The procedure of vascular interventional surgery (VIS) is very complicated. It requires doctors to wear the protecting suits and manipulate flexible instruments (catheters guidewires) for a long time complete treatment, which may fatigue lead misoperation. Besides, X-ray radiation in operating room also bad doctors’ health. So, solve above challenges, novel robot-assisted system was developed VIS, realizes separation doctor room; preliminary method used on slave side reduce excessive...

The paper aims to propose a magnetic actuated capsule microrobotic system, which is composed of magnetically microrobot with screw jet mechanism, driving and positioning system. embedded an O-ring magnet as actuator has potential for achieving particular task, such medical diagnose or drug delivery. system composes three axes Helmholtz coils generate rotational field controlling the realize basic motion in pipe, e.g., forward/backward upward/downward motion. used detect pose pipe. We will...

Given that the current microrobot cannot achieve fixed-point and quantitative drug application in gastrointestinal (GI) tract, a targeted delivery is proposed, its principle characteristics are studied. Through control of an external magnetic field, it can actively move to affected area realize function. The has cam structure connected with radially magnetized permanent magnet, which two movement modes: delivery. Firstly, actuated capsule microrobotic system (MACMS) analyzed. Secondly,...

A magnetic actuated capsule microrobotic system (MACMS) is proposed to control the microrobot complete specific medical tasks, such as diagnosis or drug delivery. The structure design and of are optimized. By establishing dynamic model with spiral structure, optimal parameters analyzed, fluid simulation propulsive force resistance carried out by finite element analysis software obtain performance. During experiment, peristaltic pump was used for imitating environment gastrointestinal (GI)...

Stroke can cause acute damage to blood vessels in the brain, which often leads hemiplegia and imbalances mobility. It is a challenge develop motor recovery training evaluation method with less help of therapists. In this article, for upper limb rehabilitation robotic system proposed. This has two units, one active, other passive. The developed includes an exoskeleton robot PHANTOM1.5. patients do passive unit, virtual reality game designed active unit. Patients mild impairments observe...

Since the hard of hearing cannot communicate effectively with non-disabled, which may cause various inconveniences. As an essential member a harmonious society, it is particularly urgent to solve their communication problems non-disabled people. Effective between and has become possible continuous development artificial intelligence. In this paper, intelligent human-computer interaction system designed inconvenience non-disabled. This combines intelligence wearable devices classifies...

The exoskeleton robot is a comprehensive technology that combination of sensing, control and information. Based on the upper limb rehabilitation device (ULERD), this paper describes novel hand mechanism for using in field aiming at helping varieties hemiparalysis patients recover motor function whole-arm. This system consists device, haptic (PHANTOM Premium), motors, controllers work station. And portable, wearable adjustable doing home training. Through finite element software (ANSYS), main...

In minimally invasive surgery, the surgeon is exposed to X-ray, threatening surgeon's health due depositing long. It important find a method instead of using X-ray during MIS. And force feedback key factor for operate this system successfully. paper, we developed novel catheter sidewall tactile sensor array, which based on robotic operating with master-slave structure. can detect information between and blood vessel in detail, transmitting detected by system. The calibration work single...

The rehabilitation exoskeleton robot is more and used in the assisting stroke patients implementing training. In this paper, a novel hand which was driven by cable has been proposed to aim at helping varieties of paralyses recover motor function. This system mainly consists robot, EEG system, controllers unit, some sensors workstation. And mechanism portable, wearable adjustable for doing home Based on parameters from human hand, kinematic model established be designing simulation...

Aiming at the magnetic positioning accuracy of capsule robot and coupling between external driving field, according to requirements for position attitude information, a compensation method based on system is proposed. This deduces error formula dipole model, optimizes formula, reduces number unknowns, calculation process improves accuracy. At same time, added solve problem field three-axis Helmholtz coil robot. Finally, several groups experiments verify effectiveness algorithm.

This paper proposed a novel grasper for master-slave robotic catheter navigation system in Vascular Interventional Surgery (VIS). The developed can imitate the grasping motion of surgeon during VIS. is key factor to drive into vessel accurately. It adopts common structure like pliers, which guarantee that be clamped on same axes with other via hole. clamping force adjusted by screw through changing entered length change compression spring. consists two graspers both master side and slave...

Various devices for hand data collection have been proposed gesture recognition. In this paper, a method is recognition based on glove and BP neural network. This can collect of the forearm, it gives comprehensive description all aspects arm movement, network algorithm used to process classify collected compress data. Experiments show that be classified effectively by

This paper presents a kinematic model of an upper limb rehabilitation robot system based on Denavit-Hartenberg parameters method. The possesses advantages less weight, compact size, and interaction in the process. Furthermore it can provide sufficient work room for patient's limb. mainly consists exoskeleton device (ULERD), haptic called PHANTOM Premium, interactive virtual reality environment. proposed is master-slave system. impaired hand hard bolted to ULERD, so doctor (or intact...

Due to the limitations of size wireless capsule robot using in diagnosis and treatment gastrointestinal diseases, various functional modules cannot be integrated into a single robot, which caused practicality being reduced. This paper proposed spiral with modular structure driven by external magnetic field have mechanism that can combine separate two robots Modular Structure. system has robots, namely guide auxiliary robot. The control including system, motion docking was presented. Both...

In order to help stroke patients go on rehabilitation training, a new type of exoskeleton upper limb robot based biomechanics has been designed in this paper, and speech control implemented. The is suitable for who can speak. Doctors or family members also assist training. system with hemiplegia recover the limbs fingers movement function, at same time, it characteristics small size, more portable convenient operation. It effectively solve shortage traditional doctors patients' one use...

Exoskeleton upper limb rehabilitation robots are more and applied to help hemiplegic patients implement training, which makes up the shortage of only depend on doctors. Aiming at training patients' hand exercise, in this paper a kind human-computer interaction exoskeleton based LabVIEW system was proposed, mainly composed fingers robot part, data acquisition system, serial assistant receiver, virtual hand. When wore robots, once his (her) moved, shape bend sensors glued would change. The...

Stroke can easily lead to nerve injury, which will bring inconvenience in life. Research shows that this kind of injury be improved by using rehabilitation robots for training. In paper, a method evaluating and classifying stages sEMG signals are proposed, the feasibility is verified. Firstly, distinguish impaired side from healthy its accuracy verified simulation experiments. Through experiment, some better feature chosen evaluate muscle strength. upper-limb muscles patients denoised...

This paper proposed a multidimensional information monitoring method for novel master-slave robotic vascular interventional system. We have designed contact force sensor based on pressure sensitive rubber to transmit the surgeon improve security during VIS (vascular surgery). Furthermore, motion of catheter is also monitored in The system can send out warning message remind operator danger. simulation experiments (in vivo) been carried verify And, we got by when contacted with blood vessel....

The exoskeleton robotic rehabilitation training system is a branch of the field robotics, it external mechanical that consistent with similar joints human body, and attached to body. With development system, biomechanics influence device should be considered in training. This paper proposes novel upper limb based on biomechanics, which can used for hemi paralysis patients. aims at helping patients recover motor function limb; addition suitable variety portable wearable, consists device,...

At present, cerebrovascular disease has become the number one killer of endangering human health, and minimally invasive interventional surgery is its main treatment method. However, vascular intervention places high demands on doctors' surgical procedures, actual model training cost are relatively high. Therefore, research surgeon system based virtual reality technology becomes more important. The quality a depends whether it can provide environment that close to reality. Based study...