A5074967911- Teleoperation and Haptic Systems
- Surgical Simulation and Training
- Soft Robotics and Applications
- Tactile and Sensory Interactions
- Augmented Reality Applications
- Muscle activation and electromyography studies
- Anatomy and Medical Technology
- Robot Manipulation and Learning
- Geophysics and Sensor Technology
- Robotics and Sensor-Based Localization
- Motor Control and Adaptation
- Robotic Mechanisms and Dynamics
- Head and Neck Surgical Oncology
- Prosthetics and Rehabilitation Robotics
- Virtual Reality Applications and Impacts
- Sinusitis and nasal conditions
- Neuroscience and Neural Engineering
- EEG and Brain-Computer Interfaces
- Cardiac, Anesthesia and Surgical Outcomes
- Advanced Sensor and Energy Harvesting Materials
- Healthcare Technology and Patient Monitoring
- Robotics and Automated Systems
- Ergonomics and Musculoskeletal Disorders
- Medical Image Segmentation Techniques
- Nuclear reactor physics and engineering
University of Washington
2015-2024
Mount Holyoke College
2021
Seattle University
2008-2020
Neurological Surgery
2012
Jet Propulsion Laboratory
1986-2006
California Institute of Technology
1987-2005
Scuola Superiore Sant'Anna
2003
University of California System
1987-1993
Ca' Foscari University of Venice
1992
Jet Process Corporation (United States)
1989
This paper reports mechanical testing the modeling results for McKibben artificial muscle pneumatic actuator. device contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension derive a linearized model of these properties three different models. The are briefly compared with human to evaluate suitability actuators emulation in biologically based robot arms.
The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master slave is presented. interfaces between human operator master, environment slave, are ports through which teleoperator designed exchange energy environment. By computing or measuring input-output properties this network, an actual simulated system can be obtained. It shown that (as opposed other forms) leads intuitive representation ideal performance applies several architectures. Thus...
A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under wide variety of operating conditions. System stability analyzed in terms the time-domain definition passivity. We define "passivity observer" (PO) which measures energy flow and out one or more subsystems real-time software. Active behavior indicated by negative value PO at any time. also controller" (PC), an adaptive dissipative element which, each time sample, absorbs...
This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes extends the concept of a virtual coupling network, an artificial link between display world, to include both impedance admittance models A benchmark example exposes important duality these two cases. Linear circuit theory is used develop necessary sufficient conditions for simulation, assuming human operator environment are passive. These equations lead explicit design...
A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of environments and operating speeds. System stability analyzed in terms the time-domain definition passivity. previously energy-based method extended 2-port network, issues implementing "passivity observer" controller" systems are studied. The tested with our two-degrees-of-freedom master/slave system. Stable achieved conditions such as hard wall contact (stiffness >150 kN/m) surface following.
We developed a pneumatically powered orthosis for the human ankle joint. The consisted of carbon fiber shell, hinge joint, and two artificial pneumatic muscles. One muscle provided plantar flexion torque second one dorsiflexion torque. Computer software adjusted air pressure in each independently so that force was proportional to rectified low-pass-filtered electromyography (EMG) amplitude (i.e., myoelectric control). Tibialis anterior EMG activated dorsiflexor soleus flexor. collected joint...
Shared compliant control has been incorporated into an advanced six-degree-of-freedom force-reflecting telemanipulation system. With this system the authors have investigated effect of time delay on human task performance. Time delays between 2 and 4096 ms were introduced master slave arms, high-precision peg-in-hole tasks performed by six test operators with two modes control: kinesthetic force feedback (KFF) shared (SCC). Task performance was quantified in terms completion (CT) sum square...
The Raven-II is a platform for collaborative research on advances in surgical robotics. Seven universities have begun using this platform. system has two 3-DOF spherical positioning mechanisms capable of attaching interchangeable four DOF instruments. software based open standards such as Linux and ROS to maximally facilitate development. mechanism robust enough repeated experiments animal surgery experiments, but not engineered sufficient safety human use. Mechanisms place interaction among...
Eighty percent of medical robotics papers have been published in the past decade—What has accomplished?
Automated delineation of structures and organs is a key step in medical imaging. However, due to the large number diversity variety segmentation algorithms, consensus lacking as which automated method works best for certain applications. Segmentation challenges are good approach unbiased evaluation comparison algorithms.In this work, we describe present results Head Neck Auto-Segmentation Challenge 2015, satellite event at Medical Image Computing Computer Assisted Interventions (MICCAI) 2015...
This paper presents a novel surgical instrument integrated with four-degree-of-freedom (DOF) force sensor. By adopting the capacitive transduction principle, sensor enables direct sensing of normal and shear forces at tips. Thus, three-DOF pulling single-DOF grasping can be measured for haptic feedback control robotic minimally invasive surgery systems. The consists four transducers, all transducers including analog signal processing units are embedded in small four-DOF is enabled thanks to...
Minimally invasive surgery generates new user interfaces which create visual and haptic distortion when compared to traditional surgery. In order regain the tactile kinesthetic information that is lost, a computerized force feedback endoscopic surgical grasper (FREG) was developed with computer control interface. The system uses standard unmodified shafts tips. FREG can grasping forces either by surgeon teleoperation control, or under software control. performance evaluated using an...
This paper reports mechanical testing and modeling results for the McKibben artificial muscle pneumatic actuator. device first developed in 1950's, contains an expanding tube surrounded by braided cords. The authors report static dynamic length-tension derive a linearized model of these properties three different models. are briefly compared with human to evaluate suitability actuators emulation biologically based robot arms.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML"...
Reports on the design of a biorobotic actuator. Biological requirements are developed from published reports in muscle physiology literature whose parameters extracted and applied form Hill model. Data several vertebrate species (rat, frog, cat, human) used to evaluate performance McKibben pneumatic The experimental results show force-length properties actuator muscle-like, but force-velocity not. hydraulic damper with fixed orifices, placed parallel actuator, is proposed improve...
Recent work in real-time distributed computation and control has culminated a prototype force-reflecting telemanipulation system having dissimilar master (cable-driven hand controller) slave (PUMA 560 robot with custom controller), extremely high sampling rate (1000 Hz), low loop delay (5 ms). In series of experiments this five trained test operators covering more than 100 h teleoperation, performance generic application-driven tasks without force feedback was measured, shared between...
The best method of training for laparoscopic surgical skills is controversial. Some advocate observation in the operating room, while others promote animal and simulated models or a combination surgery-related tasks. A crucial process education to evaluate level skills. For surgery, skill evaluation traditionally performed subjectively by experts grading video procedure student. By its nature, this uses fuzzy criteria. objective current study was develop assess scale using Markov (MMs). Ten...
The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools techniques for delivering effective health care. Minimally invasive surgery (MIS) have revolutionized the way a number of surgical procedures are performed. Recent advances in robotics once again revolutionizing MIS interventions open surgery. In an earlier research endeavor, 30 surgeons performed 7 different tasks using Blue Dragon system to collect measurements position,...
Minimally invasive surgery (MIS) involves a multidimensional series of tasks requiring synthesis between visual information and the kinematics dynamics surgical tools. Analysis these sources is key step in defining objective criteria for characterizing performance. The Blue DRAGON new system acquiring two endoscopic tools synchronized with view scene. Modeling process MIS using finite state model [Markov (MM)] reveals internal structure task utilized as one steps objectively assessing...
Accurate knowledge of biomechanical characteristics tissues is essential for developing realistic computer-based surgical simulators incorporating haptic feedback, as well the design robots and tools. As simulation technologies continue to be capable modeling more complex behavior, an in vivo tissue property database needed. Most past current research focused on soft hard anatomical structures that are subject physiological loading, testing organs situ. Internal different respect since they...
The McKibben artificial muscle is a pneumatic actuator whose properties include very high force to weight ratio. This characteristic makes it attractive for wide range of applications such as mobile robots and prosthetic appliances the disabled. In this paper, we present model that includes nonlinear, Mooney–Rivlin mathematical description actuator’s internal bladder. Experimental results show provides improvement in ability predict output force. However, discrepancy between experiment,...
Biorobotic research seeks to develop new robotic technologies modeled after the performance of human and animal neuromuscular systems. The development one component a biorobotic system, an artificial muscle tendon, is reported here. device based on known static dynamic properties biological tendon that were extracted from literature used mathematically describe their force, length, velocity relationships. A flexible pneumatic actuator proposed as contractile element experimental results are...
With a focus on design methodology for developing compact and lightweight minimally invasive surgery (MIS) robot manipulator, the goal of this study is progress toward next-generation surgical system that will help surgeons deliver healthcare more effectively. Based an extensive database in-vivo measurements, workspace requirements were clearly defined. The pivot point constraint in MIS makes spherical manipulator natural candidate. An experimental evaluation process helped to understand...