Robotic surgery reduces the amount of tissues that are damaged during a surgical procedure, thereby reducing the patient recovery time, discomfort and deleterious side effect such as infection. In this article, kinematic and dynamic analysis of a surgical tool manipulator is carried out to perform the desired range of motions for a typical minimal invasive surgical operation. The manipulator ha...

This paper combines the authors’ previous work on a self-calibrated, position based visual servoing framework for a humanoid robot, with a robust laser stripe scanner that can capture registered colour/range measurements of arbitrary objects in ambient indoor light. Using stereo measurements for validation, the laser scanner is robust against sensor noise, spurious reflections and cross talk fr...

In this work, robot navigation is approached using visual landmarks. Landmarks are not preselected or otherwise defined a priori; they are extracted automatically during a learning phase. To facilitate this, a saliency map is constructed on the basis of which potential landmarks are highlighted. This is used in conjunction with a modeldriven segregation of the workspace to further delineate sea...

PURPOSE This paper represents the initial phase of a proposed operator-friendly semiautomatic method for positioning and directing an intravascular three-magnet tip catheter in the human heart using an electromagnetic system. METHODS A predictive computer algorithm based on a comprehensive mathematical model is developed, which accurately calculates the magnetic field generated by the electro...

A magnetic resonance (MR) compatible surgical assist robot system under preclinical evaluation is described. It is designed to coexist, and cooperate, with a surgeon, and to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter. The main mechanical body is located above the head of the surgeon, and two rigid arms extend to the workspace. This configuration contr...

In this paper we propose a set of criteria to evaluate the performance of various parallel mechanism architectures for CNC machining applications. In the robotics literature mathematical formulations of qualities like manipulability, stiffness, and workspace volume have been proposed to evaluate the performance of general-purpose robots. Here we propose a set of performance measures that specif...

ABSTRACT: This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators. First, the manipulators under study as well as their degeneracy conditions are presented. Then, an optimization problem is formulated in order to obtain their maximal regular dexterous workspace. Moreover, the sensitivity coefficients of the pose of the manipulator moving platform to variations in th...

The paper describes a method for planning collision-free motions of an industrial manipulator that shares the workspace with human operators during human–robot collaborative application strict safety requirements. proposed workflow exploits advantages mixed reality to insert real entities into virtual scene, wherein robot control command is computed and validated by simulating without risks hum...

Most industrial manipulator robots are used in assembly tasks. Their manufacturers use repeatability parameters to show their effectiveness. ISO9283 standard details the process of measuring repeatability. As loads, speed and other various factors affect repeatability, a high number of experimental trials are needed to obtain significant values. Moreover, repeatability is also affected by the l...

The advantages of surgical robots and manipulators are well recognised in the clinical and technical community. Precision, accuracy and the potential for telesurgery are the prime motivations in applying advanced robot technology in surgery. In this paper a magnetic resonance compatible surgical assist robot design and construction are described. The robot is designed to position and direct an ...