Filters








151 Hits in 8.1 sec

Sensorless Real-time Force Estimation in Microsurgery Robots using a Time Series Convolutional Neural Network

Jiuyun Xia, Kazuo Kiguchi
2021 IEEE Access  
Since it is difficult to install force sensors on microsurgical tools, a novel approach for estimating a force vector from the deformation of the surgical tool is proposed in this paper.  ...  In the proposed approach, a surgical instrument that deforms according to the magnitude of the toolto-tissue force is designed, and a time series convolution neural network is used to make the nonlinear  ...  ACKNOWLEDGMENTS This study was partially supported by The Okawa Foundation for Information and Telecommunications [Grant No. .  ... 
doi:10.1109/access.2021.3124304 fatcat:zemvngpkyzfsbhrv7stu2s7rqi

Towards Retrieving Force Feedback in Robotic-Assisted Surgery: A Supervised Neuro-Recurrent-Vision Approach

Angelica I. Aviles, Samar M. Alsaleh, James K. Hahn, Alicia Casals
2017 IEEE Transactions on Haptics  
To overcome this limitation, we propose a novel force estimation approach that combines a vision based solution with supervised learning to estimate the applied force and provide the surgeon with a suitable  ...  Robotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients.  ...  The work has been developed in the frame of Project RTC-2015-3926-1, from MINECO and with Feder funds.  ... 
doi:10.1109/toh.2016.2640289 pmid:28113330 fatcat:hntibrfgwjezjnzb3izk6yjqne

A Review on Deep Learning in Minimally Invasive Surgery

Irene Rivas-Blanco, Carlos J. Perez-Del-Pulgar, Isabel Garcia-Morales, Victor F. Munoz
2021 IEEE Access  
In the last five years, deep learning has attracted great interest in computer-assisted systems for Minimally Invasive Surgery.  ...  The objective of this work is to provide readers a survey on deep learning models applied to minimally invasive surgery, identifying the different architectures used depending on the application, the results  ...  [98] proposed using deep-neuro-fuzzy strategies for the force estimation task, which is a fusion between fuzzy systems and deep neural networks.  ... 
doi:10.1109/access.2021.3068852 fatcat:gfpghqfptzdktlody5z263cdju

A New Approach for Human Forearm Motion Assist by Actuated Artificial Joint-An Inner Skeleton Robot

Subrata Kumar KUNDU, Kazuo KIGUCHI, Kenbu TERAMOTO
2008 Journal of Advanced Mechanical Design, Systems, and Manufacturing  
In order to help the physical activities of the elderly or physically disabled persons, we propose a new concept of a power-assist inner skeleton robot (i.e., actuated artificial joint) that is supposed  ...  The proposed system is controlled based on the activation patterns of the electromyogram (EMG) signals of the user's muscles by applying fuzzy-neuro control method.  ...  The architecture of the fuzzy-neuro controller is depicted in Fig. 8 .  ... 
doi:10.1299/jamdsm.2.83 fatcat:3qtz2wmefrfr7ge7i7coapw32a

Combined Perception, Control, and Learning for Teleoperation: Key Technologies, Applications, and Challenges

Jing Luo, Wei He, Chenguang Yang
2020 Cognitive Computation and Systems  
Teleoperation provides a promising way for human-robot collaboration in the unknown or unstructured environments to perform a cooperative task.  ...  It enables humans to complete a task at a remote side and combines both the human's intelligence and the robots' capabilities in a collaborative task.  ...  In [109] , a telesurgical robot named A1-Zahrawi was designed for minimal invasive surgery (MIS).  ... 
doi:10.1049/ccs.2020.0005 fatcat:ffhbpm565zge3hhmjf6w7yma4i

Guest Editorial An Overview of Biomedical Robotics and Bio-Mechatronics Systems and Applications

Zhijun Li, Chenguang Yang, Etinne Burdet
2016 IEEE Transactions on Systems, Man & Cybernetics. Systems  
For example, in [16] , the upper limb exoskeleton robot was developed and adaptive backstepping control using fuzzy approximation was designed to assist forearm movement that would enable a human forearm  ...  The exoskeleton robots are developed to particularly augment the our human natural muscular force for carrying heavy loads.  ... 
doi:10.1109/tsmc.2016.2571786 fatcat:hi6xkhgq7vh33lpez6oybublmi

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA July 2020 4891-4898 A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics.  ...  ., +, LRA July 2020 3937-3944 A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

2019 Index IEEE Transactions on Industrial Informatics Vol. 15

2019 IEEE Transactions on Industrial Informatics  
A Fuzzy DEA Approach. Castellano, R., +, TII Oct. 2019 5674-5681 Markov processes Feedback Deep Deterministic Policy Gradient With Fuzzy Reward for Robotic Multiple Peg-in-Hole Assembly Tasks.  ...  ., +, TII Jan. 2019 85-94 Fog-Embedded Deep Learning for the Internet of Things. Lyu, L., +, TII July 2019 4206-4215 Fuzzy-Folded Bloom Filter-as-a-Service for Big Data Storage in the Cloud.  ... 
doi:10.1109/tii.2020.2968165 fatcat:utk3ywxc6zgbdbfsys5f4otv7u

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Four years has since then passed and in order to discuss the most recent advances, it has been decided to hold another similar conference during 24-  ...  The work was supported in part by the Asahi Glass Foundation, and by the Ministry of Education, Science and Culture under Grant-in-Aid for Developmental Scientific Research.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Evolution of autonomous and semi-autonomous robotic surgical systems: a review of the literature

G. P. Moustris, S. C. Hiridis, K. M. Deliparaschos, K. M. Konstantinidis
2011 International Journal of Medical Robotics and Computer Assisted Surgery  
For example, mobile mini-robots for in vivo operation have already been described in the literature (124,125), as well as hyper-redundant (snake) robots (126,127), continuum  ...  Autonomous robotic systems in surgery are largely at the experimental level. However, they have also reached clinical application.  ...  A different approach was presented by Cagneau et al. (83) , using force feedback from a force sensor mounted on a MC 2 E robot for motion compensation.  ... 
doi:10.1002/rcs.408 pmid:21815238 fatcat:wxpuzdc6uva2bniq6u7jjnkybi

The neural control of limb movement

1992 IEEE Control Systems  
interactive devices such as deployment of artificial prosthetics, improved brain-computer interactions and advanced neuroprosthetics for supporting activities of daily living in these patients.  ...  by drugs, artificial prosthetic devices, robotics, stimulation or stem cell therapy.  ...  In some cases, it is carried out on individuals as a preventive surgery for such problems [37] .  ... 
doi:10.1109/37.168814 fatcat:pwdrjhfvvfce7jdtzipqiqccuq

IEEE Robotics & Automation Society

2012 IEEE robotics & automation magazine  
In this paper, a systematic approach to state of charge estimator design using the fuzzy observer architecture is presented.  ...  In contrast with the bank-of-estimators approach, the proposed iFD unit employs a single estimator for multiple sensor fault detection.  ... 
doi:10.1109/mra.2012.2230568 fatcat:33actbknxrel3jnag2kx7cncem

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
In this paper, a systematic approach to state of charge estimator design using the fuzzy observer architecture is presented.  ...  In contrast with the bank-of-estimators approach, the proposed iFD unit employs a single estimator for multiple sensor fault detection.  ... 
doi:10.1109/mra.2011.941112 fatcat:owvu2behc5hulpcae2dp5myigm

[IEEE Robotics & Automation Society]

2012 IEEE robotics & automation magazine  
In this paper, a systematic approach to state of charge estimator design using the fuzzy observer architecture is presented.  ...  In contrast with the bank-of-estimators approach, the proposed iFD unit employs a single estimator for multiple sensor fault detection.  ... 
doi:10.1109/mra.2012.2229854 fatcat:rjrxtwk4jbcgjpvjdad6mougsq

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
In this paper, a systematic approach to state of charge estimator design using the fuzzy observer architecture is presented.  ...  In contrast with the bank-of-estimators approach, the proposed iFD unit employs a single estimator for multiple sensor fault detection.  ... 
doi:10.1109/mra.2011.943480 fatcat:d2wvloyv6jcbzp2yathd52mx2u
« Previous Showing results 1 — 15 out of 151 results