Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great examples of mobile robots. They can be distinguished from other robots by their ability to move autonomously, with ...

https://journals.sagepub.com/doi/pdf/10.1177/1729881419839596

A review of mobile robots: Concepts, methods, theoretical framework, and applications

J. DAnwl B8NrL.nd, Ph.D., isIlssU14nt professor Andhed, Physic Section, Dep.:ntm ent ofR.4dUaion Oncology, Wa e Forest Unit/miry School of Medicine in Winston-Salem, N.G. He ischairman ofthe AAPM Electronic Media Coordinating Committee, chairman ofthe new AAPM Subcommitteeon MoieCHlaTImaging in Clinical Radiation Oncology, and aformer member ofthe AAPM RildiAtion Therllpy Committee. The AAPM is headqNllTtered in College PIlTk, Md. WHO WE ARE The America n Assoc iation of Physicists in Medicine (AAPM) h J S ap proximately 4.62S mcmbers who practice or arc associn ed with medical physics.

American Association of Physicists in Medicine

The large interest in utilising fibre Bragg grating (FBG) strain sensors for minimally invasive surgery (MIS) applications to replace conventional electrical tactile sensors has grown in the past few years. FBG strain sensors offer the advantages of optical fibre sensors, such as high sensitivity, immunity to electromagnetic noise, electrical passivity and chemical inertness, but are not limited by phase discontinuity or intensity fluctuations. FBG sensors feature a wavelength-encoding sensing signal that enables distributed sensing that utilises fewer connections. In addition, their flexibility and lightness allow easy insertion into needles and catheters, thus enabling localised measurements inside tissues and blood. Two types of FBG tactile sensors have been emphasised in the literature: single-point and array FBG tactile sensors. This paper describes the current design, development and research of the optical fibre tactile techniques that are based on FBGs to enhance the performance of MIS procedures in general. Providing MIS or microsurgery surgeons with accurate and precise measurements and control of the contact forces during tissues manipulation will benefit both surgeons and patients.

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Advances in bio-tactile sensors for minimally invasive surgery using the fibre Bragg grating force sensor technique: a survey.

A new class of reconfigurable parallel kinematic machines

Mobility analysis of the typical gait of a radial symmetrical six-legged robot

The paper presents the singularity and workspace analysis of PARAMIS — the first parallel robot, for camera guidance in minimally invasive surgical procedures developed in Romania. The graphical workspace is achieved through a series of geometric constructions in modeling software. The analytical workspace is achieved through a simple method based on the geometric model of the robot. The paper will demonstrate that the use of a simple structure with the minimum number of degrees of freedom required by the application provides the necessary workspace without singularity points. Results and conclusions from the first experimental procedures are presented.

Singularities and workspace analysis for a parallel robot for minimally invasive surgery

The paper presents an overview of the current strategies in the human robot interaction modalities implemented in robotic rehabilitation systems for the upper limb. An in-depth analysis reveals the potential benefits of the existing approaches in relation to the post-stroke stage of the patient. Using several human body anthropometric models and experimental data collected from a group of patients the motion types and amplitudes, limb segment lengths and weights are calculated. Medical protocols for the rehabilitation of post-stroke patients are proposed in correlation with the latest studies and trials. The experimental and calculated data represent a critical point in the preliminary development of new conceptual structures for robotic assisted rehabilitation to ensure an efficient recovery of the post-stroke patients. Keywords: human robot interaction, post-stroke robotic rehabilitation, control strategies, medical protocols

On human robot interaction modalities in the upper limb rehabilitation after stroke

A few decades ago, robotics started to be implemented in the medical field, especially in the rehabilitation of patients with different neurological diseases that have led to neuromuscular disorders. The main concern regarding medical robots is their safety assurance in the medical environment. The goal of this paper is to assess the risk of a medical robotic system for elbow and wrist rehabilitation in terms of robot and patient safety. The approached risk assessment follows the ISO12100:2010 risk management chart in order to determine, identify, estimate, and evaluate the possible risk that can occur during the use of the robotic system. The result of the risk assessment process is further analyzed using a fuzzy logic system in order to determine the safety degree conferred during the use of the robotic system. The innovative process concerning the risk assessment allows the achievement of a reliable medical robotic system both for the patient and the clinicians as well. The clinical trials performed on a group of 18 patients validated the functionality and the safe behavior of the robotic system.

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation.

Cancer represents one of the main causes of the death. Huge efforts have been made by the scientific community to provide better cancer treatment solutions. An innovative option is the brachytherapy (BT), a local radiation technique for cancer treatment, which enables the delivery of high doses of radiation inside the tumors. BT usage is limited by the insufficient accuracy of the radioactive seeds placement. In order to eliminate these limitations, the authors propose an innovative modular structure which would enable the precise positioning of the BT needles in any part of the patient body. The paper presents the kinematic modeling of the new 5-DOF robotic structure. The workspace analysis and the singularities are studied and the dexterous workspace for a given insertion point inside the patient is also shown. Finally, some numerical simulations of different BT needle trajectories are included.

Kinematic analysis of a new 5-DOF modular parallel robot for brachytherapy

The paper presents the parallel robot, which has been developed in Romania and it is used for laparoscope camera positioning. Based on its mathematical modeling, the first low-cost experimental model of the PARAMIS surgical robot has been built. The system has been built in such a way that it has the possibility to transform it in a multiarm robot controlled from the console. The control input allows the user to give commands in a large area for the positioning of the laparoscope using different interfaces: joystick, microphone, keyboard & mouse and haptic device. The first results have been obtained through the performing of an experimental laparoscopic cholecystectomy using PARAMIS surgical robot. The model which was used was a porcine liver, removed with the gall-bladder and the bile ducts. Due to its very easy use control system, surgeons have adapted rapidly to the use of PARAMIS in surgical procedures. Some of its advantages could be emphasized: precision of the movements; absence of the laparoscope operator’s natural tremor, direct control over a smooth, precise, stable view of the internal surgical field for the surgeon; no fatigue; allows the use of both hands for the actual procedure; reduces eye fatigue; eliminates the need for a second surgeon to be present for the entire procedure.

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Doina Pisla

Papers

Singularities and workspace analysis for a parallel robot for minimally invasive surgery

On human robot interaction modalities in the upper limb rehabilitation after stroke

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation.

Kinematic analysis of a new 5-DOF modular parallel robot for brachytherapy

PARAMIS parallel robot for laparoscopic surgery.