We describe the design and performance of a hand-held actively stabilized tool to increase accuracy in micro-surgery or other precision manipulation. It removes involuntary motion such as tremor by actuating tip counteract effect undesired handle motion. The key components are three-degree-of-freedom piezoelectric manipulator that has 400 μm range motion, 1 N force capability, bandwidth over 100 Hz, an optical position measurement subsystem acquires pose with 4 resolution at 2000 samples/s....

The detection and tracking of moving objects is an essential task in robotics. CMU‐RI Navlab group has developed such a system that uses laser scanner as its primary sensor. We will describe our algorithm use several applications. Our worked successfully on indoor outdoor platforms with different kinds configurations two‐dimensional three‐dimensional scanners. applications vary from collision warning systems, people classification, observing human tracks, input to dynamic planner. Several...

This paper presents the design and actuation of a six-degree-of-freedom (6-DOF) manipulator for handheld instrument, known as "Micron," which performs active tremor compensation during microsurgery. The incorporates Gough-Stewart platform based on piezoelectric linear motor, with specified minimum workspace cylinder 4 mm long in diameter at end-effector. Given stall force motors loading typically encountered vitreoretinal microsurgery, dimensions are optimized to tolerate transverse load 0.2...

In vascular dementia (VaD) and Alzheimer's disease (AD), cerebral hypoperfusion blood-brain barrier (BBB) leakiness contribute to brain damage. this study, we have measured biochemical markers mediators of BBB in the frontal (BA6) parietal (BA7) cortex underlying white matter, investigate pathophysiology dysfunction AD, VaD mixed dementia. The ratio myelin-associated glycoprotein proteolipid protein-1 (MAG:PLP1), a post-mortem indicator adequacy ante-mortem perfusion; concentration...

Performing micromanipulation and delicate operations in submillimeter workspaces is difficult because of destabilizing tremor imprecise targeting. Accurate especially important for microsurgical procedures, such as vitreoretinal surgery, to maximize successful outcomes minimize collateral damage. Robotic aid combined with filtering techniques that suppress frequency bands increases performance; however, if knowledge the operator's goals available, virtual fixtures have been shown further...

The capability to use a moving sensor detect objects and predict their future path enables both collision warning systems autonomous navigation. This paper describes system that combines linear feature extraction, tracking motion evaluator accurately estimate of vehicles pedestrians with low rate false reports. tracker was used in prototype tested on two transit buses during 7000 km regular passenger service

Position-sensitive detectors (PSDs), or lateral-effect photodiodes, are commonly used for high-speed, high-resolution optical position measurement. This paper describes the instrument design multidimensional and orientation measurement based on simultaneous of multiple modulated sources using frequency-domain-multiplexed (FDM) PSDs. The important advantages this configuration in comparison with laser/mirror combinations that it has a large angular range allows use probe is small volume. We...

Abstract Background and Objective In laser retinal photocoagulation, hundreds of dot‐like burns are applied. We introduce a robot‐assisted technique to enhance the accuracy reduce tedium procedure. Materials Methods Laser burn locations overlaid on preoperative images using common patterns such as grids. A stereo camera/monitor setup registers displays planned real‐time video. Using an active handheld micromanipulator, 7 × grid spaced 650 µm apart is applied both paper slides porcine retina...

Abstract An imbalance in the renin–angiotensin system (RAS) is associated with cognitive decline and disease pathology Alzheimer’s (AD). In this study, we have investigated changes brain angiotensin-converting enzyme-1 (ACE-1) angiotensin-II (Ang-II), counter-regulatory enzyme-2 (ACE-2), frontal temporal cortex during normal aging early stages of AD. We studied a cohort (n = 121; 19–95 years age-at-death) from Sudden Death Brain Bank, University Edinburgh, United Kingdom, AD age-matched...

Hypertension in midlife contributes to cognitive decline and is a modifiable risk factor for dementia. The relationship between late-life hypertension dementia less clear. We have investigated the of blood pressure hypertensive status during late life (after 65 years) post-mortem markers Alzheimer's disease (amyloid-β tau loads); arteriolosclerosis cerebral amyloid angiopathy; biochemical measures ante-mortem oxygenation (the myelin-associated glycoprotein:proteolipid protein-1 ratio, which...

This paper presents robot-aided intraocular laser surgery using a handheld robot known as Micron. The micromanipulator incorporated in Micron enables visual servoing of probe, while maintaining constant distance the tool tip from retinal surface. comparative study was conducted with various control methods for evaluation surgery.

Precise movement during micromanipulation becomes difficult in submillimeter workspaces, largely due to the destabilizing influence of tremor. Robotic aid combined with filtering techniques that suppress tremor frequency bands increases performance; however, if knowledge operator's goals is available, virtual fixtures have been shown greatly improve micromanipulator precision. In this paper, we derive a control law for position-based within framework an active handheld micromanipulator,...

Injecting clot-busting drugs such as t-PA into tiny vessels thinner than a human hair in the eye is challenging procedure, especially since lie directly on top of delicate and easily damaged retina. Various robotic aids have been proposed with goal increasing safety by removing tremor precision motion scaling. We developed fully handheld micromanipulator, Micron, that has demonstrated reduced when cannulating porcine retinal veins an "open sky" scenario. In this paper, we present work...

This paper presents the design and analysis of a handheld manipulator for vitreoretinal microsurgery other biomedical applications. The involves parallel micromanipulator utilizing six piezoelectric linear actuators, combining compactness with large range motion relatively high stiffness. Given available force overall dimension was optimized considering realistic external loads on remote center representing point expected contact sclera eye during microsurgery. Based optimization workspace...

In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit human hand accuracy. Robotic assistants can help push beyond current state practice by integrating imaging and robot-assisted tools. This paper demonstrates control handheld tremor reduction micromanipulator visual servo techniques, aiding operator providing three behaviors: snap-to, motion-scaling, standoff-regulation. A stereo camera setup viewing workspace under high magnification tracks...

The paper describes the use of an active handheld micromanipulator, known as Micron, for micromanipulation cells. device enables users to manipulate objects on order tens microns in size, with natural ease a fully tool. Micron senses its own position using purpose-built microscale optical tracker, estimates erroneous or undesired component hand motion, and actively corrects it by deflecting tool tip piezoelectric actuators. Benchtop experiments positioning show that compensation can reduce...

An active handheld micromanipulator has been developed that is capable of automated intraocular acquisition B-mode and C-mode optical coherence tomography scans are up to 4 mm wide. The manipulator a Gough-Stewart platform actuated by ultrasonic linear motors. equipped with Fourier-domain common-path OCT probe fits within 25-gauge needle. paper describes the systems techniques involved, presents preliminary results scans.

This paper presents the characterization and comparison of physiological tremor for pointing tasks in multiple environments, as a baseline performance evaluation microsurgical robotics. Previous studies have examined characteristics under laboratory settings well different operating conditions. However, test methods make results across trials conditions difficult. Two vitroretinal microsurgeons were evaluated while performing task with no entry-point constraint, constrained by an artificial...

Peeling procedures in retinal surgery require micron-scale manipulation and control of sub-tactile forces.Hybrid position/force an actuated handheld microsurgical instrument is presented as a means for simultaneously improving positioning accuracy reducing forces to prevent avoidable trauma tissue. The system response was evaluated, membrane-peeling trials were performed by four test subjects both artificial animal models.Maximum force reduced 56% models compared with position control. No...