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- Robot-Assisted Minimally Invasive Surgery (2)
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- Magnetic resonance imaging (1)
- Magneto-Rheological Fluid Based Clutches (1)
- Manipulation of Haptic Perception (1)
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Articles 1 - 12 of 12
Full-Text Articles in Controls and Control Theory
Towards The Development Of Wearable Tremor Suppression Systems Combining Functional Electrical Stimulation And Mechanical Actuation, Zahra Habibollahi
Towards The Development Of Wearable Tremor Suppression Systems Combining Functional Electrical Stimulation And Mechanical Actuation, Zahra Habibollahi
Electronic Thesis and Dissertation Repository
Parkinson's disease (PD), the second most prevalent neurological disorder, is characterized by motor and non-motor symptoms including tremor. Wearable tremor suppression devices (WTSDs), have shown promising results for tremor reduction, using functional electrical stimulation (FES) or active actuators. However, results and study procedures are not consistent in the literature. Although stimulations below and above motor threshold can suppress tremor, the mechanisms of the first is still not clear, and the second might lead to muscle fatigue and discomfort over time. While active actuators have shown better results for tremor suppression, they are often heavy and bulky for daily use. Lastly, …
Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, Jacob G. Tryon
Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, Jacob G. Tryon
Electronic Thesis and Dissertation Repository
Musculoskeletal disorders are the biggest cause of disability worldwide, and wearable mechatronic rehabilitation devices have been proposed for treatment. However, before widespread adoption, improvements in user control and system adaptability are required. User intention should be detected intuitively, and user-induced changes in system dynamics should be unobtrusively identified and corrected. Developments often focus on model-dependent nonlinear control theory, which is challenging to implement for wearable devices.
One alternative is to incorporate bioelectrical signal-based machine learning into the system, allowing for simpler controller designs to be augmented by supplemental brain (electroencephalography/EEG) and muscle (electromyography/EMG) information. To extract user intention better, sensor …
Expert-In-The-Loop Multilateral Telerobotics For Haptics-Enabled Motor Function And Skills Development, Mahya Shahbazi
Expert-In-The-Loop Multilateral Telerobotics For Haptics-Enabled Motor Function And Skills Development, Mahya Shahbazi
Electronic Thesis and Dissertation Repository
Among medical robotics applications are Robotics-Assisted Mirror Rehabilitation Therapy (RAMRT) and Minimally-Invasive Surgical Training (RAMIST) that extensively rely on motor function development. Haptics-enabled expert-in-the-loop motor function development for such applications is made possible through multilateral telerobotic frameworks. While several studies have validated the benefits of haptic interaction with an expert in motor learning, contradictory results have also been reported. This emphasizes the need for further in-depth studies on the nature of human motor learning through haptic guidance and interaction. The objective of this study was to design and evaluate expert-in-the-loop multilateral telerobotic frameworks with stable and human-safe control loops that …
Safe Haptics-Enabled Patient-Robot Interaction For Robotic And Telerobotic Rehabilitation Of Neuromuscular Disorders: Control Design And Analysis, Seyed Farokh Atashzar
Safe Haptics-Enabled Patient-Robot Interaction For Robotic And Telerobotic Rehabilitation Of Neuromuscular Disorders: Control Design And Analysis, Seyed Farokh Atashzar
Electronic Thesis and Dissertation Repository
Motivation: Current statistics show that the population of seniors and the incidence rate of age-related neuromuscular disorders are rapidly increasing worldwide. Improving medical care is likely to increase the survival rate but will result in even more patients in need of Assistive, Rehabilitation and Assessment (ARA) services for extended periods which will place a significant burden on the world's healthcare systems. In many cases, the only alternative is limited and often delayed outpatient therapy. The situation will be worse for patients in remote areas. One potential solution is to develop technologies that provide efficient and safe means of in-hospital and …
Design And Performance Evaluation Of A Prototype Mrf-Based Haptic Interface For Medical Applications, Mehrdad Kermani Ph.D., P.Eng., Nima Najmaei, Ali Asadian, Rajni Patel
Design And Performance Evaluation Of A Prototype Mrf-Based Haptic Interface For Medical Applications, Mehrdad Kermani Ph.D., P.Eng., Nima Najmaei, Ali Asadian, Rajni Patel
Electrical and Computer Engineering Publications
This paper describes the construction and stability and transparency evaluation of a prototype two degrees-of-freedom (DoF) haptic interface, which takes ad-vantage of magneto-rheological fluid (MRF)-based clutches for actuation. These small-scale clutches were designed in our lab, and their evaluation were reported previously [1],[2]. MRF-based actuators exhibit superior characteristics,which can significantly contribute to transparency and stability of haptic devices. Based on these actuators, a distributed antagonistic configuration is used to develop the2-DoF haptic interface. This device is incorporated in a master–slave teleoperation setup intended for medical per-cutaneous interventions and soft-tissue palpation. Preliminary studies on the stability and transparency of the haptic …
Endoscopic Targeting Tasks Simulator: An Approach Using Game Engines, Shaun W. Carnegie
Endoscopic Targeting Tasks Simulator: An Approach Using Game Engines, Shaun W. Carnegie
Electronic Thesis and Dissertation Repository
The pervasiveness of simulators used in professions requiring the skilled control of expensive machinery such as is the case in the aviation, mining, construction, and naval industries raises an intriguing question about the relatively poor adoption within the field of medicine. Certain surgical procedures such as neuro-endoscopic and laparoscopic lend themselves well to the application of virtual reality based simulators. This is due to the innate ability to decom- pose these complex macro level procedures into a hierarchy of subtasks that can be modelled in a software simulator to augment existing teaching and training techniques.
The research in this thesis …
Magnetic Resonance Imaging Compatible Remote Catheter Navigation System, Mohammad Ali Tavallaei
Magnetic Resonance Imaging Compatible Remote Catheter Navigation System, Mohammad Ali Tavallaei
Electronic Thesis and Dissertation Repository
Many vascular and cardiac diseases are diagnosed and treated using a medical technique known as percutaneous transluminal catheter intervention (PTC). In PTC, the interventionalist inserts a catheter into the vasculature, and using the vessel as the guiding passageway, the catheter is navigated to desired anatomical targets where it would be used for various purposes such as catheter ablation for the treatment/management of cardiac arrhythmias. The catheterization procedure is conventionally guided with x-ray fluoroscopic imaging and more recently, but rarely, with Magnetic Resonance Imaging (MRI). X-ray imaging irradiates the patient directly during the procedure, and the staff and interventionalists indirectly through …
Modeling And Control Of Steerable Ablation Catheters, Mahta Khoshnam Tehrani
Modeling And Control Of Steerable Ablation Catheters, Mahta Khoshnam Tehrani
Electronic Thesis and Dissertation Repository
Catheters are long, flexible tubes that are extensively used in vascular and cardiac interventions, e.g., cardiac ablation, coronary angiography and mitral valve annuloplasty. Catheter-based cardiac ablation is a well-accepted treatment for atrial fibrillation, a common type of cardiac arrhythmia. During this procedure, a steerable ablation catheter is guided through the vasculature to the left atrium to correct the signal pathways inside the heart and restore normal heart rhythm. The outcome of the ablation procedure depends mainly on the correct positioning of the catheter tip at the target location inside the heart and also on maintaining a consistent contact between the …
Control Of Cooperative Haptics-Enabled Teleoperation Systems With Application To Minimally Invasive Surgery, Amir Takhmar
Control Of Cooperative Haptics-Enabled Teleoperation Systems With Application To Minimally Invasive Surgery, Amir Takhmar
Electronic Thesis and Dissertation Repository
Robot-Assisted Minimally Invasive Surgical (RAMIS) systems frequently have a structure of cooperative teleoperator systems where multiple master-slave pairs are used to collaboratively execute a task. Although multiple studies indicate that haptic feedback improves the realism of tool-tissue interaction to the surgeon and leads to better performance for surgical procedures, current telesurgical systems typically do not provide force feedback, mainly because of the inherent stability issues. The research presented in this thesis is directed towards the development of control algorithms for force reflecting cooperative surgical teleoperator systems with improved stability and transparency characteristics. In the case of cooperative force reflecting teleoperation …
Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena
Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena
Electronic Thesis and Dissertation Repository
In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …
Preoperative Planning Of Robotics-Assisted Minimally Invasive Cardiac Surgery Under Uncertainty, Hamidreza Azimian
Preoperative Planning Of Robotics-Assisted Minimally Invasive Cardiac Surgery Under Uncertainty, Hamidreza Azimian
Electronic Thesis and Dissertation Repository
In this thesis, a computational framework for patient-specific preoperative planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) is developed. It is expected that preoperative planning of RAMICS will improve the rate of success by considering robot kinematics, patient-specific thoracic anatomy, and procedure-specific intraoperative conditions. Given the significant anatomical features localized in the preoperative computed tomography images of a patient's thorax, port locations and robot orientations (with respect to the patient's body coordinate frame) are determined to optimize characteristics such as dexterity, reachability, tool approach angles and maneuverability. In this thesis, two approaches for preoperative planning of RAMICS are proposed that …
Haptics-Enabled Teleoperation For Robotics-Assisted Minimally Invasive Surgery, Ali Talasaz
Haptics-Enabled Teleoperation For Robotics-Assisted Minimally Invasive Surgery, Ali Talasaz
Electronic Thesis and Dissertation Repository
The lack of force feedback (haptics) in robotic surgery can be considered to be a safety risk leading to accidental tissue damage and puncturing of blood vessels due to excessive forces being applied to tissue and vessels or causing inefficient control over the instruments because of insufficient applied force. This project focuses on providing a satisfactory solution for introducing haptic feedback in robotics-assisted minimally invasive surgical (RAMIS) systems. The research addresses several key issues associated with the incorporation of haptics in a master-slave (teleoperated) robotic environment for minimally invasive surgery (MIS). In this project, we designed a haptics-enabled dual-arm (two …