Survey on Current State-of-the-Art in Needle Insertion Robots: Open Challenges for Application in Real Surgery

AbstractMinimally invasive percutaneous treatment robots have become a popular area in medical robotics. Minimally invasive treatments are an important part of modern surgery; however percutaneous treatments are a difficult procedure for surgeons. They must carry out a procedure that has limited visibility, tool maneuverability and where the target and tissue surrounding it move because of the tool. Robot technology can overcome those limitations and increase the success of minimally invasive percutaneous treatment. In this paper we will present a review of the current state-of-the-art in robotic insertion needle for minimally invasive treatments, focusing on the limitations and challenges still open for their use in clinical application

Motion Control for an Intelligent Walking Support Machine

Walking is a vital exercise for health promotion and fundamental ability necessary for everyday life. Up to now, many robots for walking support or walking rehabilitation of the elderly and the disabled are reported. In this paper, a new omni-directional walking support machine is developed. The machine can realize walking support by following the user's control intention which is detected according to the user's manipulation. However, the motion of the machine is affected by the nonlinear frictions, center-of-gravity (COG) shifts and loads changes caused by users. It is necessary to improve the machine's motion performance to follow the user intention and support the user. Therefore, this paper describes a motion control method based on digital acceleration control to deal with the problem of nonlinear frictions, COG shifts and loads changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method

Micro Macro Neural Network to Recognize Slow Movement: EMG based Accurate and Quick Rollover Recognition

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Improving the Motion Performance for an Intelligent Walking Support Machine by RLS Algorithm

To make the old people and handicapped people move easily by themselves, an omni-directional walking support machine (WSM) has been developed. In our previous study, to improve the motion performance of the WSM, a digital acceleration control method has been developed to deal with the nonlinear friction. However, the design of the digital acceleration controller requires to know the exact plant parameters of the WSM which are variable due to center of gravity (COG) shift and load changes. The change of the plant parameters affects the motion performance of the digital acceleration control system. Therefore, in this paper, a discrete-time system identification method using recursive least squares (RLS) algorithm is proposed to online identify the WSM’s plant parameters for the digital acceleration controller. Simulations are executed and compared with the digital acceleration controller without using RLS algorithm, and the results demonstrate the feasibility and effectiveness of the proposed control method