2,736 research outputs found
A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts
This paper presents a multi-robot system for manufacturing personalized
medical stent grafts. The proposed system adopts a modular design, which
includes: a (personalized) mandrel module, a bimanual sewing module, and a
vision module. The mandrel module incorporates the personalized geometry of
patients, while the bimanual sewing module adopts a learning-by-demonstration
approach to transfer human hand-sewing skills to the robots. The human
demonstrations were firstly observed by the vision module and then encoded
using a statistical model to generate the reference motion trajectories. During
autonomous robot sewing, the vision module plays the role of coordinating
multi-robot collaboration. Experiment results show that the robots can adapt to
generalized stent designs. The proposed system can also be used for other
manipulation tasks, especially for flexible production of customized products
and where bimanual or multi-robot cooperation is required.Comment: 10 pages, 12 figures, accepted by IEEE Transactions on Industrial
Informatics, Key words: modularity, medical device customization, multi-robot
system, robot learning, visual servoing, robot sewin
A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts
This paper presents a multi-robot system for manufacturing personalized
medical stent grafts. The proposed system adopts a modular design, which
includes: a (personalized) mandrel module, a bimanual sewing module, and a
vision module. The mandrel module incorporates the personalized geometry of
patients, while the bimanual sewing module adopts a learning-by-demonstration
approach to transfer human hand-sewing skills to the robots. The human
demonstrations were firstly observed by the vision module and then encoded
using a statistical model to generate the reference motion trajectories. During
autonomous robot sewing, the vision module plays the role of coordinating
multi-robot collaboration. Experiment results show that the robots can adapt to
generalized stent designs. The proposed system can also be used for other
manipulation tasks, especially for flexible production of customized products
and where bimanual or multi-robot cooperation is required.Comment: 10 pages, 12 figures, accepted by IEEE Transactions on Industrial
Informatics, Key words: modularity, medical device customization, multi-robot
system, robot learning, visual servoing, robot sewin
Exemplary Design Research
In this paper, we will look at what role a research program and an interventionist research strategy based on design experiments may play for the advancement of knowledge relevant to design and designers. We suggest the notion of exemplary design research driven by programs and experiments and by this we refer to research based on the explicit formulation of design programs that act as a frame and foundation for carrying out series of design experiments. It is 'exemplary' in the sense that it enables critical dissemination primarily by creating examples of what could be done and how, i.e. examples that both express the possibilities and characteristics of the design program as well as more general suggestions about a certain (change to) design practice
From Concept to Market: Surgical Robot Development
Surgical robotics and supporting technologies have really become a prime example of modern applied
information technology infiltrating our everyday lives. The development of these systems spans across
four decades, and only the last few years brought the market value and saw the rising customer base
imagined already by the early developers. This chapter guides through the historical development of the
most important systems, and provide references and lessons learnt for current engineers facing similar
challenges. A special emphasis is put on system validation, assessment and clearance, as the most
commonly cited barrier hindering the wider deployment of a system
The UK landscape for robotics and autonomous systems
Robotics and Autonomous Systems Special Interest Group Report: Innovate UK - Technology Strategy Board
This landscape collates the output from a series of workshops designed to explore the impact on the UK of advances in Robotics and Autonomous Systems (RAS). In overviewing the resulting landscape it is clear that the RAS opportunity, as perceived by the UK community, is extensive and rich and that the UK has the potential to create a strong RAS market.
It is also clear that robotics and autonomous systems will impact on each UK market sector and that the total size of this impact will be significantly greater than the size of the RAS sector itself. Across these sectors strong cross cutting themes exist that can be used to drive synergies to build technical capability and market opportunity.
Within those sectors that will benefit the most from robotics and autonomous systems technology the potential for disruptive innovation and the need to respond to change through the development of new business models is now obvious.
Robotics and autonomous systems do not work in isolation. They will require testing, regulation, standards, innovation, investment and skills together with technical progress and strong collaborative partnerships in order to fully realise the opportunity.
The resulting Landscape carries an essential message; that the UK has a unique opportunity
to engage with robotics and autonomous systems, to exploit existing expertise within the UK and explore its potential, but that other nations are similarly engaged and the UK must now be bold and invest to win.
41 Individuals listed as contributor
Smart Camera Robotic Assistant for Laparoscopic Surgery
The cognitive architecture also includes learning mechanisms to adapt the behavior of the robot to the different ways of working of surgeons, and to improve the robot behavior through experience, in a similar way as a human assistant would do.
The theoretical concepts of this dissertation have been validated both through in-vitro experimentation in the labs of medical robotics of the University of Malaga and through in-vivo experimentation with pigs in the IACE Center (Instituto Andaluz de CirugĂa Experimental), performed by expert surgeons.In the last decades, laparoscopic surgery has become a daily practice in operating rooms worldwide, which evolution is tending towards less invasive techniques. In this scenario, robotics has found a wide field of application, from slave robotic systems that replicate the movements of the surgeon to autonomous robots able to assist the surgeon in certain maneuvers or to perform autonomous surgical tasks. However, these systems require the direct supervision of the surgeon, and its capacity of making decisions and adapting to dynamic environments is very limited.
This PhD dissertation presents the design and implementation of a smart camera robotic assistant to collaborate with the surgeon in a real surgical environment. First, it presents the design of a novel camera robotic assistant able to augment the capacities of current vision systems. This robotic assistant is based on an intra-abdominal camera robot, which is completely inserted into the patientâs abdomen and it can be freely moved along the abdominal cavity by means of magnetic interaction with an external magnet. To provide the camera with the autonomy of motion, the external magnet is coupled to the end effector of a robotic arm, which controls the shift of the camera robot along the abdominal wall. This way, the robotic assistant proposed in this dissertation has six degrees of freedom, which allow providing a wider field of view compared to the traditional vision systems, and also to have different perspectives of the operating area.
On the other hand, the intelligence of the system is based on a cognitive architecture specially designed for autonomous collaboration with the surgeon in real surgical environments. The proposed architecture simulates the behavior of a human assistant, with a natural and intuitive human-robot interface for the communication between the robot and the surgeon
Augmented reality (AR) for surgical robotic and autonomous systems: State of the art, challenges, and solutions
Despite the substantial progress achieved in the development and integration of augmented reality (AR) in surgical robotic and autonomous systems (RAS), the center of focus in most devices remains on improving end-effector dexterity and precision, as well as improved access to minimally invasive surgeries. This paper aims to provide a systematic review of different types of state-of-the-art surgical robotic platforms while identifying areas for technological improvement. We associate specific control features, such as haptic feedback, sensory stimuli, and human-robot collaboration, with AR technology to perform complex surgical interventions for increased user perception of the augmented world. Current researchers in the field have, for long, faced innumerable issues with low accuracy in tool placement around complex trajectories, pose estimation, and difficulty in depth perception during two-dimensional medical imaging. A number of robots described in this review, such as Novarad and SpineAssist, are analyzed in terms of their hardware features, computer vision systems (such as deep learning algorithms), and the clinical relevance of the literature. We attempt to outline the shortcomings in current optimization algorithms for surgical robots (such as YOLO and LTSM) whilst providing mitigating solutions to internal tool-to-organ collision detection and image reconstruction. The accuracy of results in robot end-effector collisions and reduced occlusion remain promising within the scope of our research, validating the propositions made for the surgical clearance of ever-expanding AR technology in the future
Sensorized Tools for Haptic Force Feedback in Computer Assisted Surgery
Structural engineerin
East Midlands Research into Ageing Network (EMRAN) Discussion Paper Series
Academic geriatric medicine in Leicester
.
There has never been a better time to consider joining us. We have recently appointed a
Professor in Geriatric Medicine, alongside Tom Robinson in stroke and Victoria Haunton,
who has just joined as a Senior Lecturer in Geriatric Medicine. We have fantastic
opportunities to support students in their academic pursuits through a well-established
intercalated BSc programme, and routes on through such as ACF posts, and a successful
track-record in delivering higher degrees leading to ACL post. We collaborate strongly
with Health Sciences, including academic primary care. See below for more detail on our
existing academic set-up.
Leicester Academy for the Study of Ageing
We are also collaborating on a grander scale, through a joint academic venture focusing
on ageing, the âLeicester Academy for the Study of Ageingâ (LASA), which involves the
local health service providers (acute and community), De Montfort University; University
of Leicester; Leicester City Council; Leicestershire County Council and Leicester Age UK.
Professors Jayne Brown and Simon Conroy jointly Chair LASA and have recently been
joined by two further Chairs, Professors Kay de Vries and Bertha Ochieng. Karen
Harrison Dening has also recently been appointed an Honorary Chair.
LASA aims to improve outcomes for older people and those that care for them that takes
a person-centred, whole system perspective. Our research will take a global perspective,
but will seek to maximise benefits for the people of Leicester, Leicestershire and Rutland,
including building capacity. We are undertaking applied, translational, interdisciplinary
research, focused on older people, which will deliver research outcomes that address
domains from: physical/medical; functional ability, cognitive/psychological; social or
environmental factors. LASA also seeks to support commissioners and providers alike for
advice on how to improve care for older people, whether by research, education or
service delivery. Examples of recent research projects include: âLocal History CafĂ©â
project specifically undertaking an evaluation on loneliness and social isolation; âBetter
Visitsâ project focused on improving visiting for family members of people with dementia
resident in care homes; and a study on health issues for older LGBT people in Leicester.
Clinical Geriatric Medicine in Leicester
We have developed a service which recognises the complexity of managing frail older
people at the interface (acute care, emergency care and links with community services).
There are presently 17 consultant geriatricians supported by existing multidisciplinary
teams, including the largest complement of Advance Nurse Practitioners in the country.
Together we deliver Comprehensive Geriatric Assessment to frail older people with
urgent care needs in acute and community settings.
The acute and emergency frailty units â Leicester Royal Infirmary
This development aims at delivering Comprehensive Geriatric Assessment to frail older
people in the acute setting. Patients are screened for frailty in the Emergency
Department and then undergo a multidisciplinary assessment including a consultant
geriatrician, before being triaged to the most appropriate setting. This might include
admission to in-patient care in the acute or community setting, intermediate care
(residential or home based), or occasionally other specialist care (e.g. cardiorespiratory).
Our new emergency department is the countyâs first frail friendly build and includes
fantastic facilities aimed at promoting early recovering and reducing the risk of hospital
associated harms.
There is also a daily liaison service jointly run with the psychogeriatricians (FOPAL); we
have been examining geriatric outreach to oncology and surgery as part of an NIHR
funded study.
We are home to the Acute Frailty Network, and those interested in service developments
at the national scale would be welcome to get involved.
Orthogeriatrics
There are now dedicated hip fracture wards and joint care with anaesthetists,
orthopaedic surgeons and geriatricians. There are also consultants in metabolic bone
disease that run clinics.
Community work
Community work will consist of reviewing patients in clinic who have been triaged to
return to the community setting following an acute assessment described above.
Additionally, primary care colleagues refer to outpatients for sub-acute reviews. You will
work closely with local GPs with support from consultants to deliver post-acute, subacute,
intermediate and rehabilitation care services.
Stroke Medicine
24/7 thrombolysis and TIA services. The latter is considered one of the best in the UK
and along with the high standard of vascular surgery locally means one of the best
performances regarding carotid intervention
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