ABSTRACT Background The inevitable network delay can directly impact the process of remote surgeries and affect master–slave motion consistency, sudden changes in compromise surgical safety. Methods Firstly, real‐time calibration unidirectional delays is performed. Subsequently, forecasted with a training parallel recurrent neural for safety warnings, forecast slave manipulator position performed to enhanced consistency. Finally, accuracy across multiple scales assessed provide feedback....

Recently, the musculoskeletal model (MM) has been widely studied for decoding movement intent from electromyography (EMG) signals. However, performance of MM is impaired coordinated movements multiple degrees freedom (DoFs) due to crosstalk between signals muscles. To address this problem, study proposed an enhanced 3-DoF motion prediction by taking "divide and conquer" (DC) strategy integrating non-negative matrix factorization (NMF) algorithm, which named as DC-NMF-MM. The control wrist...

Abstract Background For current LESS robotic systems, the trade‐off between dexterity and payload capability is always present. This paper presents a novel platform equipped with controllable stiffness manipulation arms. Methods Each arm an articulated section continuum (CSCS) can be switched 7‐DoF compliant status 5‐DoF rigid according to operation requirement. Screw theory product exponential formula are used quantify kinematic performance. Results The of promotes 3.03 4.12 times from CSCS...

With the evolution of technology, it is now possible to build more flexible surgical instruments with multiple degrees freedom that can be deployed in natural orifice translumenal endoscopic surgery, further reducing tissue damage, blood loss, and recovery time. However, limits robots are mainly represented by lack accurate position feedback during procedure. The most critical problems shape sensors size quantity limits, as well sterilizability. This paper presents a novel helical...

Natural orifice transluminal endoscopic surgery (NOTES) has attracted continuous attention in recent decades, but its confined workspace restricts the dexterity and manipulability of instruments. Instruments with multiple degrees freedom (DOF) variable stiffness are desired to achieve flexible operation sufficient load capacity. This article presents a novel robotic instrument, which can assist NOTES. The instrument is 6.5 mm diameter 7 DOFs. three continuum elastic joints made helical...

Force sensing for robotic surgery is limited by the size of instrument, friction and sterilization requirements. This paper presents a force-sensing instrument to avoid these restrictions.Operating forces were calculated according cable tension. Mathematical models system established. A was designed fabricated. signal collection processing constructed.The presented approach can constraints space limits, requirements introduced transmission parts behind wrist. Test results showed that...

Most of the existing robotic platforms for LESS have workspace and load capacity weaknesses, because limitation one single incision. We developed a manual operating platform which stiffness insertion tube is controllable.The system included two dexterous tool manipulators, stereo-vision module variable (VSIT), was designed using phase-change material (mixed indium, gallium stannum). Experiments to evaluate effectiveness VSIT were set up. Peg transfer tasks trajectory tracking conducted...

The performance of robotic end-effector movements can reflect the user's operation skill difference in robot-assisted minimally invasive surgery. This study quantified trade-off speed-accuracy-stability by kinematic analysis to assess motion control users with different levels experience.Using 'MicroHand S' system, 10 experts, residents and novices performed single-hand test bimanual coordination test. Eight metrics based on end-effectors were applied evaluate users' performance.In test,...

Ultrasonic scalpel offers the advantages of reliable and simultaneous vessel cutting sealing provide self-cleaning capacity with less thermal damage smoke. However, current long, straight, rigid ultrasonic scalpels have limited degrees freedom, which restricts operation dexterity minimally invasive surgical robot. To address such problem, a novel design minimized piezoelectric transducer that can be integrated at distal end multi-degrees freedom robotic instrument, has been proposed...

This paper proposes an ultrasonic scalpel based on the longitudinal-torsional vibration mode to enhance hemostatic ability. The concentrator of proposed has been specially designed with spiral grooves realize this mode. change working enlarged vertical motion component distal blade efficiently radiate energy into dissected tissues, supporting that blood vessel can receive sufficient be sealed. electromechanical equivalent method employed in initial design obtain desired resonance frequency....

Robot-assisted telesurgery can perform complex surgical manipulations from remote locations. Against the requirements of controlling for minimally invasive laparoscopic surgery robot, a prototype system integrated on existing “MicroHand S” robot was built. The worked with Internet, and communication protocol set up based Transmission Control Protocol/Internet Protocol. stereo images laparoscopy were transmitted by hardware-based H.264 encoder/decoder. A demonstration environment...

Port placement planning is an important aspect in minimally invasive robotic surgery. Proper port can improve the quality and efficiency of This paper proposes a new concise method based on workspace surgery required. Robotic-assisted cholecystectomy selected to expound this method. Optimal robotic-assisted discussed simulated through

To provide feedback to surgeons in robotic surgery training, many surgical skill evaluation methods have been developed. However, they hardly focus on the performance of motion segments. This paper proposes a method specifying trainee's weakness training.This proposed an automatic framework by comparing trainees' operations with template operation each segment, which is mainly based dynamic time warping (DTW) and continuous hidden Markov model (CHMM).The feasibility this has preliminarily...

Abstract Robot-assisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. A crucial challenge for developing a MIS robot is kinematic design of remote center-of-motion (RCM) mechanism. In this paper, class spatial RCM mechanism analyzed. They are obtained by generating virtual parallelograms. The main process to construct line that passes through fixed point under mechanical constraint. axis surgical tool then constrained parallel with line....

Flight delays occur when demand for capacity-constrained airspace or airports exceeds predicted capacity. Demand can be controlled by a series of Traffic Management Initiatives (TMIs), which use departure and airborne delays, as well pre-departure reroutes, to manage access the constrained resources. Two systems exist in current planned future operations address imbalances between The Collaborative Trajectory Options Program (CTOP) reduces resources assigning strategic delay reroutes....

Abstract Current surgical instruments with fewer degrees-of-freedom (DOF) for minimally invasive surgery (MIS) have limited capability to perform complicated and precise procedures, such as suturing knot-tying. To address a problem, modular dexterous hand-held robot an ergonomic handle 4DOF interchangeable was developed. The kinematic arrangement of the instrument that were designed be same. A compact roll-yaw-roll transmission proposed applying cable-driven mechanism. Performance...

During minimally invasive surgery (MIS), the movements of instrument handle are scaled and mirrored. Some surgical tasks, such as suturing knotting, difficult to finish due unnatural hand-eye coordination limited degree freedom (DOF). This paper presents a cable-driven arm for robot that can help surgeons in MIS. The robotic fulfills requirements MIS by specially designed mechanical structure. Kinematic analysis workspace discussed paper. dexterity is shown simulation method which also be...

Traditional commercial master devices and specialied serial meet insufficient workspace, low intuitiveness, stiffness, poor accuracy during master-slave mapping for robot-assisted flexible ureteroscopy (FURS).This paper presents a 3-DoF device FURS. A 2-DoF parallel mechanism was designed utilised in the higher stiffness based on requirements analysis. Back Propagation Neural Network built forward kinematics of mapping. Analysis mechanical characteristics carried out usability device....

Robotic grippers, which act as the end effector and contact objects directly, play a crucial role in performance of robots. In this paper, we design analyze new robotic gripper based on braided tube. Apart from deployability, self-forcing mechanism, i.e., holding force increases with load/object weight, facilitates tube to grasp different shapes, weights, rigidities. First, taking cylindrical object an example, mechanism is theoretically analyzed, explicit formulas are derived estimate...

Minimally Invasive Surgery (MIS) is becoming recognized as a most respected approach in performing surgeries due to its benefits both patients and surgeons. And the master-slave robotic MIS system, Haptic device has an essential part play because it provides sense of touch for surgeon who aims position objects inside patient's body. This paper attempts present novel cable-driven 6-DOF serial force-reflecting haptic system. The kinematic analysis performed by using modified D-H method....