MyMedR

Displaying publications 41 - 60 of 85 in total

Abstract:

Sort:

Towards Robot-Assisted Echocardiographic Monitoring in Catheterization Laboratories : Usability-Centered Manipulator for Transesophageal Echocardiography

Pahl C, Ebelt H, Sayahkarajy M, Supriyanto E, Soesanto A

J Med Syst, 2017 Aug 15;41(10):148.
PMID: 28812247 DOI: 10.1007/s10916-017-0786-4

This paper proposes a robotic Transesophageal Echocardiography (TOE) system concept for Catheterization Laboratories. Cardiovascular disease causes one third of all global mortality. TOE is utilized to assess cardiovascular structures and monitor cardiac function during diagnostic procedures and catheter-based structural interventions. However, the operation of TOE underlies various conditions that may cause a negative impact on performance, the health of the cardiac sonographer and patient safety. These factors have been conflated and evince the potential of robot-assisted TOE. Hence, a careful integration of clinical experience and Systems Engineering methods was used to develop a concept and physical model for TOE manipulation. The motion of different actuators of the fabricated motorized system has been tested. It is concluded that the developed medical system, counteracting conflated disadvantages, represents a progressive approach for cardiac healthcare.

Matched MeSH terms: Robotics
The potential of iRest in measuring the hand function performance of stroke patients

Abdul Rahman H, Khor KX, Yeong CF, Su EL, Narayanan AL

Biomed Mater Eng, 2017;28(2):105-116.
PMID: 28372264 DOI: 10.3233/BME-171660

BACKGROUND: Clinical scales such as Fugl-Meyer Assessment (FMA) and Motor Assessment Scale (MAS) are widely used to evaluate stroke patient's motor performance. However, there are several limitations with these assessment scales such as subjectivity, lack of repeatability, time-consuming and highly depend on the ability of the physiotherapy. In contrast, robot-based assessments are objective, repeatable, and could potentially reduce the assessment time. However, robot-based assessments are not as well established as conventional assessment scale and the correlation to conventional assessment scale is unclear.
OBJECTIVE: This study was carried out to identify important parameters in designing tasks that efficiently assess hand function of stroke patients and to quantify potential benefits of robotic assessment modules to predict the conventional assessment score with iRest.
METHODS: Twelve predictive variables were explored, relating to movement time, velocity, strategy, accuracy and smoothness from three robotic assessment modules which are Draw I, Draw Diamond and Draw Circle. Regression models using up to four predictors were developed to describe the MAS.
RESULTS: Results show that the time given should be not too long and it would affect the trajectory error. Besides, result also shows that it is possible to use iRest in predicting MAS score.
CONCLUSION: There is a potential of using iRest, a non-motorized device in predicting MAS score.

Matched MeSH terms: Robotics/instrumentation*
Fulltext Parallelogram linkage leg structure for stabilized walking gaits in humanoid robot

Firdaus Sukarman, Mohd Ghazali Mohd Hamami, Mazleenda Mazni, Muhammad Amir Mat Shah, Ahmad Faidzal Khodori

Journal of Advanced Research in Applied Sciences and Engineering Technology, 2017;9(1):22-31.
MyJurnal

The utilization of parallelogram structure in a small-sized humanoid robot consists of two parallel platforms that are linked serially in each leg. The thigh and shank of each leg consists of two servomotors as actuator and linked in parallel platform. By using parallel mechanism in leg structure, foot sole surface is always parallel to the walking surface at any point. Even it looks unnatural to human-like walking motion, the expected result is the robot can maintain it posture while walking and at the point foot sole touch the walking surface, unnecessary vibrates can be modulated at the certain level to remain its balance. The effectiveness and the performance of the proposed parallel platforms are experimented by using zero moment point (ZMP) method by taking various scenario data from pressure sensors attached at the footsole. Planned walking gait is introduced to be identical in terms of foot steps length and width of each leg swing. As the results, in terms of load in each actuator, required torque at servomotors can be reduced because two servomotors are used simultaneously in one parallel system. Stable walking gait can be predicted as the quantity of error falls within the error ranges from the published walking gait patterns.

Matched MeSH terms: Robotics
Fulltext Auto-Grasping algorithm of robot gripper based on pressure sensor measurement

Ahmed M. M. ALmassri, Chikamune Wada, Wan Hasan, W.Z., Ahmad, S.A.

Pertanika Journal of Science & Technology, 2017;25(102):113-122.
MyJurnal

This paper presents an auto grasping algorithm of a proposed robotic gripper. The purpose is to enhance the grasping mechanism of the gripper. Earlier studies have introduced various methods to enhance the grasping mechanism, but most of the works have not looked at the weight measurement method. Thus, with this algorithm, the weight of the object is calculated based on modified Wheatstone Bridge Circuit (WBC) which is controlled by programmable interface controller (PIC) method. Having this approach introduces and improves the grasping mechanism through an auto grasping algorithm. Experimental results show that an auto grasping algorithm based on pressure sensor measurements leads to a more precise grasping measurement and consequently enhance the sensitivity measurement as well as accurate movement calibration. Furthermore, several different grasping objects based on the proposed method are examined to demonstrate the performance and robustness of our approach.

Matched MeSH terms: Robotics
Fulltext Robotic-assisted thyroidectomy: a new experience in anaesthesia

Adlin Dasima, A.K., Nadia Hanom, I., Siti Aznida, A.K., Rusnaini, M.K., Mohd Fahmi, Z., Mohd Nazir, M.S., et al.

Journal of Surgical Academia, 2017;7(1):51-54.
MyJurnal

This is our first experience in providing general anaesthesia for robotic-assisted thyroidectomy (RAT). It is rather a
new experience for our anaesthetic team and few issues should be addressed. The conduct of RAT must be fully
understood and familiarized as it may present with few challenges for the anaesthesiologists. The key point of
success during this learning curve period is the importance of teamwork between the anaesthesiologists and the
operating surgeons. The specific anaesthetic challenges include limited access to the patient post-docking of the
robot, the need of extra precautions of the anaesthetic circuit and IV line connections, a vigilant anaesthesiologists
and options for postoperative pain relief.

Matched MeSH terms: Robotics
Fulltext Multisensor automatic balancing model for DARwIn-OP on uneven terrain

Muhamad Khuzaifah Ismail, Meng Cheng Lau, Mohammad Faidzul Nasrudin, Haslina Arsha

Pertanika Journal of Science & Technology, 2017;25(106):181-188.
MyJurnal

The walking of a humanoid robot needs to be robust enough in order to maintain balance in a dynamic environment especially on uneven terrain. A walking model based on multi-sensor is proposed for a Robotis DARwIn-OP robot named as Leman. Two force sensitive resistor (FSRs) on both feet equipped to Leman to estimate the zero moment point (ZMP) alongside with accelerometer and gyrosensor embedded in the body for body state estimation. The results show that the FSRs can successfully detect the unbalanced walking event if the protuberance exists on the floor surface and the accelerometer and gyrosensor (Inertial Measurement Unit, IMU) data are recorded to tune the balancing parameter in the model.

Matched MeSH terms: Robotics
Fulltext Fuzzy logic based EKF for mobile robot navigation: An analysis of different fuzzy membership functions

Hamzah Ahmad, Nur Aqilah Othman

Pertanika Journal of Science & Technology, 2017;25(106):189-198.
MyJurnal

This paper deals with the analysis of different Fuzzy membership type performance for Extended Kalman Filter (EKF) based mobile robot navigation. EKF is known to be incompetent in non-Gaussian noise condition and therefore the technique alone is not sufficient to provide solution. Motivated by this shortcoming, a Fuzzy based EKF is proposed in this paper. Three membership types are considered which includes the triangular, trapezoidal and Gaussian membership types to determine the best estimation results for mobile robot and landmarks locations. Minimal rule design and configuration are also other aspects being considered for analysis purposes. The simulation results suggest that the Gaussian memberships surpassed other membership type in providing the best solution in mobile robot navigation.

Matched MeSH terms: Robotics
Fulltext The effect of varying PID gains on position transient response of a robotic hand system

Salleh, N.M., Shauri, R.L.A., Nasir, K., Remeli, N.H., Kamal, M.M.

Pertanika Journal of Science & Technology, 2017;25(107):43-52.
MyJurnal

In an earlier study, a three-fingered robot hand was developed for assembly work. Proportional Integral Derivative (PID) control was used to control the position of a DC micromotor measured by an encoder. However, PID control alone could not cater the nonlinearities due to friction of gears and varying loads applied to the finger. Therefore, in order to develop an intelligent control algorithm in future, the effects of varying PID gains need to be investigated to distinguish the optimal value that could produce the best transient response performance. This paper discusses the effect of varying PID gains on position transient response of the joint motor of robot hand through real-time experiments. Several ranges of KP, KI and KD were identified based on the required transient response parameters such as percentage overshoot (%OS), settling time (TS) of within 2%, steady state error (SSE) and rise time (TR). The gains are tuned across the range by a fixed interval with the tuning order starting from KP, KI and KD. It can be observed that the suitable ranges of PID are 0.3 to 0.5 for KP, 1.15 to 1.45 for KI and 0.10 to 0.14 for KD. Meanwhile, the optimum value of 0.4, 1.45 and 0.10 for KP, KI and KD respectively is found to produce 0 of % OS, 5.09 sec of TS and 2.48 sec of TR. Hence, the gains can be applied to the development of an improved position control using intelligent method for the robot hand in future works.

Matched MeSH terms: Robotics
Fulltext Multi-objective AGV scheduling in an FMS using a hybrid of genetic algorithm and particle swarm optimization

Mousavi M, Yap HJ, Musa SN, Tahriri F, Md Dawal SZ

PLoS One, 2017;12(3):e0169817.
PMID: 28263994 DOI: 10.1371/journal.pone.0169817

Flexible manufacturing system (FMS) enhances the firm's flexibility and responsiveness to the ever-changing customer demand by providing a fast product diversification capability. Performance of an FMS is highly dependent upon the accuracy of scheduling policy for the components of the system, such as automated guided vehicles (AGVs). An AGV as a mobile robot provides remarkable industrial capabilities for material and goods transportation within a manufacturing facility or a warehouse. Allocating AGVs to tasks, while considering the cost and time of operations, defines the AGV scheduling process. Multi-objective scheduling of AGVs, unlike single objective practices, is a complex and combinatorial process. In the main draw of the research, a mathematical model was developed and integrated with evolutionary algorithms (genetic algorithm (GA), particle swarm optimization (PSO), and hybrid GA-PSO) to optimize the task scheduling of AGVs with the objectives of minimizing makespan and number of AGVs while considering the AGVs' battery charge. Assessment of the numerical examples' scheduling before and after the optimization proved the applicability of all the three algorithms in decreasing the makespan and AGV numbers. The hybrid GA-PSO produced the optimum result and outperformed the other two algorithms, in which the mean of AGVs operation efficiency was found to be 69.4, 74, and 79.8 percent in PSO, GA, and hybrid GA-PSO, respectively. Evaluation and validation of the model was performed by simulation via Flexsim software.

Matched MeSH terms: Robotics
Fulltext A smart wheelchair prototype based on hand gesture control

Shaari AR, Mohd Jani MN, Mohamed Yunus AS

Journal of Engineering and Science Research, 2017;1(2):209-214.
MyJurnal

Wheelchair has been an important assistive device and the demand are ever rising because of the increasing physically handicapped and old age populations. The recent development in the robotics artificial intelligence extends vast scope for developing the more advanced and intelligent one to overcome limitations of the existing traditional wheelchairs. The prototype smart wheelchair were present on this paper using hardware implementation with the help of simple hand gesture which is comprises of an accelerometer mounted on the hand glove senses the tilt angle of the user hand movements and transmits control signal to the receiver mounted on wheelchair. This will interpret the movement accordingly required by user. The wheelchair control unit is developed by integration of ATMEGA328 microcontroller with Arduino UNO. The wheelchair is developed to allow peoples to move safely and put reliability in accomplishment of some important tasks in daily life.

Matched MeSH terms: Robotics
Fulltext The Asia Pacific Consensus Statement on Laparoscopic Liver Resection for Hepatocellular Carcinoma: A Report from the 7th Asia-Pacific Primary Liver Cancer Expert Meeting Held in Hong Kong

Cheung TT, Han HS, She WH, Chen KH, Chow PKH, Yoong BK, et al.

Liver Cancer, 2018 Mar;7(1):28-39.
PMID: 29662831 DOI: 10.1159/000481834

Background: Laparoscopic liver resection has been gaining momentum, and it has become an accepted practice after the two international consensus conferences where experts worked up guidelines to standardize this approach and improve its safety. However, most laparoscopic hepatectomies were performed in patients with liver metastases. The concurrent presence of liver cirrhosis with hepatocellular carcinoma (HCC) poses a great challenge to clinicians trying to establish a routine use of laparoscopic liver resection for HCC.
Summary: The first Asia Pacific consensus meeting on laparoscopic liver resection for HCC was held in July 2016 in Hong Kong. A group of expert liver surgeons with experience in both open and laparoscopic hepatectomy for HCC convened to formulate recommendations on the role and perspective of laparoscopic liver resection for primary liver cancer. The recommendations consolidate the most recent evidence pertaining to laparoscopic hepatectomy together with the latest thinking of practicing clinicians involved in laparoscopic hepatectomy, and give detailed guidance on how to deploy the treatment effectively for patients in need.
Key Message: The panel of experts gathered evidence and produced recommendations providing guidance on the safe practice of laparoscopic hepatectomy for patients with HCC and cirrhosis. The inherent advantage of the laparoscopic approach may result in less blood loss if the procedure is performed in experienced centers. The laparoscopic approach to minor hepatectomy, particularly left lateral sectionectomy, is a preferred practice for HCC at experienced centers. Laparoscopic major liver resection for HCC remains a technically challenging operation, and it should be carried out in centers of excellence. There is emerging evidence that laparoscopic liver resection produces a better oncological outcome for HCC when compared with radiofrequency ablation, particularly when the lesions are peripherally located. Augmented features in laparoscopic liver resection, including indocyanine green fluorescence, 3D laparoscopy, and robot, will become important tools of surgical treatment in the near future. A combination of all of these features will enhance the experience of the surgeons, which may translate into better surgical outcomes. This is the first consensus workforce on laparoscopic liver resection for HCC, which is a unique condition that occurs in the Asia Pacific region.

Matched MeSH terms: Robotics
Developmental Approach for Behavior Learning Using Primitive Motion Skills

Dawood F, Loo CK

Int J Neural Syst, 2018 May;28(4):1750038.
PMID: 29022403 DOI: 10.1142/S0129065717500381

Imitation learning through self-exploration is essential in developing sensorimotor skills. Most developmental theories emphasize that social interactions, especially understanding of observed actions, could be first achieved through imitation, yet the discussion on the origin of primitive imitative abilities is often neglected, referring instead to the possibility of its innateness. This paper presents a developmental model of imitation learning based on the hypothesis that humanoid robot acquires imitative abilities as induced by sensorimotor associative learning through self-exploration. In designing such learning system, several key issues will be addressed: automatic segmentation of the observed actions into motion primitives using raw images acquired from the camera without requiring any kinematic model; incremental learning of spatio-temporal motion sequences to dynamically generates a topological structure in a self-stabilizing manner; organization of the learned data for easy and efficient retrieval using a dynamic associative memory; and utilizing segmented motion primitives to generate complex behavior by the combining these motion primitives. In our experiment, the self-posture is acquired through observing the image of its own body posture while performing the action in front of a mirror through body babbling. The complete architecture was evaluated by simulation and real robot experiments performed on DARwIn-OP humanoid robot.

Matched MeSH terms: Robotics/methods*
Fulltext A soft artificial muscle driven robot with reinforcement learning

Yang T, Xiao Y, Zhang Z, Liang Y, Li G, Zhang M, et al.

Sci Rep, 2018 09 28;8(1):14518.
PMID: 30266999 DOI: 10.1038/s41598-018-32757-9

Soft robots driven by stimuli-responsive materials have their own unique advantages over traditional rigid robots such as large actuation, light weight, good flexibility and biocompatibility. However, the large actuation of soft robots inherently co-exists with difficulty in control with high precision. This article presents a soft artificial muscle driven robot mimicking cuttlefish with a fully integrated on-board system including power supply and wireless communication system. Without any motors, the movements of the cuttlefish robot are solely actuated by dielectric elastomer which exhibits muscle-like properties including large deformation and high energy density. Reinforcement learning is used to optimize the control strategy of the cuttlefish robot instead of manual adjustment. From scratch, the swimming speed of the robot is enhanced by 91% with reinforcement learning, reaching to 21 mm/s (0.38 body length per second). The design principle behind the structure and the control of the robot can be potentially useful in guiding device designs for demanding applications such as flexible devices and soft robots.

Matched MeSH terms: Robotics/instrumentation*
A review of disability EEG based wheelchair control system: Coherent taxonomy, open challenges and recommendations

Al-Qaysi ZT, Zaidan BB, Zaidan AA, Suzani MS

Comput Methods Programs Biomed, 2018 Oct;164:221-237.
PMID: 29958722 DOI: 10.1016/j.cmpb.2018.06.012

CONTEXT: Intelligent wheelchair technology has recently been utilised to address several mobility problems. Techniques based on brain-computer interface (BCI) are currently used to develop electric wheelchairs. Using human brain control in wheelchairs for people with disability has elicited widespread attention due to its flexibility.
OBJECTIVE: This study aims to determine the background of recent studies on wheelchair control based on BCI for disability and map the literature survey into a coherent taxonomy. The study intends to identify the most important aspects in this emerging field as an impetus for using BCI for disability in electric-powered wheelchair (EPW) control, which remains a challenge. The study also attempts to provide recommendations for solving other existing limitations and challenges.
METHODS: We systematically searched all articles about EPW control based on BCI for disability in three popular databases: ScienceDirect, IEEE and Web of Science. These databases contain numerous articles that considerably influenced this field and cover most of the relevant theoretical and technical issues.
RESULTS: We selected 100 articles on the basis of our inclusion and exclusion criteria. A large set of articles (55) discussed on developing real-time wheelchair control systems based on BCI for disability signals. Another set of articles (25) focused on analysing BCI for disability signals for wheelchair control. The third set of articles (14) considered the simulation of wheelchair control based on BCI for disability signals. Four articles designed a framework for wheelchair control based on BCI for disability signals. Finally, one article reviewed concerns regarding wheelchair control based on BCI for disability signals.
DISCUSSION: Since 2007, researchers have pursued the possibility of using BCI for disability in EPW control through different approaches. Regardless of type, articles have focused on addressing limitations that impede the full efficiency of BCI for disability and recommended solutions for these limitations.
CONCLUSIONS: Studies on wheelchair control based on BCI for disability considerably influence society due to the large number of people with disability. Therefore, we aim to provide researchers and developers with a clear understanding of this platform and highlight the challenges and gaps in the current and future studies.

Matched MeSH terms: Robotics
Fulltext SLAMM: Visual monocular SLAM with continuous mapping using multiple maps

Daoud HA, Md Sabri AQ, Loo CK, Mansoor AM

PLoS One, 2018;13(4):e0195878.
PMID: 29702697 DOI: 10.1371/journal.pone.0195878

This paper presents the concept of Simultaneous Localization and Multi-Mapping (SLAMM). It is a system that ensures continuous mapping and information preservation despite failures in tracking due to corrupted frames or sensor's malfunction; making it suitable for real-world applications. It works with single or multiple robots. In a single robot scenario the algorithm generates a new map at the time of tracking failure, and later it merges maps at the event of loop closure. Similarly, maps generated from multiple robots are merged without prior knowledge of their relative poses; which makes this algorithm flexible. The system works in real time at frame-rate speed. The proposed approach was tested on the KITTI and TUM RGB-D public datasets and it showed superior results compared to the state-of-the-arts in calibrated visual monocular keyframe-based SLAM. The mean tracking time is around 22 milliseconds. The initialization is twice as fast as it is in ORB-SLAM, and the retrieved map can reach up to 90 percent more in terms of information preservation depending on tracking loss and loop closure events. For the benefit of the community, the source code along with a framework to be run with Bebop drone are made available at https://github.com/hdaoud/ORBSLAMM.

Matched MeSH terms: Robotics
Fulltext Mobile robot climber model for experiments application

Syahrul Affandi Saidi, Beh, Jun Long, Mohd Sharizan Md Sarip, Wan Azani Mustafa

Journal of Advanced Research in Applied Sciences and Engineering Technology, 2018;13(1):1-7.
MyJurnal

This article presents a Wall Climbing Robot (WCR) that able to move on ferromagnetic vertical surface to carry out visual inspection process. Visual inspection process is important in the industry to check the condition of storage tank, surface of building, piping or equipment thus can prevents structures collapsing or explosion which would bring a huge loss to the company. Moreover, most of the structures nowadays is expose under the sun and rain, corrosion and cracks could easily occur on the surface after exposing under sunlight and rain a long period of time. Therefore the periodic visual inspection process need to be carry out to detect the damaged occur on the surface of the structure and take action at the fastest time to ensure the safety of the structures and extend the lifespan of the structures. With the well maintenance to the structures, the condition of the structures is monitored and the lifespan is longer. The risk of collapse of the building is decrease by a large margin. Normally, the periodic visual inspection process is performed by operator. Sometime the temporary scaffolding is needed to reach the higher place to carry out the inspection. However, this method create a hazardous environment to the operator and cause the safety of the operator threatened. Therefore, the proposed WCR could help operator to work at the hazardous environment. The permanent magnet is used to provide adhesion for WCR, thus WCR able to move on vertical ferromagnetic surface. The WCR is controlled by operator via wireless remote to reach the higher place or the hazardous environment. The operator then can stream the on the real time images via web browser which connected to the same network with the WCR. Hence, the condition of the surface can be observed.

Matched MeSH terms: Robotics
Fulltext Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction

Ghazali AS, Ham J, Barakova EI, Markopoulos P

Front Robot AI, 2018;5:73.
PMID: 33500952 DOI: 10.3389/frobt.2018.00073

The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible) gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans) is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans). Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.

Matched MeSH terms: Robotics
Fulltext Bipedal humanoid robot

Zayer, Iman, Aris, I.B., Marhaban, M.H, Ishak, A.J

The Pertanika Journal of Scholarly Research Reviews, 2018;4(3):0-0.
MyJurnal

The new millennium witnessed increasing attention to the field of robotics, especially the development of humanoid bipedal robot. Attention is noticed from the increasing number of publications as a result of a multitude of humanoid projects for commercial and academic goals. This paper briefly visits the recent activities in this field, highlighting the importance and motivation behind adopting bipedal humanoid projects, particularly underlining biologically inspired design concept, bipedal locomotion and communication. Ultimately, emphasising on power-efficient design. The problem of endurance and effective duty cycle were presented. Finally, potential future application for the humanoid robot was briefly listed.

Matched MeSH terms: Robotics
Frequency and Causes of Line of Sight Issues During Neurosurgical Procedures Using Optical Image-Guided Systems

Mehbodniya AH, Moghavvemi M, Narayanan V, Waran V

World Neurosurg, 2019 Feb;122:e449-e454.
PMID: 30347306 DOI: 10.1016/j.wneu.2018.10.069

BACKGROUND: Navigation (image guidance) is an essential tool in modern neurosurgery, and most surgeons use an optical tracking system. Although the technology is accurate and reliable, one often is confronted by line of sight issues that interrupt the flow of an operation. There has been feedback on the matter, but the actual problem has not been accurately quantified, therefore making this the primary aim of this study. It is particularly important given that robotic technology is gradually making its way into neurosurgery and most of these devices depend on optical navigation when procedures are being conducted.
METHODS: In this study, the frequency and causes of line of sight issues is assessed using recordings of Navigation probe locations and its synchronised video recordings.
RESULTS: The mentioned experiment conducted for a series of 15 neurosurgical operations. This issue occured in all these surgeries except one. Maximum duration of issue presisting reached up to 56% of the navigation usage time.
CONCLUSIONS: The arrangment of staff and equipment is a key factor in avoiding this issue.

Matched MeSH terms: Robotics
A model-based bone milling state identification method via force sensing for a robotic surgical system

Al-Abdullah KI, Lim CP, Najdovski Z, Yassin W

Int J Med Robot, 2019 Jun;15(3):e1989.
PMID: 30721570 DOI: 10.1002/rcs.1989

BACKGROUND: This paper presents a model-based bone milling state identification method that provides intraoperative bone quality information during robotic bone milling. The method helps surgeons identify bone layer transitions during bone milling.
METHODS: On the basis of a series of bone milling experiments with commercial artificial bones, an artificial neural network force model is developed to estimate the milling force of different bone densities as a function of the milling feed rate and spindle speed. The model estimations are used to identify the bone density at the cutting zone by comparing the actual milling force with the estimated one.
RESULTS: The verification experiments indicate the ability of the proposed method to distinguish between one cortical and two cancellous bone densities.
CONCLUSIONS: The significance of the proposed method is that it can be used to discriminate a set of different bone density layers for a range of the milling feed rate and spindle speed.

Matched MeSH terms: Robotics

Filters

Please provide feedback to Administrator (afdal@afpm.org.my)

External Links