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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  
Robotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients.  ...  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  ...  When force sensory substitution is used, force feedback can be transmitted to the surgeon through other sensory modalities, specifically auditory, vibrotactile or visual feedback, which provide the surgeon  ... 
doi:10.1109/toh.2016.2640289 pmid:28113330 fatcat:hntibrfgwjezjnzb3izk6yjqne

Review of Advanced Medical Telerobots

Sarmad Mehrdad, Fei Liu, Minh Tu Pham, Arnaud Lelevé, S. Farokh Atashzar
2020 Applied Sciences  
In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation.  ...  review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for  ...  This technique is known in the literature as a sensory substitution [40, 99, 100, 145, 146] and is usually suggested as a replacement for direct force feedback when the stability of closed-loop force  ... 
doi:10.3390/app11010209 fatcat:ts3jlopz3jcwnf2gan75hg7aa4

Force Sensing in Robot-assisted Keyhole Endoscopy: A Systematic Survey [article]

A. H. Hadi Hosseinabadi, S. E. Salcudean
2021 arXiv   pre-print
and evaluate the skill level of novice and expert surgeons.Force and tactile sensing is lost in many Robot-Assisted Surgery (RAS) systems.  ...  Instrument-tissue interaction forces in Minimally Invasive Surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines,  ...  Acknowledgements Amir Hossein Hadi Hosseinabadi would like to NSERC for his Canada Graduate Scholarship-Doctoral scholarship.  ... 
arXiv:2103.11123v1 fatcat:olfeutl7qbc4fhujup2kzgbliu

Application of Artificial Intelligence (AI) in Prosthetic and Orthotic Rehabilitation [chapter]

Smita Nayak, Rajesh Kumar Das
2020 Service Robotics [Working Title]  
Technological integration of Artificial Intelligence (AI) and machine learning in the Prosthetic and Orthotic industry and in the field of assistive technology has become boon for the Persons with Disabilities  ...  The concept of neural network has been used by the leading manufacturers of rehabilitation aids for simulating various anatomical and biomechanical functions of the lost parts of the human body.  ...  Robotic prosthesis can use its learned and state conditional policy for user during post training use.  ... 
doi:10.5772/intechopen.93903 fatcat:jp2h7xcms5h3tjx7ichkckplty

Applications of Haptic Technology, Virtual Reality, and Artificial Intelligence in Medical Training During the COVID-19 Pandemic

Mohammad Motaharifar, Alireza Norouzzadeh, Parisa Abdi, Arash Iranfar, Faraz Lotfi, Behzad Moshiri, Alireza Lashay, Seyed Farzad Mohammadi, Hamid D. Taghirad
2021 Frontiers in Robotics and AI  
The current method of surgery training needs the novice surgeons to attend some courses, watch some procedure, and conduct their initial operations under the direct supervision of an expert surgeon.  ...  Notably, any mistake made by the trainees during the education process might lead to undesired complications for the patient.  ...  A Gated recurrent unit (GRU) is used for temporal feature extraction, and a CNN network is used to extract the spatial features.  ... 
doi:10.3389/frobt.2021.612949 pmid:34476241 pmcid:PMC8407078 fatcat:t7ovepl2orcrfg5xvz33xrki2a

D3.1 – Multi-modal human-robot interfaces and architecture for the MULTIROBOTS-SURGERY platform

Federica Ferraguti, Marco Minelli, Cristian Secchi
2018 Zenodo  
This deliverable is intended to describe the Human-Robot interface and teleoperation architecture for the assistant surgeon and the multi-master/multi-slave bilateral teleoperation architecture being implemented  ...  Bilateral teleoperation architecture for the assistant surgeon The goal of SARAS is to develop an autonomous robotic assistant for a surgeon doing laparoscopic surgery.  ...  Force Estimation As previously mentioned, our strategy to compute force feedback relies on using a Recurrent Neural Network (RNN) to get the relationship between the deformation and the applied force.  ... 
doi:10.5281/zenodo.3752874 fatcat:x4kbx5oyvrarjjax2qikqkbpga

A Review of Control Strategies in Closed-Loop Neuroprosthetic Systems

James Wright, Vaughan G. Macefield, André van Schaik, Jonathan C. Tapson
2016 Frontiers in Neuroscience  
It has been widely recognized that closed-loop neuroprosthetic systems achieve more favorable outcomes for users then equivalent open-loop devices.  ...  The second section reviews the control strategies of recent Brain Machine Interfaces, neuromodulatory implants, neuroprosthetic systems, and assistive neurorobotic devices.  ...  Raspopovic et al. (2014) showed that a bidirectional interface with the median and ulnar nerves could be used to provide artificial sensory feedback related to the forces exerted on a sensorized prosthetic  ... 
doi:10.3389/fnins.2016.00312 pmid:27462202 pmcid:PMC4940409 fatcat:me4co3j4ujccfpm4kjhs3hrbky

Snake Robots for Surgical Applications: A Review

Jenna Seetohul, Mahmood Shafiee
2022 Robotics  
A wide range of robots have been analysed, such as the i²Snake robot, inspiring the use of force and position feedback, visual servoing and augmented reality (AR).  ...  Although substantial advancements have been achieved in robot-assisted surgery, the blueprint to existing snake robotics predominantly focuses on the preliminary structural design, control, and human–robot  ...  For further reading on the types of robotic surgery performed in clinic, readers can refer to the Handbook of Medical Applications: Robotic-Assisted Minimally Invasive Surgery [12] .  ... 
doi:10.3390/robotics11030057 fatcat:vgpup2mp2vg65ikna66z4vzzsa

Losing Touch: An Embodiment Perspective on Coordination in Robotic Surgery

Anastasia V. Sergeeva, Samer Faraj, Marleen Huysman
2020 Organization science (Providence, R.I.)  
The authors received helpful feedback and comments from Diane Bailey, Michael Barrett, Matt Beane, Fleur Deken, Ella Hafermalz, Kate Kellogg, Matthew Jones, Ann Langley, Paul Leonardi, Wanda Orlikowski  ...  The residents come here to learn surgery, to learn to become a surgeon, and not to learn assisting, and that's one of the biggest problems, I think, of the robotics-that you have to create a situation  ...  Because the situation reduced learning opportunities, the surgeons were forced to institute a new training program to reestablish the learning component of the role of residents in surgery.  ... 
doi:10.1287/orsc.2019.1343 fatcat:zz5ynvougbewxijfbi2pzg4hf4

Brain-Machine Interfaces: From Basic Science to Neuroprostheses and Neurorehabilitation

Mikhail A. Lebedev, Miguel A. L. Nicolelis
2017 Physiological Reviews  
Furthermore, BMIs have also incorporated ways to deliver sensory feedback, generated from external actuators, back to the brain.  ...  BMI studies have shown neural control over the movements of robotic and virtual actuators that enact both upper and lower limb functions.  ...  of evoked movements without sensory feedback of force and position (25, 385, 818) .  ... 
doi:10.1152/physrev.00027.2016 pmid:28275048 fatcat:26dy2lgh6nfppd3mjgoofyit6u

Personalized Neuroprosthetics

D. Borton, S. Micera, J. d. R. Millan, G. Courtine
2013 Science Translational Medicine  
For example, NHPs with a lateral hemisection SCI have learned to increase motor cortex LFP power to volitionally boost ongoing muscle activity with recurrent intraspinal stimulation to perform a force-matching  ...  Sensory substitution, including tactile feedback to body areas where patients retain somatosensory perception, is an immediate alternative to improve BMI performance (47) .  ... 
doi:10.1126/scitranslmed.3005968 pmid:24197737 fatcat:sxr2hkwtqzanljosg6e4x7qk3q

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  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  ...  Air Force, Air Force Materiel Command (Grant No: FY8990-95-00094). The authors gratefully acknowledge this support.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Basque Conference on Cyber Physical Systems and Artificial Intelligence

Manuel Graña
2022 Zenodo  
Martinez, Diego Castillo, Miriam López, Rosa Chaves, Antonio Moreno, etc.; at the UCA: Oscar Pernía, Ignacio Turias; at the US: Ruben Martin Clemente and Sergio Cruces; at the University of Leicester:  ...  I am so grateful for that.  ...  Self supervision The lifelong learning paradigm for robotics should not be task-specific, therefore it should not require human supervision.  ... 
doi:10.5281/zenodo.6568145 fatcat:lbwc7clohbeybmmdjhdlalxziu

Combining brain-computer interfaces and assistive technologies: state-of-the-art and challenges

José Del R. Millán
2010 Frontiers in Neuroscience  
In pursuit of more practical BCIs for use outside of the lab, in this paper, we identify four application areas where disabled individuals could greatly benefit from advancements in BCI technology, namely  ...  , "Communication and Control" , "Motor Substitution" , "Entertainment" , and "Motor Recovery" .  ...  ., 2001; Holden et al., 2005; Merians et al., 2006) ; robotic assistive devices with sensory feedback for repetitive practice could provide therapy for a long periods of time, in a consistent and measurable  ... 
doi:10.3389/fnins.2010.00161 pmid:20877434 pmcid:PMC2944670 fatcat:ncevpqe5afcplizxleit5kwx3i

Basque Conference on Cyber Physical Systems and Artificial Intelligence

Manuel Graña
2022 Zenodo  
Martinez, Diego Castillo, Miriam López, Rosa Chaves, Antonio Moreno, etc.; at the UCA: Oscar Pernía, Ignacio Turias; at the US: Ruben Martin Clemente and Sergio Cruces; at the University of Leicester:  ...  I am so grateful for that.  ...  Self supervision The lifelong learning paradigm for robotics should not be task-specific, therefore it should not require human supervision.  ... 
doi:10.5281/zenodo.6574965 fatcat:wclgcwfeuvglhnenzq7uvie5by
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