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

In the paper the parallel hybrid surgical robotic system PARASURG-9M is presented. The structure contains two modules: a robotic arm PARASURG 5M with five degrees of freedom (DOF), and an active robotized surgical instrument PARASIM with four DOF. The paper begins with a brief introduction in the approached field and continues with the description of the CAD model of the surgical PARASURG-9M hybrid robot. The structural analysis of the robot, and design considerations are also presented. Key words: Parallel Hybrid Robot, Design, Structural Analysis, Surgical Robotic System, Active Robotized Instrument, Minimally Invasive Surgery (MIS).

Design and structural analysis of parasurg-9m parallel hybrid surgical robotic system

The paper presents the control system of two medical instruments used in percutaneous cancer treatment. One instrument is designed for radiofrequency ablation and the other one for brachytherapy. The instruments may be attached to various robots capable of providing 5 Degrees of Freedom. Two robotic solutions are used for exemplifying this capability, namely the Kuka iiwa robot and the PARA-BRACHYROB. The developed control system is capable to communicate with both robots using MATLAB environment and different communication protocols to establish the connections between the robot control units.

On the control system for the robotic assisted instruments used in percutaneous cancer treatment

Surgical robots for biopsy procedure require pre-operative planning of trajectories prior to be used for needle guiding procedures. Virtual Reality (VR) technologies allow to simulate robotic biopsy procedure and to generate accurate needle trajectories that avoid vital organs. The paper presents a serial robot which can be used for biopsy procedure and a needle trajectory planning software based on VR technologies. A virtual environment has been modelled and simulations for robotic-assisted biopsy of the prostate have been performed.

A Virtual Reality System for Pre-Planning of Robotic-Assisted Prostate Biopsy

Due to current limitations in the treatment of the upper limb post-stroke patients, there is a powerful trend in the development of rehabilitation robotic systems. The paper focuses on the development of the inverse dynamic model for the ParReEx-wrist parallel robot designed for the wrist rehabilitation. The model is developed based on the principle of virtual work using the lumped masses model. The derived model offers the possibility of a complex study for ParReEx-wrist robot to evaluate its dynamic capabilities and to generate the assistive control algorithms.

Doina Pisla

Papers

Design and structural analysis of parasurg-9m parallel hybrid surgical robotic system

On the control system for the robotic assisted instruments used in percutaneous cancer treatment

A Virtual Reality System for Pre-Planning of Robotic-Assisted Prostate Biopsy

Inverse dynamic modeling of a parallel wrist rehabilitation robot towards an assistive control modality

The experimental model of an active parallel surgical robot