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.

/pdf/advances-in-bio-tactile-sensors-for-minimally-invasive-3qty8p9jxk.pdf

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 recent years, there has been an expansion in the development of simulators that use virtual reality (VR) as a learning tool. In surgery where robots are used, VR serves as a revolutionary technology to help medical doctors train in using these robotic systems and accumulate knowledge without risk. This article presents a study in which VR is used to create a simulator designed for robotically assisted single-uniport surgery. The control of the surgical robotic system is achieved using voice commands for laparoscopic camera positioning and via a user interface developed using the Visual Studio program that connects a wristband equipped with sensors attached to the user’s hand for the manipulation of the active instruments. The software consists of the user interface and the VR application via the TCP/IP communication protocol. To study the evolution of the performance of this virtual system, 15 people were involved in the experimental evaluation of the VR simulator built for the robotic surgical system, having to complete a medically relevant task. The experimental data validated the initial solution, which will be further developed.

/pdf/integration-of-virtual-reality-in-the-control-system-of-an-1ffihisa.pdf

Integration of Virtual Reality in the Control System of an Innovative Medical Robot for Single-Incision Laparoscopic Surgery

The paper presents the mechanical and electronic structure, the basic functions and the operation block diagrams developed for the command and control unit of the PARASURG 9M hybrid parallel robot.

Integrated control techniques for PARASURG 9M parallel robot

All over the world it can be noticed that the product miniaturisation is a central theme in product development for different application areas. In robotics scientific research one of the most important approaches is concerning the raise of the positioning accuracy by the use of parallel structures. The progress of the industrial production, especially the development of the industrial robotics is more and more based on a new generation of robots based on closed kinematic chains mechanisms, the parallel robots. In the paper are presented a structural synthesis of the parallel robots which leads to some variants of parallel mini-robots and micro-robots with different degrees of freedom. These parallel robots are used for manipulation within the high precision assembling processes. Some parallel robots were developed the geometric virtual models by using the Solid Edge virtual modeling software packages. Based on the corresponding geometric models, the modeled solutions are

http://www.tmt.unze.ba/zbornik/TMT2007/153-TMT07-329.pdf

Aspects on synthesis and modeling of the parallel mini-robots and micro-robots

The paper deals with optimized facilities regarding robots, seen as very complex systems, that within the design and modeling must consider long lists of restrictions. Therefore, product life management (PLM) is considered as an optimum solution for grouping all the restrictions under a single umbrella, having different specialized software packages for CAD/CAM/FEA/PDM.

Interactive Modelling of the Robotized Systems

Simple Summary SILS and U-VATS procedures present many advantages, but also a series of limitations, such as the narrow operating space and poor surgeon ergonomics. To enhance the surgeon’s performance, this study aims to develop an AI and AR-based hazard detection system. The focus is on detecting and locating hemorrhages, a common occurrence especially in cancer patients. The system utilizes the YOLO v5 algorithm, trained to accurately identify bleeding in real-time. When bleeding is detected, it is displayed on a Hololens 2 device, alerting the doctor to its occurrence and origin. The system demonstrated its capability to distinguish between instances of bleeding and intraoperative irrigation, reducing the risk of false-negative and false-positive results. The current advancements in AI and AR technologies present potential of real-time hazard detection systems, which can serve as effective tools to assist surgeons, particularly in high-risk surgeries. Abstract The problem: Single-incision surgery is a complex procedure in which any additional information automatically collected from the operating field can be of significance. While the use of robotic devices has greatly improved surgical outcomes, there are still many unresolved issues. One of the major surgical complications, with higher occurrence in cancer patients, is intraoperative hemorrhages, which if detected early, can be more efficiently controlled. Aim: This paper proposes a hazard detection system which incorporates the advantages of both Artificial Intelligence (AI) and Augmented Reality (AR) agents, capable of identifying, in real-time, intraoperative bleedings, which are subsequently displayed on a Hololens 2 device. Methods: The authors explored the different techniques for real-time processing and determined, based on a critical analysis, that YOLOv5 is one of the most promising solutions. An innovative, real-time, bleeding detection system, developed using the YOLOv5 algorithm and the Hololens 2 device, was evaluated on different surgical procedures and tested in multiple configurations to obtain the optimal prediction time and accuracy. Results: The detection system was able to identify the bleeding occurrence in multiple surgical procedures with a high rate of accuracy. Once detected, the area of interest was marked with a bounding box and displayed on the Hololens 2 device. During the tests, the system was able to differentiate between bleeding occurrence and intraoperative irrigation; thus, reducing the risk of false-negative and false-positive results. Conclusion: The current level of AI and AR technologies enables the development of real-time hazard detection systems as efficient assistance tools for surgeons, especially in high-risk interventions.

/pdf/artificial-intelligence-based-hazard-detection-in-robotic-2dnhdvlb.pdf

Doina Pisla

Papers

Integration of Virtual Reality in the Control System of an Innovative Medical Robot for Single-Incision Laparoscopic Surgery

Integrated control techniques for PARASURG 9M parallel robot

Aspects on synthesis and modeling of the parallel mini-robots and micro-robots

Interactive Modelling of the Robotized Systems

Artificial Intelligence-Based Hazard Detection in Robotic-Assisted Single-Incision Oncologic Surgery