Displaying publications 41 - 60 of 85 in total

Abstract:
Sort:
  1. 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
  2. Mustaza SM, Elsayed Y, Lekakou C, Saaj C, Fras J
    Soft Robot, 2019 06;6(3):305-317.
    PMID: 30917093 DOI: 10.1089/soro.2018.0032
    Robot-assisted surgery is gaining popularity worldwide and there is increasing scientific interest to explore the potential of soft continuum robots for minimally invasive surgery. However, the remote control of soft robots is much more challenging compared with their rigid counterparts. Accurate modeling of manipulator dynamics is vital to remotely control the diverse movement configurations and is particularly important for safe interaction with the operating environment. However, current dynamic models applied to soft manipulator systems are simplistic and empirical, which restricts the full potential of the new soft robots technology. Therefore, this article provides a new insight into the development of a nonlinear dynamic model for a soft continuum manipulator based on a material model. The continuum manipulator used in this study is treated as a composite material and a modified nonlinear Kelvin-Voigt material model is utilized to embody the visco-hyperelastic dynamics of soft silicone. The Lagrangian approach is applied to derive the equation of motion of the manipulator. Simulation and experimental results prove that this material modeling approach sufficiently captures the nonlinear time- and rate-dependent behavior of a soft manipulator. Material model-based closed-loop trajectory control was implemented to further validate the feasibility of the derived model and increase the performance of the overall system.
    Matched MeSH terms: Robotics
  3. Yakub F, Md Khudzari AZ, Mori Y
    Int J Rehabil Res, 2014 Mar;37(1):9-21.
    PMID: 24126254 DOI: 10.1097/MRR.0000000000000035
    This paper presents and studies various selected literature primarily from conference proceedings, journals and clinical tests of the robotic, mechatronics, neurology and biomedical engineering of rehabilitation robotic systems. The present paper focuses of three main categories: types of rehabilitation robots, key technologies with current issues and future challenges. Literature on fundamental research with some examples from commercialized robots and new robot development projects related to rehabilitation are introduced. Most of the commercialized robots presented in this paper are well known especially to robotics engineers and scholars in the robotic field, but are less known to humanities scholars. The field of rehabilitation robot research is expanding; in light of this, some of the current issues and future challenges in rehabilitation robot engineering are recalled, examined and clarified with future directions. This paper is concluded with some recommendations with respect to rehabilitation robots.
    Matched MeSH terms: Robotics/instrumentation; Robotics/trends*
  4. Teo J, Abbass HA
    Evol Comput, 2004;12(3):355-94.
    PMID: 15355605
    In this paper, we investigate the use of a self-adaptive Pareto evolutionary multi-objective optimization (EMO) approach for evolving the controllers of virtual embodied organisms. The objective of this paper is to demonstrate the trade-off between quality of solutions and computational cost. We show empirically that evolving controllers using the proposed algorithm incurs significantly less computational cost when compared to a self-adaptive weighted sum EMO algorithm, a self-adaptive single-objective evolutionary algorithm (EA) and a hand-tuned Pareto EMO algorithm. The main contribution of the self-adaptive Pareto EMO approach is its ability to produce sufficiently good controllers with different locomotion capabilities in a single run, thereby reducing the evolutionary computational cost and allowing the designer to explore the space of good solutions simultaneously. Our results also show that self-adaptation was found to be highly beneficial in reducing redundancy when compared against the other algorithms. Moreover, it was also shown that genetic diversity was being maintained naturally by virtue of the system's inherent multi-objectivity.
    Matched MeSH terms: Robotics
  5. Rafizah Musa, Mohamad Syazli Fathib
    MyJurnal
    Industries in Malaysia are entering a period of major disruption caused by new technologies such as Artificial Intelligent, Robotics, Blockchain, Nanotechnology as well as Building Information Modelling (BIM) and the Internet of Things (IoT). In this fourth industrial revolution where information is generated and exchanged at a rapid and huge scale, its reliability is of paramount importance. The success of Occupational Safety & Health Management System (OSHMS) is highly dependent on the reliability of the information gathered and used, where a large number of intermediaries authenticate the information to establish trust between the stakeholders. Blockchain technology is able to do verification by virtue of secured distributed storage brings about a paradigm shift in the way we establish trust. This paper gives an overview of the potential use of Blockchain technology for Occupational Safety & Health Management System. The discussions focused on the benefits and challenges of implementing the Blockchain technology in OSHMS. The conclusion is drawn based on the strength in the characteristics provided by the Blockchain technology itself.
    Matched MeSH terms: Robotics
  6. Tao H, Rahman MA, Al-Saffar A, Zhang R, Salih SQ, Zain JM, et al.
    Work, 2021;68(3):853-861.
    PMID: 33612528 DOI: 10.3233/WOR-203419
    BACKGROUND: Nowadays, workplace violence is found to be a mental health hazard and considered a crucial topic. The collaboration between robots and humans is increasing with the growth of Industry 4.0. Therefore, the first problem that must be solved is human-machine security. Ensuring the safety of human beings is one of the main aspects of human-robotic interaction. This is not just about preventing collisions within a shared space among human beings and robots; it includes all possible means of harm for an individual, from physical contact to unpleasant or dangerous psychological effects.

    OBJECTIVE: In this paper, Non-linear Adaptive Heuristic Mathematical Model (NAHMM) has been proposed for the prevention of workplace violence using security Human-Robot Collaboration (HRC). Human-Robot Collaboration (HRC) is an area of research with a wide range of up-demands, future scenarios, and potential economic influence. HRC is an interdisciplinary field of research that encompasses cognitive sciences, classical robotics, and psychology.

    RESULTS: The robot can thus make the optimal decision between actions that expose its capabilities to the human being and take the best steps given the knowledge that is currently available to the human being. Further, the ideal policy can be measured carefully under certain observability assumptions.

    CONCLUSION: The system is shown on a collaborative robot and is compared to a state of the art security system. The device is experimentally demonstrated. The new system is being evaluated qualitatively and quantitatively.

    Matched MeSH terms: Robotics
  7. Wei H, Rahman MA, Hu X, Zhang L, Guo L, Tao H, et al.
    Work, 2021;68(3):845-852.
    PMID: 33612527 DOI: 10.3233/WOR-203418
    BACKGROUND: The selection of orders is the method of gathering the parts needed to assemble the final products from storage sites. Kitting is the name of a ready-to-use package or a parts kit, flexible robotic systems will significantly help the industry to improve the performance of this activity. In reality, despite some other limitations on the complexity of components and component characteristics, the technological advances in recent years in robotics and artificial intelligence allows the treatment of a wide range of items.

    OBJECTIVE: In this article, we study the robotic kitting system with a Robotic Mounted Rail Arm System (RMRAS), which travels narrowly to choose the elements.

    RESULTS: The objective is to evaluate the efficiency of a robotic kitting system in cycle times through modeling of the elementary kitting operations that the robot performs (pick and room, move, change tools, etc.). The experimental results show that the proposed method enhances the performance and efficiency ratio when compared to other existing methods.

    CONCLUSION: This study with the manufacturer can help him assess the robotic area performance in a given design (layout and picking a policy, etc.) as part of an ongoing project on automation of kitting operations.

    Matched MeSH terms: Robotics
  8. Guangnan Z, Tao H, Rahman MA, Yao L, Al-Saffar A, Meng Q, et al.
    Work, 2021;68(3):871-879.
    PMID: 33612530 DOI: 10.3233/WOR-203421
    BACKGROUND: An isolated robot must take account of uncertainty in its world model and adapt its activities to take into account such as uncertainty. In the same way, a robot interaction with security and privacy issues (RISAPI) with people has to account for its confusion about the human internal state, as well as how this state will shift as humans respond to the robot.

    OBJECTIVES: This paper discusses RISAPI of our original work in the field, which shows how probabilistic planning and system theory algorithms in workplace robotic systems that work with people can allow for that reasoning using a security robot system. The problem is a general way as an incomplete knowledge 2-player game.

    RESULTS: In this general framework, the various hypotheses and these contribute to thrilling and complex robot behavior through real-time interaction, which transforms actual human subjects into a spectrum of production systems, robots, and care facilities.

    CONCLUSION: The models of the internal human situation, in which robots can be designed efficiently, are limited, and achieve optimal computational intractability in large, high-dimensional spaces. To achieve this, versatile, lightweight portrayals of the human inner state and modern algorithms offer great hope for reasoning.

    Matched MeSH terms: Robotics
  9. Tao H, Rahman MA, Jing W, Li Y, Li J, Al-Saffar A, et al.
    Work, 2021;68(3):903-912.
    PMID: 33720867 DOI: 10.3233/WOR-203424
    BACKGROUND: Human-robot interaction (HRI) is becoming a current research field for providing granular real-time applications and services through physical observation. Robotic systems are designed to handle the roles of humans and assist them through intrinsic sensing and commutative interactions. These systems handle inputs from multiple sources, process them, and deliver reliable responses to the users without delay. Input analysis and processing is the prime concern for the robotic systems to understand and resolve the queries of the users.

    OBJECTIVES: In this manuscript, the Interaction Modeling and Classification Scheme (IMCS) is introduced to improve the accuracy of HRI. This scheme consists of two phases, namely error classification and input mapping. In the error classification process, the input is analyzed for its events and conditional discrepancies to assign appropriate responses in the input mapping phase. The joint process is aided by a linear learning model to analyze the different conditions in the event and input detection.

    RESULTS: The performance of the proposed scheme shows that it is capable of improving the interaction accuracy by reducing the ratio of errors and interaction response by leveraging the information extraction from the discrete and successive human inputs.

    CONCLUSION: The fetched data are analyzed by classifying the errors at the initial stage to achieve reliable responses.

    Matched MeSH terms: Robotics
  10. 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
  11. Syahrul Affandi Saidi, Beh, Jun Long, Mohd Sharizan Md Sarip, Wan Azani Mustafa
    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
  12. Teh GC
    Urol Oncol, 2010 Nov-Dec;28(6):682-5.
    PMID: 21062652 DOI: 10.1016/j.urolonc.2010.03.017
    With maturing functional and oncologic outcomes data, open partial nephrectomy (OPN) has become the standard of care for T1a renal tumor. Laparoscopic approach can provide a speedier recovery with less blood loss and postoperative pain. Presuming adequate laparoscopic expertise, laparoscopic partial nephrectomy can provide equivalent oncologic outcome as for OPN albeit with higher urologic complications rate and longer warm ischemia time. With refinement of technique and use of robotic assistant, the shortcomings of laparoscopic approach can be further reduced. This article is a mini-review on the current status of laparoscopic approach to partial nephrectomy in the management of small renal mass.
    Matched MeSH terms: Robotics
  13. Norhafizan Ahmad, Raja Ariffin Raja Ghazilla, Muhammad Zikril Hakim Md Azizi
    MyJurnal
    Brain Computer Interfaces (BCI) provide a vast possibility in enabling the brain to communicate directly with the computer, hence providing an alternative in controlling the machines without much effort. In fields of rehabilitations robotics, the applications of an exoskeletons in assisting a spinal cord injured (SCI) patients were growing. Steady state visually evoked potentials (SSVEP) based BCIs that utilizes the human visual reactions to the constant flickered stimulus quickly showed its potentials among the BCIs used in rehabilitations devices because of its advantages such as a higher immunity to noises and artefacts and also its robustness compared to other BCIs. Rehabilitation exoskeletons demands an approach that are more user friendly and the aspects of control scheme and mechanical parts that are more focused on assisting the patients in rehabilitations and providing a SCI patients an alternatives to explore their surroundings in a more intuitive ways. This paper highlights the current development trends in SSVEP based BCIs for rehabilitation exoskeletons and proposed the potential research scopes in the future that can improve the effectiveness, and its potential applications in rehabilitations.
    Matched MeSH terms: Robotics
  14. Firdaus Sukarman, Mohd Ghazali Mohd Hamami, Mazleenda Mazni, Muhammad Amir Mat Shah, Ahmad Faidzal Khodori
    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
  15. Adlin Dasima, A.K., Nadia Hanom, I., Siti Aznida, A.K., Rusnaini, M.K., Mohd Fahmi, Z., Mohd Nazir, M.S., et al.
    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
  16. Shaari AR, Mohd Jani MN, Mohamed Yunus AS
    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
  17. Koh KH, Sreekumar M, Ponnambalam SG
    Materials (Basel), 2014 Jun 25;7(7):4963-4981.
    PMID: 28788114 DOI: 10.3390/ma7074963
    This paper investigates the effect of driving voltage on the attachment force of an electroadhesion actuator, as the existing literature on the saturation of the adhesive force at a higher electric field is incomplete. A new type of electroadhesion actuator using normally available materials, such as aluminum foil, PVC tape and a silicone rubber sheet used for keyboard protection, has been developed with a simple layered structure that is capable of developing adhesive force consistently. The developed actuator is subjected to the experiment for the evaluation of various test surfaces; aluminum, brick, ceramic, concrete and glass. The driving high voltage is varied in steps to determine the characteristics of the output holding force. Results show a quadratic relation between F (adhesion force) and V (driving voltage) within the 2 kV range. After this range, the F-V responses consistently show a saturation trend at high electric fields. Next, the concept of the leakage current that can occur in the dielectric material and the corona discharge through air has been introduced. Results show that the voltage level, which corresponds to the beginning of the supply current, matches well with the beginning of the force saturation. With the confirmation of this hypothesis, a working model for electroadhesion actuation is proposed. Based on the experimental results, it is proposed that such a kind of actuator can be driven within a range of optimum high voltage to remain electrically efficient. This practice is recommended for the future design, development and characterization of electroadhesion actuators for robotic applications.
    Matched MeSH terms: Robotics
  18. 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
  19. Spinelli A, Carrano FM, Laino ME, Andreozzi M, Koleth G, Hassan C, et al.
    Tech Coloproctol, 2023 Aug;27(8):615-629.
    PMID: 36805890 DOI: 10.1007/s10151-023-02772-8
    Artificial intelligence (AI) has the potential to revolutionize surgery in the coming years. Still, it is essential to clarify what the meaningful current applications are and what can be reasonably expected. This AI-powered review assessed the role of AI in colorectal surgery. A Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA)-compliant systematic search of PubMed, Embase, Scopus, Cochrane Library databases, and gray literature was conducted on all available articles on AI in colorectal surgery (from January 1 1997 to March 1 2021), aiming to define the perioperative applications of AI. Potentially eligible studies were identified using novel software powered by natural language processing (NLP) and machine learning (ML) technologies dedicated to systematic reviews. Out of 1238 articles identified, 115 were included in the final analysis. Available articles addressed the role of AI in several areas of interest. In the preoperative phase, AI can be used to define tailored treatment algorithms, support clinical decision-making, assess the risk of complications, and predict surgical outcomes and survival. Intraoperatively, AI-enhanced surgery and integration of AI in robotic platforms have been suggested. After surgery, AI can be implemented in the Enhanced Recovery after Surgery (ERAS) pathway. Additional areas of applications included the assessment of patient-reported outcomes, automated pathology assessment, and research. Available data on these aspects are limited, and AI in colorectal surgery is still in its infancy. However, the rapid evolution of technologies makes it likely that it will increasingly be incorporated into everyday practice.
    Matched MeSH terms: Robotics
  20. Awang MS, Abdullah MZ
    Malays J Med Sci, 2011 Apr;18(2):53-7.
    PMID: 22135587 MyJurnal
    Surgical robots have been appearing in operating rooms over the past decade, and neurosurgery has been one of the pioneers in this area. In neurosurgery, the clinical use of robots has been limited to stereotactic procedures and endoscopic manoeuvres, although the brain is a unique organ and well-suited for robotic application. The aim of this study was to assess the ability of our vision-guided robotic system to perform basic neurosurgical procedures.
    Matched MeSH terms: Robotics
Filters
Contact Us

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

External Links