In radiosurgery a moving beam of radiation is used as an ablative surgical instrument to destroy brain tumors. Classical radiosurgical systems rely on rigid skeletal xation of the anatomic region to be treated. This xation procedure is very painful for the patient and limits radiosurgical procedures to brain lesions. Furthermore, due to the necessity of rigid xation, radiosurgical treatment wit...

PURPOSE We describe multiple uses of the fourth robotic arm and TilePro on the da Vinci S surgical system to maximize console surgeon independence from the assistant during robot-assisted renal surgery. MATERIALS AND METHODS We prospectively evaluated the use of the fourth robotic arm and TilePro on the da Vinci S during robot-assisted radical nephrectomy (RRN) and robot-assisted partial neph...

The increasing number of People with Dementia (PwD) increases the strain and burden on caregivers in nursing homes. When PwD exhibit behavioral disturbances, they need personalized interventions of the nursing staff, however, the staff only has limited time to spend on these interventions. Within this paper, an Internet of Robotic Things platform and an accompanying robotic intervention strateg...

This paper discusses the feasibility of using conguration space (C-space) as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human operator in tasks involving the manipulator motion in an environment with obstacles. Unlike some other motion planning tasks, operators are known to make expensive m...

Measurements of the net forces acting on a structure can provide information necessary to determine the location of contacts through which the external forces act, under appropriate assumptions. One practical application of this idea resulted in the contact-resolving force-sensing n-gertips developed by Salisbury and Brock. These ngertip sensors employ a 6-axis force sensor under a ngertip shel...

It was expected to benefit patient with hemiparesis after stroke by extensive arm rehabilitation, to partially regain forearm and hand function. This paper propose a robotic rehabilitation arm in assisting the hemiparetic patient to learn new ways of using and moving their weak arms. In this study, the robotic arm was driven by a somatosensory stimulated brain computer interface (BCI), which is...

Abstract– Different from the traditional rigid robots made by hard material such as metal, continuum robots are bionic mechanisms which feature high compliance and continuous shapechanging ability. A full compliant continuum robotic finger is proposed, which is driven by the compressed air inside its silicon rubber chamber and has a certain degree of grasping rigidity. By the moment equilibrium...

— For robotic manipulators that are redundant or with high degrees of freedom, an analytical solution to the inverse kinematics is very difficult or impossible. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics. This paper presents a first analytical solution to the inverse kinematics of a widely u...