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Motion Guides for Assisted Manipulation

Kevin M. Lynch, Caizhen Liu, Allan Sørensen, Songho Kim, Michael Peshkin, J. Edward Colgate, Tanya Tickel, David Hannon, Kerry Shiels
2002 The international journal of robotics research  
This paper explores the use of passive guides to assist a human in manipulating heavy loads.  ...  reaching motions.  ...  reviewers for their suggestions.  ... 
doi:10.1177/027836402320556467 fatcat:n7y65uydl5dlrdaqug5f2hpp44

Robotic Assist for MR-Guided Surgery Using Leverage and Parallelepiped Mechanism [chapter]

Yoshihiko Koseki, Kiyoyuki Chinzei, Noriho Koyachi, Tatsuo Arai
2000 Lecture Notes in Computer Science  
In this paper, we would propose a novel mechanism of surgical manipulator, which assists the surgeon in precise positioning and handling of surgical devices, like biopsy needle, endscope, in MR-guided  ...  Such a remote actuation is significantly helpful for robotic assist under MR-guided surgery because the strong magnet of MR denies the existence of magnetic and electric devices around imaging area.  ...  Introduction Robotic Assist for Image-Guided Surgery The image-guided surgery is a technique to reach a surgical instrument to a target through a narrow access under observation of X-ray CT and to minimize  ... 
doi:10.1007/978-3-540-40899-4_97 fatcat:me5jydshvbb4hjeleygfx4h5ie

MRI-compatible manipulator with remote-center-of-motion control

Nobuhiko Hata, Junichi Tokuda, Shelley Hurwitz, Shigehiro Morikawa
2008 Journal of Magnetic Resonance Imaging  
Results-The manipulator assists in searching for an optimal needle insertion path which is a complex and time-consuming task in MRI-guided ablation therapy for liver tumors.  ...  Purpose-To develop and assess a needle-guiding manipulator for MRI-guided therapy that allows a physician to freely select the needle insertion path while maintaining remote center of motion (RCM) at the  ...  This clinical challenge motivated us to develop a needle-guiding manipulator to assist in precise and accurate needle placement by restricting the needle trajectory to a pivoting motion, yet retaining  ... 
doi:10.1002/jmri.21314 pmid:18407542 pmcid:PMC2815332 fatcat:rzfoax3qpjh6nf3u5vseu7v7zi

Implementation of a force-feedback interface for robotic assisted interventions with real-time MRI guidance

Nicholas C. von Sternberg, Atilla Kilicarslan, Nikhil V. Navkar, Zhigang Deng, Karolos Grigoriadis, Nikolaos V. Tsekos
2013 2013 IEEE International Conference on Robotics and Automation  
Ongoing research has been performed into the use of forbidden region guided fixtures (FRVF) for human-in-the-loop control of image-guided procedures via haptic force-feedback devices (FFD).  ...  Efficient and intuitive interfacing of the interventionalist to the information and tools available from image-guided robotic assisted surgeries is required to achieve the full benefit of these technologies  ...  Overview The FFD described herein is the master device for our system for Multimodal Image-guided RObot-assisted Surgeries (MIROS).  ... 
doi:10.1109/icra.2013.6631272 dblp:conf/icra/SternbergKNDGT13 fatcat:kowtxbh4tjbxbitc77cfycme4y

Design of Robotic Human Assistance Systems Using a Mobile Manipulator

Yunyi Jia, Yong Liu, Ning Xi, Hai Wang, Philipp Stürmer
2012 International Journal of Advanced Robotic Systems  
This paper investigates human assistance systems using a mobile manipulator, for example, to guide the blind and to transport objects.  ...  Robotic systems have been widely used in many areas to assist human beings. Mobile manipulators are among the most popular choices.  ...  Second, the coordinated motion of the mobile platform and the arm can maximize the capability for manipulation.  ... 
doi:10.5772/50828 fatcat:dmkahmq7zfhezddkvbjvpdly2e

Robot-assisted needle placement in open MRI: System architecture, integration and validation

S. P. DiMaio, S. Pieper, K. Chinzei, N. Hata, S. J. Haker, D. F. Kacher, G. Fichtinger, C. M. Tempany, R. Kikinis
2007 Journal of Computer-Aided Surgery  
This work describes an integrated system for planning and performing percutaneous procedures-such as prostate biopsy-with robotic assistance under MRI-guidance.  ...  All image-space coordinates are automatically computed, and used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle  ...  We would like to thank Dan Kacher and Janice Fairhurst for scanning assistance, and Mike McKenna for assistance with Slicer programming.  ... 
doi:10.3109/10929080601168254 pmid:17364655 fatcat:hc2bzmlm6vbmrbddznsgqtbzku

Development of a Standing Assistance Walker for a Patient with Low Level of Care

Daisuke Chugo, Shohei Kawazoe, Sho Yokota, Hiroshi Hashimoto, Takahiro Katayama, Yasuhide Mizuta, Atsushi Kojina
2017 Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics  
Usually, these patients require a partial standing assistance only when they need it, not a full assistance during standing motion such as a hanging by the lift.  ...  Proposed system uses a gas spring which helps the up/down actuator and our system assists the patient with wheel actuators on a powered walker for stabilizing its user as well as for lifting up the user  ...  Kumeda, a physical therapist, and all the staff members at Yokohama Rehabilitation Center for providing technical assistance in the experiments.  ... 
doi:10.5220/0006469501420153 dblp:conf/icinco/ChugoKYHKMK17 fatcat:57o4u32o45dgjfa7i7qdxomf7a

Towards a new cyber-physical system for MRI-guided and robot-assisted cardiac procedures

Erol Yeniaras, Johann Lamaury, Zhigang Deng, Nikolaos V. Tsekos
2010 Proceedings of the 10th IEEE International Conference on Information Technology and Applications in Biomedicine  
robotic manipulator for transapical access to the beating heart.  ...  The objective of this paper is to propose a novel cyber-physical system for planning and performing robot-assisted MRI guided interventions in the beating heart with particular focus on aortic valve implantations  ...  System for MRI-Guided and Robot-Assisted Cardiac Procedures Erol Yeniaras, Johann Lamaury, Zhigang Deng, and Nikolaos V.  ... 
doi:10.1109/itab.2010.5687664 fatcat:rfjblxs3uzcr7l7yk3ao2vchwu

Development of the Robot Dual Shell for Improving Manipulability by Hand-Guiding Instruction

2013 Transactions of the Society of Instrument and Control Engineers  
When we teach motions to conventional industrial robot arms by Hand-Guiding instruction, the bad manipulability of the robot arms sometimes prevents us from teaching motions to them.  ...  As a result, we can teach motions to the robot arm by Hand-Guiding instruction.  ...  Whitney: Force Feedback Control of Manipulator Fine Motions, ASME Journal of Dynamic Systems, Measurement and Control, 99-2, 91/97(1977) 10 3 10 2 1 13-5, 627/628 (1995) 2 27-6, 685/695 (2009)  ... 
doi:10.9746/sicetr.49.102 fatcat:3z4lhbmglrfw7iap3uo5cudbdq

Modelling, Simulation and Testing of a Reconfigurable Cable-Based Parallel Manipulator as Motion Aiding System

Gianni Castelli, Erika Ottaviano
2010 Applied Bionics and Biomechanics  
In this paper, a reconfigurable four-cable-based parallel manipulator has been proposed as a motion assisting and guiding device to help people to accomplish a number of tasks, such as an aiding or guiding  ...  This paper presents results on the modelling, simulation and experimental tests of a cable-based parallel manipulator to be used as an aiding or guiding system for people with motion disabilities.  ...  In this paper, we propose a reconfigurable four-cablebased manipulator as a motion assisting and guiding system.  ... 
doi:10.1155/2010/548197 fatcat:6qx3briijbfopmxgzhfepjoefe

Mobile manipulation: The robotic assistant

Oussama Khatib
1999 Robotics and Autonomous Systems  
vehicle-arm coordination, compliant motion tasks, and cooperative manipulation between multiple platforms.  ...  This paper discusses the development of robotic "assistance" capabilities to aid workers in the accomplishment of a variety of physical operations and presents various control strategies developed for  ...  The development of guided-motion primitives is based on the decentralized control behaviors developed for cooperative robots.  ... 
doi:10.1016/s0921-8890(98)00067-0 fatcat:77yhlxgutrczbeprob5eshmxny

Effect of External Force on Agency in Physical Human-Machine Interaction

Satoshi Endo, Jakob Fröhner, Selma Musić, Sandra Hirche, Philipp Beckerle
2020 Frontiers in Human Neuroscience  
In the advent of intelligent robotic tools for physically assisting humans, user experience, and intuitiveness in particular have become important features for control designs.  ...  Our results confirm the fundamental feasibility of the sense of agency to objectively evaluate the quality of human-in-the-loop control for assistive technologies.  ...  The analysis on the manipulation share revealed that the participants were responsible for manipulating the cursor by 77.4 ± 6.2 % with the correct guiding force, while the manipulation share was higher  ... 
doi:10.3389/fnhum.2020.00114 pmid:32457587 pmcid:PMC7227379 fatcat:calcw7d7ejfexkt56d4awxsgly

A Touch-Controlled Laparoscope Manipulator: Preliminary Trial to Evaluate the Performance on Female Porcine Pelvic Surgery and an Initial Experience in A Human Robot-Assisted Laparoscopic Segmental Salpingectomy

Kovit Khampitak, Yuthapong Werawatakul, Amornrat Supokhen, Suchat Wattanachai, Panisara Kunkitti, Sirivit Techajedchadarungsri
2012 Journal of US-China Medical Science  
The second experiment was scheduled in a 38 year-old woman for robot-assisted segmental salpingectomy. The duration of setting up was 7 min. The total operating time was 22 min.  ...  The horizontal motion of the scope was from -25 degrees to +30 degrees (55 degree span) and the vertical motion of the scope was from 24 degrees to 51 degrees (27 degree span).  ...  Acknowledgements We thank all our colleagues for the participation in this experiments and the National Research Council of Thailand for supporting fund in this study.  ... 
doi:10.17265/1548-6648/2012.03.007 fatcat:vudok3h3qrf3domraz5ljqjjam

Robotic Assisted Micromanipulation System using Virtual Fixtures and Metaphors

Mehdi Ammi, Antoine Ferreira
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper describes the use of virtual fixtures and metaphors of assistance for robotic-assisted micromanipulation system in order to prevent the influence of microphysics on path planning and handling  ...  Finally, an experimental investigation carried out by nine trainees proves that the system guides efficiently and safely the operator's gesture.  ...  The idea of this kind of assistance fixture is to achieve guided motion paths of the AFM tip without touching the obstacles.  ... 
doi:10.1109/robot.2007.363828 dblp:conf/icra/AmmiF07 fatcat:jbbzky76f5fhvfmwtssbq5sqeu

Special Issue on Human–Robot Interaction (HRI)

Nikos Aspragathos, Vassilis Moulianitis, Panagiotis Koustoumpardis
2020 Robotica (Cambridge. Print)  
, (iii) cooperative manipulation, (iv) teleoperation and haptic interfaces, and (v) learning by observation or demonstration.  ...  Human–robot interaction (HRI) is one of the most rapidly growing research fields in robotics and promising for the future of robotics technology.  ...  A unified virtual guides framework is presented by Žlajpah and Petrič 5 that assists operators to perform a cooperative task, where an accurate motion or heavy load manipulation is required and/or where  ... 
doi:10.1017/s0263574720000946 fatcat:ng3w5tgs6fhlfctbbfsqkeuqc4
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