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Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs

Wei Wei, R.E. Goldman, H.F. Fine, Stanley Chang, N. Simaan
2009 IEEE Transactions on robotics  
This paper presents a unified mathematical framework for modeling and evaluating the performance of multiple robotic arms that operate on hollow suspended organs.  ...  Simulation results of the dual-arm robotic system for ophthalmic surgery are presented for all four manipulation cases.  ...  Fig. 2 . 2 Multi-armed manipulation and operation inside a hollow suspended organ. Fig. 3 . 3 Typical surgical setup for ophthalmic surgery.  ... 
doi:10.1109/tro.2008.2006865 fatcat:pqrgyitwljezlf36lmfuetx4ge

Design, kinematics, and control of a soft spatial fluidic elastomer manipulator

Andrew D. Marchese, Daniela Rus
2015 The international journal of robotics research  
This paper presents a robotic manipulation system capable of autonomously positioning a multi-segment soft fluidic elastomer robot in three dimensions.  ...  To understand the deformation of a single arm segment, we develop and experimentally validate a static deformation model.  ...  assistance in fabricating duplicate prototypes and for their help evaluating alternative designs, and to Ross Knepper for brainstorming soft arm capabilities.  ... 
doi:10.1177/0278364915587925 fatcat:fux22icppzdqxfbxozspjyvj3m

OctoMag: An electromagnetic system for 5-DOF wireless micromanipulation

B E Kratochvil, M P Kummer, J J Abbott, R Borer, O Ergeneman, Bradley J Nelson
2010 2010 IEEE International Conference on Robotics and Automation  
OctoMag was primarily designed for the control of intraocular microrobots for delicate retinal procedures, but also has potential uses in other medical applications or micromanipulation under an optical  ...  These capabilities are enabled through the use of soft-magnetic-cores which provide an increase of approximately 20× that of air cores in magnetic-field strength, but comes at the cost of more complicated  ...  Simaan, "Performance evaluation for multi-arm manipulation of hollow suspended organs," IEEE Trans. Robotics, vol. 25, no. 1, pp. 147-157, 2009. [5] K. B. Yesin, K. Vollmers, and B. J.  ... 
doi:10.1109/robot.2010.5509857 dblp:conf/icra/KratochvilKABEN10 fatcat:56gpg32zsvfslgeujhrsiczv3q

The 1st Asian Symposium on Computer Aided Surgery

2005 Journal of Japan Society of Computer Aided Surgery  
For example, if we assume for military use, it should be "bedside" arm for easier to move . And if we only assume in clinical use, it should be "suspending" arm for easier to setting.  ...  B) Realizing of flexibile setting ]There are two kinds of surgical robotic manipulators in the point of mechanical setting up; one is "suspending" arm (ex . da Vinci(R), and the other is "bedside" arm  ...  The Zeus Robotic System consists of three interactive robotic arms and a remote control unit, allowing the surgeon to control the two instrument arms and one camera arm in a surgical console.  ... 
doi:10.5759/jscas1999.7.127 fatcat:ewnubdsecvekdbemcksjkv557e

Nanonewton Force Sensing and Control in Microrobotic Cell Manipulation

Xinyu Liu, Keekyoung Kim, Yong Zhang, Yu Sun
2009 The international journal of robotics research  
Cellular force sensing and control techniques are capable of enhancing the dexterity and reliability of microrobotic cell manipulation systems.  ...  In this paper we present two experimental techniques for nanonewton force sensing and control in microrobotic cell manipulation.  ...  Acknowledgments The authors thank Roxanne Fernandes for the assistance with mouse embryo preparation, and Christopher Moraes for as-sistance with interstitial cell preparation.  ... 
doi:10.1177/0278364909340212 fatcat:2oucaaip2bfwtgpuozn5w6iciq

Multi-dimensional force sensor for haptic interaction:a review

SONG Aiguo, FU Liyue
2019 Virtual Reality & Intelligent Hardware  
It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body.  ...  As a key part of haptic interaction, force feedback has become an essential function for the haptic interaction.  ...  The measuring circuit of the sensor is placed in the hollow cylinder.  ... 
doi:10.3724/sp.j.2096-5796.2019.0016 dblp:journals/vrih/SongF19 fatcat:tsgmwrgwongypo6rg4xpodmoqu

Microextraction techniques combined with capillary electrophoresis in bioanalysis

Isabelle Kohler, Julie Schappler, Serge Rudaz
2012 Analytical and Bioanalytical Chemistry  
Capillary electrophoresis (CE) is a powerful and efficient separation technique in which no organic solvents are required for analysis.  ...  compounds or for peptide analysis.  ...  At-line coupling of SPE with CE is performed with a robotic arm interface or a modification of the replenishment system.  ... 
doi:10.1007/s00216-012-6367-y pmid:22965532 fatcat:j6n3fb4dl5cnrizq5gfggvezqa

Development, characterization, and applications of multi-material stereolithography bioprinting

Bagrat Grigoryan, Daniel W. Sazer, Amanda Avila, Jacob L. Albritton, Aparna Padhye, Anderson H. Ta, Paul T. Greenfield, Don L. Gibbons, Jordan S. Miller
2021 Scientific Reports  
To evaluate the bioactivity of printed gels, 344SQ lung adenocarcinoma cells were printed in a 3D core/shell architecture.  ...  Together, these studies highlight the potential of multi-material stereolithography to probe heterotypic interactions between distinct cell types in tissue-specific microenvironments.  ...  Acknowledgements We thank the large number of open-source and related projects that critically facilitated this work, including,,,,,  ... 
doi:10.1038/s41598-021-82102-w pmid:33542283 fatcat:om46mrzfqvcztfteevcj6hbywm

Recent Trends and Innovation in Additive Manufacturing of Soft Functional Materials

Jaime Eduardo Regis, Anabel Renteria, Samuel Ernesto Hall, Md Sahid Hassan, Cory Marquez, Yirong Lin
2021 Materials  
With the advent of personalized devices, the one-shape-fits-all manufacturing methods may soon no longer be the standard for the rapidly increasing market of soft devices.  ...  The growing demand for wearable devices, soft robotics, and tissue engineering in recent years has led to an increased effort in the field of soft materials.  ...  HRD-1810898 and the National Science Foundation Graduate Research Fellowship under Grant No. 1848741 for their support.  ... 
doi:10.3390/ma14164521 pmid:34443043 pmcid:PMC8399226 fatcat:tdzydk36k5dkvkom7mcgf6vmbm

Dynamism of Stimuli-Responsive Nanohybrids: Environmental Implications

Jaime Plazas-Tuttle, Lewis Rowles, Hao Chen, Joseph Bisesi, Tara Sabo-Attwood, Navid Saleh
2015 Nanomaterials  
This article presents a perspective on EHS evaluation of ANHs, proposes a principle to facilitate their identification for environmental evaluation, outlines a stimuli-based classification for ANHs and  ...  discusses emerging properties and dynamic aspects for systematic EHS evaluation.  ...  Author Contributions The Conflicts of Interest The authors declare no conflict of interest.  ... 
doi:10.3390/nano5021102 pmid:28347054 pmcid:PMC5312917 fatcat:ctnnta5njnfcdglaw67mtzkc5u

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

Jung Sohn, Gi-Woo Kim, Seung-Bok Choi
2018 Applied Sciences  
Over the last two decades, smart materials have received significant attention over a broad range of engineering applications because of their unique and inherent characteristics for actuating and sensing  ...  In addition, specific mechanism and operating principles of medical devices and rehabilitation systems are introduced and commented in terms of practical realization.  ...  [85] designed and manufactured a prosthetic leg for above-knee amputees using MR damper and control performance was evaluated experimentally.  ... 
doi:10.3390/app8101928 fatcat:vskxqfmzwfeyhawqfcvjcjus7m

Engineering Biological Tissues from the Bottom-Up: Recent Advances and Future Prospects

Xiaowen Wang, Zhen Wang, Wenya Zhai, Fengyun Wang, Zhixing Ge, Haibo Yu, Wenguang Yang
2021 Micromachines  
With the continuous development of micro-nano technology and biomaterial technology, bottom-up tissue engineering as a promising approach for organ and tissue modular reconstruction has gradually developed  ...  Tissue engineering provides a powerful solution for current organ shortages, and researchers have cultured blood vessels, heart tissues, and bone tissues in vitro.  ...  Conflicts of Interest: The authors declare no conflict of interest. Micromachines 2022, 13, 75  ... 
doi:10.3390/mi13010075 pmid:35056239 pmcid:PMC8780533 fatcat:koltiylt5ng2fd5hp4fwxtilge

Epidural stimulation of the cervical spinal cord improves voluntary motor control in post-stroke upper limb paresis [article]

Marc Philip Powell, Nikhil Verma, Erynn Sorensen, Erick Carranza, Amy Boos, Daryl Fields, Souvik Roy, Scott Ensel, Beatrice Barra, Jeffery Balzer, Jeff Goldsmith, Robert M Friedlander (+7 others)
2022 medRxiv   pre-print
Continuous stimulation through selected contacts at specific frequencies enabled participants to perform movements that they had been unable to perform for many years.  ...  A large proportion of cerebral strokes disrupt descending commands from motor cortical areas to the spinal cord which can results in permanent motor deficits of the arm and hand.  ...  For this, we personalized tasks according to impairment level. We first evaluated the ability of SCS01 to perform 3D reaching movements.  ... 
doi:10.1101/2022.04.11.22273635 fatcat:li57crzqezbdxmpxw4taoyswky

Material Design for Enhancing Properties of 3D Printed Polymer Composites for Target Applications

Vinita V. Shinde, Yuyang Wang, Md Fahim Salek, Maria L. Auad, Lauren E. Beckingham, Bryan S. Beckingham
2022 Technologies  
as a platform for bioengineering and earth science applications by using a variety of polymer materials, all of which have great potential for improving future conditions for humanity and planet Earth  ...  Therefore, 3D printing technologies have come to the forefront of scientific, industrial, and public attention for customized manufacturing of composite parts having a high degree of control over design  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/technologies10020045 fatcat:qhlqjidh4jhitgyr3wex3yeqma

The Performance and Fouling Control of Submerged Hollow Fiber (HF) Systems: A Review

Ebrahim Akhondi, Farhad Zamani, Keng Tng, Gregory Leslie, William Krantz, Anthony Fane, Jia Chew
2017 Applied Sciences  
The results of bench-scale experiments, as well as many industrial and municipal operations, demonstrate high treatment efficiencies for chemical oxygen demand (COD), total suspended solids (TSS), and  ...  The use of submerged hollow fiber membranes can be classified into three main application areas, namely, surface-water treatment for drinking purposes (Section 2.1), pretreatment for RO desalination and  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app7080765 fatcat:epgqwxgj3nf3lnrjiiipfjhc4y
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