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Miniaturized surgical robotic system presents promising trend for reducing invasiveness during operation. However, cables used for power and communication may affect its performance. In this paper we chose Zigbee wireless communication as a means to replace communication cables for miniaturized surgical robot. Nevertheless, time delay caused by wireless communication presents a new challenge to performance...
Robotic surgery is being used widely due to its various benefits that includes reduced patient trauma and increased dexterity and ergonomics for the operating surgeon. Making the whole or part of the surgical procedure autonomous increases patient safety and will enable the robotic surgery platform to be used in telesurgery. In this work, an Electrosurgery procedure that involves tissue compression...
In robot-assisted needle-based medical procedures, path planning for a flexible needle is challenging with regard to time consumption and searching robustness for the solution due to the nonholonomic motion of the needle tip and the presence of anatomic obstacles and sensitive organs in the intended needle path. We propose a novel and fast path planning algorithm for a robot-assisted active flexible...
In this paper, we introduced an automated TMS system with robot control and optical sensor combined with neuronavigation software. By using the robot, the TMS coil can be accurately positioned over any preselected brain region. The neuronavigation system provides an accurate positioning of a magnetic coil in order to induce a specific cortical excitation. An infrared optical measurement device is...
Percutaneous intervention is a common Minimally Invasive (MI) surgical procedure for the treatment of various disorders. It generally involves the insertion of slender needles deep within tissue, as lesions can be several centimetres below skin level. Consequently, deviations might occur which need to be accounted for and corrected by steering the needle tip during the insertion process. Needle steering...
The field of medical microrobotics is rapidly progressing; however, it is particularly challenging to control microrobots inside blood vessels. In this paper, the magnetic propulsion of a microrobot in pulsating flow is investigated. Regarding this task, the advantages of a reduced blood flow velocity are examined. The required magnetic field gradient in relation to the size of the microrobot is theoretically...
We present a study in which participants were trained in several sessions to control a (comparatively simple) robot via an EEG-/motor imagery-based Brain-Computer Interface (BCI). In the final (experiment) session pairs of participants were formed and each participant controlled one of two robots in a shared space. EEG data was recorded synchronously from both participants. We performed a joint data...
Ankle joint with spasticity and/or contracture can severely affect mobility and independence of stroke survivors. Due to that, the Achilles tendon(AT) is affected. In this paper, we aim to study changes of AT properties via proprioceptive neuromuscular facilitation (PNF) treatment. A robotic ankle-foot rehabilitation system has been proposed, which consists of a robotic ankle-foot platform and a graphic...
In this paper, we propose an intelligent wheelchair system that relies on a brain computer interface (BCI) and automatic navigation. When in operation, candidate destinations and waypoints are automatically generated on the basis of the current environment. Then, the user selects a destination using a P300-based BCI. Finally, the navigation system plans a path and navigates the wheelchair to the determined...
Organ printing, takes tissue spheroids as building blocks together with additive manufacturing technique to engineer tissue or organ replacement parts. Although a wide array of cell aggregation techniques has been investigated, and gained noticeable success, the application of tissue spheroids for scale-up tissue fabrication is still worth investigation. In this paper, we introduce a new micro-fabrication...
In this paper we describe a multiplayer brain-computer interface (BCI) based on the classic game of checkers using steady-state visually evoked potentials (SSVEPs). Previous research in BCI gaming focuses mainly on the production of software-based games using a computer screen — few hardware-based BCI games using a physical board have been developed. Hardware-based games can present a unique set of...
Decoding the user intention from non-invasive EEG signals is a challenging problem. In this paper, we study the feasibility of predicting the goal for controlling the robot arm in self-paced reaching movements, i.e., spontaneous movements that do not require an external cue. Our proposed system continuously estimates the goal throughout a trial starting before the movement onset by online classification...
This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and inverse geometric models of the haptic interface are presented. The working space...
Analysis of physiological responses provides an objective measure of a person's affective state and has been proposed as a way to evaluate motivation and engagement of therapy clients during robot-assisted therapy regimens. This paper presents the analysis of three physiological responses to different levels of error amplification in a robotic reaching task to understand the feasibility of using physiological...
This study proposes a novel robotic system controlled by the magnetic forces generated from Magnetic Resonance Imaging (MRI) scanner. In the proposed system, ferromagnetic particles are used to actuate the device, while all other parts are made of nonmagnetic materials. The possible range of motion for the particles is investigated by using the common sequence which is usually available for MR imaging...
Children with Cerebral Palsy (CP) often exhibit impairments in the coordination of the grip and lift phases of arm movements that directly impact their ability to perform activities of daily living (ADLs). The application of assistive robotic therapy to children with spastic hemiplegic CP has shown that augmented movement training can lead to improved functional outcomes and improved arm kinematics...
Reinforcement learning (RL) is a form of motor learning that robotic therapy devices could potentially manipulate to promote neurorehabilitation. We developed a system that requires trainees to use RL to learn a predefined target movement. The system provides higher rewards for movements that are more similar to the target movement. We also developed a novel algorithm that rewards trainees of different...
Despite holding promise for advances in prostheses and robot teleoperation, myoelectric controlled interfaces have had limited impact in commercial applications. Simultaneous multifunctional controls are desired, but often lead to frustration by users who cannot easily control the devices using state-of-the-art control schemes. This paper proposes and validates the use of implicit motor control training...
Commercially available devices for Brain-Computer Interface (BCI)-controlled robotic stroke rehabilitation are prohibitively expensive for many researchers who are interested in the topic and physicians who would utilize such a device. Additionally, they are cumbersome and require a technician to operate, increasing the inaccessibility of such devices for home-based robotic stroke rehabilitation therapy...
Current brain-machine interfaces (BMIs) allow upper limb amputees to position robotic arms with a high degree of accuracy, but lack the ability to control hand pre-shaping for grasping different objects. We have previously shown that low frequency (0.1–1 Hz) time domain cortical activity recorded at the scalp via electroencephalography (EEG) encodes information about grasp pre-shaping. To transfer...
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