Yaoxue Zhang. "Robust Inertial Motion Tracking through Deep Sensor Fusion across Smart Earbuds and Smartphone." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 5, no. 2 (June 23, 2021): 1–26. http://dx.doi.org/10.1145/3463517.
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IMU based inertial tracking plays an indispensable role in many mobility centric tasks, such as robotic control, indoor navigation and virtual reality gaming. Despite its mature application in rigid machine mobility (e.g., robot and aircraft), tracking human users via mobile devices remains a fundamental challenge due to the intractable gait/posture patterns. Recent data-driven models have tackled sensor drifting, one key issue that plagues inertial tracking. However, these systems still assume the devices are held or attached to the user body with a relatively fixed posture. In practice, natural body activities may rotate/translate the device which may be mistaken as whole body movement. Such motion artifacts remain as the dominating factor that fails existing inertial tracing systems in practical uncontrolled settings. Inspired by the observation that human heads induces far less intensive movement relative to the body during walking, compared to other parts, we propose a novel multi-stage sensor fusion pipeline called DeepIT, which realizes inertial tracking by synthesizing the IMU measurements from a smartphone and an associated earbud. DeepIT introduces a data-driven reliability aware attention model, which assesses the reliability of each IMU and opportunistically synthesizes their data to mitigate the impacts of motion noise. Furthermore, DeepIT uses a reliability aware magnetometer compensation scheme to combat the angular drifting problem caused by unrestricted motion artifacts. We validate DeepIT on the first large-scale inertial navigation dataset involving both smartphone and earbud IMUs. The evaluation results show that DeepIT achieves multiple folds of accuracy improvement on the challenging uncontrolled natural walking scenarios, compared with state-of-the-art closed-form and data-driven models.
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Sasiadek, J. Z., and Q. Wang. "Low cost automation using INS/GPS data fusion for accurate positioning." Robotica 21, no. 3 (May 13, 2003): 255–60. http://dx.doi.org/10.1017/s0263574702004757.
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Low cost automation often requires accurate positioning. This happens whenever a vehicle or robotic manipulator is used to move materials, parts or minerals on the factory floor or outdoors. In last few years, such vehicles and devices are mostly autonomous. This paper presents the method of sensor fusion based on the Adaptive Fuzzy Kalman Filtering. This method has been applied to fuse position signals from the Global Positioning System (GPS) and Inertial Navigation System (INS) for the autonomous mobile vehicles. The presented method has been validated in 3-D environment and is of particular importance for guidance, navigation, and control of mobile, autonomous vehicles. The Extended Kalman Filter (EKF) and the noise characteristic have been modified using the Fuzzy Logic Adaptive System and compared with the performance of regular EKF. It has been demonstrated that the Fuzzy Adaptive Kalman Filter gives better results (more accurate) than the EKF. The presented method is suitable for real-time control and is relatively inexpensive. Also, it applies to fusion process with sensors different than INS or GPS.
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Sioma, Andrzej, and Sławomir Blok. "Finding Bearing in Robot Navigation with the Use of the Kalman Filter." Solid State Phenomena 199 (March 2013): 241–46. http://dx.doi.org/10.4028/www.scientific.net/ssp.199.241.
Повний текст джерелаАнотація:
In robotic systems navigation, it is necessary to determine the direction, in which the local coordinate system of a robot is to be turned in regards to the reference, global system. That direction from mathematical point of view is the rotation along one axis of the reference system, such that the reference system coincides with the local system associated with the body, which direction is defined. There is an assumption that the rotations along two other axes do not exist or they were taken into account in the calculations. A question appears: what is the measurement of the direction based on? The answer to that question is provided by nature [1, , because it has already solved this problem long ago. In migratory species such as birds, bees and fish, evolved magnetoreception abilities which allow an animal to detect the magnetic field of Earth. These abilities enable such organisms to navigate in space. In many devices magnetic field sensors called magnetometers are already used. However, magnetic measurements are subject to many kinds of distortions and errors. This paper shows a practical approach to a robot navigation problem.
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JIA, XIAOHONG, YONGDE ZHANG, HAIYAN DU, and YAN YU. "EXPERIMENTAL STUDY OF DOUBLE CABLE-CONDUIT DRIVING DEVICE FOR MRI COMPATIBLE BIOPSY ROBOTS." Journal of Mechanics in Medicine and Biology 21, no. 05 (April 17, 2021): 2140014. http://dx.doi.org/10.1142/s0219519421400145.
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Magnetic resonance imaging (MRI) is better than other imaging equipment in detecting tumors, and navigation for robotic breast intervention biopsy. However, material requirements for robots driving devices are demanding incredibly because of the environment. Given this problem, a novel double cable-conduit driving method is put forward in this paper, which can be used in MRI for breast intervention robots. Besides, lebus grooves are adopted to the driving wheels, which enable the system to realize remote-range and large-scale driving on the premise that the precision can be further enhanced. The driving characteristic of the novel cable-conduit is established. Moreover, the cable-conduit experimental data proves the results of theoretical deduction. Finally, the cable-conduit driving device is compensated, the average errors in the [Formula: see text], [Formula: see text], and [Formula: see text] directions of the needle tip entering the tissue are less than 2[Formula: see text]mm. The consequence verifies that it can meet the requirements for breast biopsy robot application under MR environment.
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DE MELO, LEONIMER FLAVIO, and JOSE FERNANDO MANGILI. "MOBILE ROBOT NAVIGATION CONTROL DESIGN USING VIRTUAL SIMULATOR WITH RAPID PROTOTYPING." International Journal of Information Acquisition 06, no. 03 (September 2009): 181–91. http://dx.doi.org/10.1142/s0219878909001916.
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This paper presents the virtual environment implementation for simulation and design conception of supervision and control systems for mobile robots, that are capable to operate and adapt in different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with monitoring in real time of all important system points. For this, an open control architecture is proposed, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module, and an analysis module of results and errors. All the kinematic and dynamic results obtained during the simulation can be evaluated and visualized in graphs and table formats in the results analysis module, allowing the improvement of the system, minimizing the errors with the necessary adjustments and optimization. For controller implementation in the embedded system, it uses the rapid prototyping which is the technology that allows in set, with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplished with nonholonomic mobile robot models with differential transmission.
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Sun, Chi-Chia, Afaroj Ahamad, and Pin-He Liu. "SoC FPGA Accelerated Sub-Optimized Binary Fully Convolutional Neural Network for Robotic Floor Region Segmentation." Sensors 20, no. 21 (October 28, 2020): 6133. http://dx.doi.org/10.3390/s20216133.
Повний текст джерелаАнотація:
In this article, a new Binary Fully Convolutional Neural Network (B-FCN) based on Taguchi method sub-optimization for the segmentation of robotic floor regions, which can precisely distinguish floor regions in complex indoor environments is proposed. This methodology is quite suitable for robot vision in an embedded platform and the segmentation accuracy is up to 84.80% on average. A total of 6000 training datasets were used to improve the accuracy and reach convergence. On the other hand, to reach real-time computation, a PYNQ FPGA platform with heterogeneous computing acceleration was used to accelerate the proposed B-FCN architecture. Overall, robots would benefit from better navigation and route planning in our approach. The FPGA synthesis of our binarization method indicates an efficient reduction in the BRAM size to 0.5–1% and also GOPS/W is sufficiently high. Notably, the proposed faster architecture is ideal for low power embedded devices that need to solve the shortest path problem, path searching, and motion planning.
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Antoshchuk, Svitlana G., Sergey B. Kondratyev, Galyna Yu Shcherbakova, and Mykola A. Hodovychenko. "Depth map generation for mobile navigation systems based on objects localization in images." Herald of Advanced Information Technology 5, no. 1 (April 18, 2022): 11–18. http://dx.doi.org/10.15276/hait.05.2022.1.
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This paper is aimed to develop a method for a depth map generation based on objects localization in images, obtained through a stereopair. The proposed solution describes the objects by the following informative elements: contours, interest points (points of the greatest curvature of the contour), center of mass of the object. Moreover, to describe the contour of the image, it is proposed to use methods with adjustable detailing, based on the wavelet transform, which has frequency-selective properties. The novelty of this method is the possibility of obtaining an approximate depth map by simplifying the calculation of stereo image difference values, which is traditionally used to generate a depth map. Software was developed based on the proposed solutions. Modeling confirmed the effectiveness of the proposed approach. The proposed method makes it possible to significantly reduce the number of computational operations and, consequently, improve depth map generation performance and recommend the proposed method for mobile navigation systems operating in conditions of limited computing and energy resources. The method provides object detection and spatial positioning, makes it possible to obtain reliable information about the distance to objects for other subsystems that use technical vision in their operation, for example, navigation systems for visually impaired people, robotic devices, etc.
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Kumar, Abhishek, Jose D. Caceres, Siddharthan Vaithilingam, Gurshan Sandhu, and Nikhil K. Meena. "Robotic Bronchoscopy for Peripheral Pulmonary Lesion Biopsy: Evidence-Based Review of the Two Platforms." Diagnostics 11, no. 8 (August 15, 2021): 1479. http://dx.doi.org/10.3390/diagnostics11081479.
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Despite many advancements in recent years for the sampling of peripheral pulmonary lesions, the diagnostic yield remains low. Initial excitement about the current electromagnetic navigation platforms has subsided as the real-world data shows a significantly lower diagnostic sensitivity of ~70%. “CT-to-body divergence” has been identified as a major limitation of this modality. In-tandem use of the ultrathin bronchoscope and radial endobronchial ultrasound probe has yielded only comparable results, attributable to the limited peripheral reach, device maneuverability, stability, and distractors like atelectasis. As such, experts have identified three key steps in peripheral nodule sampling—navigation (to the lesion), confirmation (of the correct location), and acquisition (tissue sampling by tools). Robotic bronchoscopy (RB) is a novel innovation that aspires to improve upon these aspects and consequently, achieve a better diagnostic yield. Through this publication, we aim to review the technical aspects, safety, feasibility, and early efficacy data for this new diagnostic modality.
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Minchev, Georgi, Gernot Kronreif, Wolfgang Ptacek, Joachim Kettenbach, Alexander Micko, Ayguel Wurzer, Svenja Maschke, and Stefan Wolfsberger. "Frameless Stereotactic Brain Biopsies: Comparison of Minimally Invasive Robot-Guided and Manual Arm-Based Technique." Operative Neurosurgery 19, no. 3 (May 15, 2020): 292–301. http://dx.doi.org/10.1093/ons/opaa123.
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Abstract BACKGROUND Most brain biopsies are still performed with the aid of a navigation-guided mechanical arm. Due to the manual trajectory alignment without rigid skull contact, frameless aiming devices are prone to considerably lower accuracy. OBJECTIVE To compare a novel minimally invasive robot-guided biopsy technique with rigid skull fixation to a standard frameless manual arm biopsy procedure. METHODS Accuracy, procedural duration, diagnostic yield, complication rate, and cosmetic result were retrospectively assessed in 40 consecutive cases of frameless stereotactic biopsies and compared between a minimally invasive robotic technique using the iSYS1 guidance device (iSYS Medizintechnik GmbH) (robot-guided group [ROB], n = 20) and a manual arm-based technique (group MAN, n = 20). RESULTS Application of the robotic technique resulted in significantly higher accuracy at entry point (group ROB median 1.5 mm [0.4-3.2 mm] vs manual arm-based group (MAN) 2.2 mm [0.2-5.2 mm], P = .019) and at target point (group ROB 1.5 mm [0.4-2.8 mm] vs group MAN 2.8 mm [1.4-4.9 mm], P = .001), without increasing incision to suture time (group ROB 30.0 min [20-45 min vs group MAN 32.5 min [range 20-60 min], P = .09) and significantly shorter skin incision length (group ROB 16.3 mm [12.7-23.4 mm] vs group MAN 24.2 mm [18.0-37.0 mm], P = .008). CONCLUSION According to our data, the proposed technique of minimally invasive robot-guided brain biopsies can improve accuracy without increasing operating time while being equally safe and effective compared to a standard frameless arm-based manual biopsy technique.
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Pagliaria, D., L. Pinto, M. Reguzzoni, and L. Rossi. "INTEGRATION OF KINECT AND LOW-COST GNSS FOR OUTDOOR NAVIGATION." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B5 (June 15, 2016): 565–72. http://dx.doi.org/10.5194/isprsarchives-xli-b5-565-2016.
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Since its launch on the market, Microsoft Kinect sensor has represented a great revolution in the field of low cost navigation, especially for indoor robotic applications. In fact, this system is endowed with a depth camera, as well as a visual RGB camera, at a cost of about 200$. The characteristics and the potentiality of the Kinect sensor have been widely studied for indoor applications. The second generation of this sensor has been announced to be capable of acquiring data even outdoors, under direct sunlight. The task of navigating passing from an indoor to an outdoor environment (and vice versa) is very demanding because the sensors that work properly in one environment are typically unsuitable in the other one. In this sense the Kinect could represent an interesting device allowing bridging the navigation solution between outdoor and indoor. In this work the accuracy and the field of application of the new generation of Kinect sensor have been tested outdoor, considering different lighting conditions and the reflective properties of the emitted ray on different materials. Moreover, an integrated system with a low cost GNSS receiver has been studied, with the aim of taking advantage of the GNSS positioning when the satellite visibility conditions are good enough. A kinematic test has been performed outdoor by using a Kinect sensor and a GNSS receiver and it is here presented.
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Pagliari, D., L. Pinto, M. Reguzzoni, and L. Rossi. "INTEGRATION OF KINECT AND LOW-COST GNSS FOR OUTDOOR NAVIGATION." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B5 (June 15, 2016): 565–72. http://dx.doi.org/10.5194/isprs-archives-xli-b5-565-2016.
Повний текст джерелаАнотація:
Since its launch on the market, Microsoft Kinect sensor has represented a great revolution in the field of low cost navigation, especially for indoor robotic applications. In fact, this system is endowed with a depth camera, as well as a visual RGB camera, at a cost of about 200$. The characteristics and the potentiality of the Kinect sensor have been widely studied for indoor applications. The second generation of this sensor has been announced to be capable of acquiring data even outdoors, under direct sunlight. The task of navigating passing from an indoor to an outdoor environment (and vice versa) is very demanding because the sensors that work properly in one environment are typically unsuitable in the other one. In this sense the Kinect could represent an interesting device allowing bridging the navigation solution between outdoor and indoor. In this work the accuracy and the field of application of the new generation of Kinect sensor have been tested outdoor, considering different lighting conditions and the reflective properties of the emitted ray on different materials. Moreover, an integrated system with a low cost GNSS receiver has been studied, with the aim of taking advantage of the GNSS positioning when the satellite visibility conditions are good enough. A kinematic test has been performed outdoor by using a Kinect sensor and a GNSS receiver and it is here presented.
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LIANG, YI, DEZHANG XU, BUYUN WANG, YONGDE ZHANG, and YONG XU. "EXPERIMENTAL STUDY OF NEEDLE INSERTION STRATEGIES OF SEED IMPLANTATION ARTICULATED ROBOT." Journal of Mechanics in Medicine and Biology 18, no. 03 (May 2018): 1850023. http://dx.doi.org/10.1142/s0219519418500239.
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This paper discusses several new mechanisms that may be used in prostate cancer seed implant robotics. Aiming at the limitation of human body structure space, and in order to improve robotic kinematic dexterity and execution efficiency. We have developed an articulated seed implantation robot with three-dimensional transrectal ultrasound navigation. It is noteworthy that the organization will produce displacement, deformation and needle tip deflection and other issues while needle inserting prostate. In order to improve positioning accuracy of robot to control the puncture needle, a piezoelectric vibration and rotation needle insertion device is designed and developed. Based on the evaluation experiment of vibration and rotation needle insertion, a high accuracy mixed needle insertion strategy is proposed and the corresponding control software is designed. Finally, the insertion force evaluation experiment is completed by mixed needle insertion strategy, and the experimental results validate the effectiveness of this method.
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Azhar, Kamran, Sohail Zafar, Agha Kashif, and Michael Onyango Ojiema. "Fault-Tolerant Partition Resolvability of Cyclic Networks." Journal of Mathematics 2021 (December 16, 2021): 1–8. http://dx.doi.org/10.1155/2021/7237168.
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Graph invariants provide an amazing tool to analyze the abstract structures of networks. The interaction and interconnection between devices, sensors, and service providers have opened the door for an eruption of mobile over the web applications. Structure of web sites containing number of pages can be represented using graph, where web pages are considered to be the vertices, and an edge is a link between two pages. Figuring resolving partition of the graph is an intriguing inquest in graph theory as it has many applications such as sensor design, compound classification in chemistry, robotic navigation, and Internet network. The partition dimension is a graph parameter akin to the concept of metric dimension, and fault-tolerant partition dimension is an advancement in the line of research of partition dimension of the graph. In this paper, we compute fault-tolerant partition dimension of alternate triangular cycle, mirror graph, and tortoise graphs.
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Danishevskiy, O. V., A. V. Parfenov, and V. V. Stankevich. "MODERN SOLUTIONS IN THE FIELD OF ROBOTIC VISION TO CREATE A UNIVERSAL CYBERNETIC PLATFORM." Issues of radio electronics, no. 5 (June 8, 2019): 32–38. http://dx.doi.org/10.21778/2218-5453-2019-5-32-38.
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The article describes modern solutions used to create vision systems for autonomous robotic complexes, a device for controlling video sensors, methods for obtaining stereo images, processing and further using them in the navigation system. A functional diagram of the organization of the robotic vision system, which is part of the NIIVK M. A. Kartsev Computing System Research and Development Institute, platform, a brief description of its functions and principles of action. The proposed solution involves placing a pair of optical sensors in the head of the robot, simulating the binocular stereoscopic vision inherent in higher animals. A feature of the development is the rejection of the use of laser, infrared, radio frequency, ultrasound and other active emitters, which reduces energy costs and the cost of products without reducing their reliability.
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Dorfer, Christian, Georgi Minchev, Thomas Czech, Harald Stefanits, Martha Feucht, Ekaterina Pataraia, Christoph Baumgartner, Gernot Kronreif, and Stefan Wolfsberger. "A novel miniature robotic device for frameless implantation of depth electrodes in refractory epilepsy." Journal of Neurosurgery 126, no. 5 (May 2017): 1622–28. http://dx.doi.org/10.3171/2016.5.jns16388.
Повний текст джерелаАнотація:
OBJECTIVEThe authors' group recently published a novel technique for a navigation-guided frameless stereotactic approach for the placement of depth electrodes in epilepsy patients. To improve the accuracy of the trajectory and enhance the procedural workflow, the authors implemented the iSys1 miniature robotic device in the present study into this routine.METHODSAs a first step, a preclinical phantom study was performed using a human skull model, and the accuracy and timing between 5 electrodes implanted with the manual technique and 5 with the aid of the robot were compared. After this phantom study showed an increased accuracy with robot-assisted electrode placement and confirmed the robot's ability to maintain stability despite the rotational forces and the leverage effect from drilling and screwing, patients were enrolled and analyzed for robot-assisted depth electrode placement at the authors' institution from January 2014 to December 2015. All procedures were performed with the S7 Surgical Navigation System with Synergy Cranial software and the iSys1 miniature robotic device.RESULTSNinety-three electrodes were implanted in 16 patients (median age 33 years, range 3–55 years; 9 females, 7 males). The authors saw a significant increase in accuracy compared with their manual technique, with a median deviation from the planned entry and target points of 1.3 mm (range 0.1–3.4 mm) and 1.5 mm (range 0.3–6.7 mm), respectively. For the last 5 patients (31 electrodes) of this series the authors modified their technique in placing a guide for implantation of depth electrodes (GIDE) on the bone and saw a significant further increase in the accuracy at the entry point to 1.18 ± 0.5 mm (mean ± SD) compared with 1.54 ± 0.8 mm for the first 11 patients (p = 0.021). The median length of the trajectories was 45.4 mm (range 19–102.6 mm). The mean duration of depth electrode placement from the start of trajectory alignment to fixation of the electrode was 15.7 minutes (range 8.5–26.6 minutes), which was significantly faster than with the manual technique. In 12 patients, depth electrode placement was combined with subdural electrode placement. The procedure was well tolerated in all patients. The authors did not encounter any case of hemorrhage or neurological deficit related to the electrode placement. In 1 patient with a psoriasis vulgaris, a superficial wound infection was encountered. Adequate physiological recordings were obtained from all electrodes. No additional electrodes had to be implanted because of misplacement.CONCLUSIONSThe iSys1 robotic device is a versatile and easy to use tool for frameless implantation of depth electrodes for the treatment of epilepsy. It increased the accuracy of the authors' manual technique by 60% at the entry point and over 30% at the target. It further enhanced and expedited the authors' procedural workflow.
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Patronik, N. A., M. A. Zenati, and C. N. Riviere. "Preliminary evaluation of a mobile robotic device for navigation and intervention on the beating heart." Computer Aided Surgery 10, no. 4 (January 2005): 225–32. http://dx.doi.org/10.3109/10929080500230197.
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Patronik, N., M. Zenati, and C. Riviere. "Preliminary evaluation of a mobile robotic device for navigation and intervention on the beating heart." Computer Aided Surgery 10, no. 4 (July 1, 2005): 225–32. http://dx.doi.org/10.1080/10929080500230197.
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Maldonado-Romo, Javier, and Mario Aldape-Pérez. "Interoperability between Real and Virtual Environments Connected by a GAN for the Path-Planning Problem." Applied Sciences 11, no. 21 (November 7, 2021): 10445. http://dx.doi.org/10.3390/app112110445.
Повний текст джерелаАнотація:
Path planning is a fundamental issue in robotic systems because it requires coordination between the environment and an agent. The path-planning generator is composed of two modules: perception and planning. The first module scans the environment to determine the location, detect obstacles, estimate objects in motion, and build the planner module’s restrictions. On the other hand, the second module controls the flight of the system. This process is computationally expensive and requires adequate performance to avoid accidents. For this reason, we propose a novel solution to improve conventional robotic systems’ functions, such as systems having a small-capacity battery, a restricted size, and a limited number of sensors, using fewer elements. A navigation dataset was generated through a virtual simulator and a generative adversarial network to connect the virtual and real environments under an end-to-end approach. Furthermore, three path generators were analyzed using deep-learning solutions: a deep convolutional neural network, hierarchical clustering, and an auto-encoder. Since the path generators share a characteristic vector, transfer learning approaches complex problems by using solutions with fewer features, minimizing the costs and optimizing the resources of conventional system architectures, thus improving the limitations with respect to the implementation in embedded devices. Finally, a visualizer applying augmented reality was used to display the path generated by the proposed system.
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Tsubouchi, Takashi, and Keiji Nagatani. "Special Issue on Modern Trends in Mobile Robotics." Journal of Robotics and Mechatronics 14, no. 4 (August 20, 2002): 323. http://dx.doi.org/10.20965/jrm.2002.p0323.
Повний текст джерелаАнотація:
Since the dawning of the Robotics age, mobile robots have been important objectives of research and development. Working from such aspects as locomotion mechanisms, path and motion planning algorithms, navigation, map building and localization, and system architecture, researchers are working long and hard. Despite the fact that mobile robotics has a shorter history than conventional mechanical engineering, it has already accumulated a major, innovative, and rich body of R&D work. Rapid progress in modern scientific technology had advanced to where down-sized low-cost electronic devices, especially highperformance computers, can now be built into such mobile robots. Recent trends in ever higher performance and increased downsizing have enabled those working in the field of mobile robotics to make their models increasingly intelligent, versatile, and dexterous. The down-sized computer systems implemented in mobile robots must provide high-speed calculation for complicated motion planning, real-time image processing in image recognition, and sufficient memory for storing the huge amounts of data required for environment mapping. Given the swift progress in electronic devices, new trends are now emerging in mobile robotics. This special issue on ""Modern Trends in Mobile Robotics"" provides a diverse collection of distinguished papers on modern mobile robotics research. In the area of locomotion mechanisms, Huang et al. provide an informative paper on control of a 6-legged walking robot and Fujiwara et al. contribute progressive work on the development of a practical omnidirectional cart. Given the importance of vision systems enabling robots to survey their environments, Doi et al., Tang et al., and Shimizu present papers on cutting-edge vision-based navigation. On the crucial subject of how to equip robots with intelligence, Hashimoto et al. present the latest on sensor fault detection in dead-reckoning, Miura et al. detail the probabilistic modeling of obstacle motion during mobile robot navigation, Hada et al. treat long-term mobile robot activity, and Lee et al. explore mobile robot control in intelligent space. As guest editors, we are sure readers will find these articles both informative and interesting concerning current issues and new perspectives in modern trends in mobile robotics.