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Full-Text Articles in Robotics
A Magnetic Actuated Fully Insertable Robotic Camera System For Single Incision Laparoscopic Surgery, Xiaolong Liu
A Magnetic Actuated Fully Insertable Robotic Camera System For Single Incision Laparoscopic Surgery, Xiaolong Liu
Doctoral Dissertations
Minimally Invasive Surgery (MIS) is a common surgical procedure which makes tiny incisions in the patients anatomy, inserting surgical instruments and using laparoscopic cameras to guide the procedure. Compared with traditional open surgery, MIS allows surgeons to perform complex surgeries with reduced trauma to the muscles and soft tissues, less intraoperative hemorrhaging and postoperative pain, and faster recovery time. Surgeons rely heavily on laparoscopic cameras for hand-eye coordination and control during a procedure. However, the use of a standard laparoscopic camera, achieved by pushing long sticks into a dedicated small opening, involves multiple incisions for the surgical instruments. Recently, single …
Vision-Based Robot Control In The Context Of Human-Machine Interactions, Andrzej Nycz
Vision-Based Robot Control In The Context Of Human-Machine Interactions, Andrzej Nycz
Doctoral Dissertations
This research has explored motion control based on visual servoing – in the context of complex human-machine interactions and operations in realistic environments. Two classes of intelligent robotic systems were studied in this context: operator assistance with a high dexterity telerobotic manipulator performing remote tooling-centric tasks, and a bio-robot for X-ray imaging of lower extremity human skeletal joints during natural walking. The combination of human-machine interactions and practical application scenarios has led to the following fundamental contributions: 1) exploration and evaluation of a new concept of acquiring fluoroscope images of musculoskeletal features of interest during natural human motion, 2) creation …