Localization Algorithm Simulation for Medical Robot

Tato diplomová práce se věnuje metodám lokalizace mobilních nemocničních robotů pomocí zarovnání laserových snímků, simultánní lokalizaci a mapování (SLAM). V úvodu práce jsou představeny a rozděleny již existující metody pro zarovnání snímků. Cílem této diplomové práce je návrh nové metody pro lokalizaci nemocničního robota, za použití evolučního algoritmu, ve spojení se vzájemnou korelací. Jako evoluční algoritmus byla zvolena diferenciální evoluce. Základem metody je využití vytváření nových populací a vyvíjení nových generací diferenciální evoluce pro zarovnání snímků. Vhodnost mutačního kandidáta z dané populace je posouzená pomocí vzájemné korelace, určením korelačního koeficientu pro třídimenzionální korelaci. V další části práce jsou provedena experimentální měření a porovnání s existujícím algoritmem. Experimenty mají za úkol ukázat robustnost metody a výpočetní náročnost.This diploma thesis concerns itself with localization methods of mobile medical robots using laser snapshot, simultaneous localization and mapping (SLAM). At the beginning of this paper various existing methods for snapshot alignment are introduced and categorized. The goal of this diploma thesis is to propose a new method for medical robot localization using evolution algorithm in connection with cross-correlation. Differential evolution was selected as an evolution algorithm. This method is based on creation of new populations and evolution of new generations of differential evolution for the purpose of snapshot alignment. Plausibility of the mutation candidate from a given population is evaluated using cross-corelation, correlation coefficient for three-dimensional correlation. Subsequently, a number of experimental measurement is conducted to show method robustness and computational complexity compared to an existing (benchmark) algorithm.450 - Katedra kybernetiky a biomedicínského inženýrstvívelmi dobř

Medical robotics: where we come from, where we are and where we could go

This short note presents a viewpoint about medical robotics

Computer- and robot-assisted Medical Intervention

Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends is given. A case-study is detailed. Other types of robotic help in the medical environment (such as for assisting a handicapped person, for rehabilitation of a patient or for replacement of some damaged/suppressed limbs or organs) are out of the scope of this chapter.Comment: Handbook of Automation, Shimon Nof (Ed.) (2009) 000-00

Learning from users for radical innovation

In today's environment of rapid technological change companies can not rely on incremental innovations alone. To sustain long-term competitiveness companies need to develop radical innovations as well. Such innovations typically incorporate new and highly complex technologies, create new markets or shift existing market structures, and require user learning as they often induce significant behaviour changes on side of the users. To systematically develop radical innovations firms need to involve the proper actors. One such important external actor in the development process of new products is the user. Our study focuses on the question what kind of users are able to actively contribute to the development of radical innovations and what firms can learn from them to improve their innovative capability. A multiple case study analysis was conducted in the field of medical technology. Five radical innovation projects were selected including medical robots and computer-assisted navigation systems. The case study analysis reveals that users with a unique set of characteristics can contribute substantially to the development of radical innovations. These users have a high motivation toward new solutions, are open to new technologies, possess diverse competencies, and are embedded into a very supportive context. Manufacturers that took over the ideas and prototypes of the inventive users benefited significantly. By learning from these users, firms were able to significantly improve their radical innovative capability. The paper contributes to technology and innovation management research in two ways. First, by exploring critical user characteristics for distinct phases of the radical innovation process, we provide first insights how manufacturing firms can more effectively identify and leverage valuable users for their radical innovation work. Thereby, we highlight the involvement of capable users as an effective learning mechanism to improve the radical innovation capability of a firm. Second, new perspectives on lead user research are provided by enriching the lead user concept with other crucial characteristics of innovative users. --Produktinnovation,Produktentwicklung,Benutzer / Beteiligung

Intelligent medical robot society

Any treatment on long or short term duration and/or complexity begin to involve more and more complex hardware and software pieces of equipment. Most of them begin to have various degree of mobility. Although the medical staff has enough trouble in handling them some times. In this paper we propose a complex robot society to deserve a medical center. The evolution of human computer interface and of the complex expert systems with medical application drive us to idea that a dedicated medical society of intelligent agents can be created

Users as inventors and developers of radical innovation: An explorative case study analysis in the field of medical technology

Our study focuses on the question, whether users should be intensively involved in the innovation process of radical product innovations or better not - from the manufacturer's perspective. Radical innovations incorporate new technologies, shift market structures, require intensive user learning and induce significant behavior changes. Due to these specifics the question arises, whether users play a productive role in the innovation process of radical innovations at all, or if their contributions might even be counterproductive. To gain a better understanding for the users' role in radical innovation and to develop a differentiated view of their contributions, we have studied three dimensions of user involvement were studied: (1) Which characteristics enable users to contribute to the innovation process? (2) How do manufacturers need to interact with users to benefit from their contributions? (3) How does user involvement impact on the manufacturer? We focused our study on the early phases of the innovation process. Two phases were distinquished for the analysis of these questions: Idea gen-eration and development. This distinction allows us to analyse the role of users within separate phases of the innovation process. Based on relevant theories and empirical work a set of propositions was formulated for each dimension. To study the addressed research questions, an explorative case study analysis was conducted in the field of medical technology. Five radical innovation projects were selected including medical robots, navigation systems, and biocompatible implants. In-depth inter-views were conducted with marketing, R&D, project leaders, CEO's, and users. A content analysis framework was applied to systematically analyse the collected data. The case studies reveal that users with a unique set of characteristics (motivation, competencies, contextual factors) were able to deliver major contributions in all three phases of the radical innova-tion projects. In four cases users turned out to be the original inventor of the radical innovations. Particularly users that work under extreme conditions (e.g. neurosurgeons) prooved to be a valuable source for radically new ideas. Furthermore the cases show that the innovative users took over classi-cal functions of manufacturers in the development process. For example the innovative users identified relevant experts and manufacturers that were required to transform their ideas into prototypes and products. These users therefore took over the networking function. some users were able to actively contribute to the development of first prototypes. A unique set of characteristics enabled users to do so. With regard to appropriate patterns of interaction between users and manufacturers the analysis reveals that face-to-face-interactions are required. This is due to the nature of information that is transferred. The information provided by users and by manufacturers is highly complex. Therefore explanations and visualisations are needed to gain an understanding on either side. In addition the analysis shows that it seems to be appropriate to interact with a small, well selected number of users in early phases and to increase the number of involved users as the project gets closer to market introduc-tion. In four cases specific users contributed significantly to NPD success. Based on the results of the study, the recommendation for manufacturers is to leverage the knowledge of users with certain char-acteristics for radical innovation projects. The results of our study form the basis of a market research concept for radical innovations. --innovation process,product innovation

Design and motion control of a 6-UPS fully parallel robot for long bone fracture reduction : a thesis presented in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University

The incidences of long bone fractures in New Zealand are approximately 1 in 10,000. Long bones such as tibia and femur have complicated anatomic structures, making the realignment of these long bone fractures reliant on the skill of the surgeon. The drawbacks of current practice result in long time exposure to radiation, slow recovery and possible morbidity. A semi-automated long bone fracture reduction system based on a 6-DOF parallel robot platform has been in development since 2004. The developed 6-DOF parallel robot platform comprises of six linear actuators with rotary incremental encoders. To implement a realignment of long bone fractures, a framework for the 6-DOF platform robot has been developed. The inverse kinematics and singularity of the 6-DOF parallel robot has been studied to obtain the actions and Jacobin matrices. In motion control a multiple axis motion controller and amplifiers were used for 6-DOF parallel robot. PID tuning algorithms were developed based on the combination of the general tuning result and the contour control principle. The PID parameters have been validated by a number of experiments. The practical realignment of bone fractures requires a "Pull-Rotate-Push" action implemented by the 6-DOF parallel robot. After calibration, the reduction trajectories were generated accurately. The actual trials on the artificial fractures have shown that the robot developed is capable of performing the required reduction motion