Traditionally, cardiac surgery has been performed through a median sternotomy, which allows the surgeon generous access to the heart and surrounding great vessels. As a paradigm shift in the size and location of incisions occurs in cardiac surgery, new methods have been developed to allow the surgeon the same amount of dexterity and accessibility to the heart in confined spaces and in a less in...

Retinal disorders, including age-related macular degeneration, are leading causes of vision loss worldwide. New treatments, such as gene therapies and stem cell regeneration, require therapeutics to be introduced the subretinal space due poor diffusion active component retina. Subretinal injections a difficult risky surgical procedure have been suggested candidate for robot-assisted surgery. We...

Manus is a wheelchair mounted manipulator, meant to assist severely handicapped people in carrying out all day living tasks, such as eating, drinking, scratching etc. The manipulator has six rotational degrees of freedom for positioning and orienting the gripper, one degree of freedom for opening and closing the gripper, and one (optional) degree of freedom for lifting the entire manipulator. M...

The main features of DLR’s dextrous robot hand as a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perjorm complex remote operations in a vet-y jlexible way. Therefore we have developed a multisenso~ articulated four jinger hand, wher...

This work presents a definition of functional factors of the telemanipulation system and propose a factors’ classification. Using this classification an experimental study was carried out in order to find the effect of system bandwidth in task performance. Three principal factors affected by system bandwidth were studied: Image resolution, frame rate and actualization rate of control commands. ...

Abstract Latency mitigation is crucial to increasing operational success, ease of use, and product quality in telemanipulation tasks when remotely guiding complex robotic systems. Hardware limitations have created a gap performance optimization due large teleoperation delays, which machine learning techniques could fill with lower time, improved performance, reduced operating costs. Hidden Mark...

This paper presents the process for designing a telepresence robot (TPR) – M4K (Mobile 4-Dimensional Communication Kiosk), which offers more extensive interaction between users than other existing TPRs. The TPR is a robotic movable platform which helps people communicate across distances, and it is sometimes required to have the ability of ‘telemanipulation’, which exceeds the current capacity ...

Ziel dieses Graduiertenkollegs ist die interdisziplinäre Erarbeitung und klinische Einführung neuer computergestützter Verfahren in der Weichteilchirurgie. Möglichkeiten der Operationsplanung, der interaktiven Bildgebung, der Telemanipulation, der Robotik und der Navigation führen zu tiefgreifenden Veränderungen des chirurgischen Arbeitsplatzes und werden längerfristig auch das Leistungsprofil ...

In bilateral telemanipulation scenarios the human hand/arm is usually put in correspondence with a robotic hand/arm system. The kinematic structure of the human hand and of the robotic hand are typically different requiring algorithm to map human motion on the robot workspace. At the same time, the force measured at the robotic side cannot usually be displayed in the same point on the human han...