System integration of a fluoroscopic image calibration using robot assisted surgical guidance for distal locking process in closed intramedullary nailing of femur

Distal locking procedure is one of the most complex tasks in close intramedullary nailing operation which requires fluoroscopic image to interpret 2-D distal locking position on image related to 3-D distal locking position on the patient site. Hence the surgeon has to perform the distal locking process by using multiple fluoroscopic images which causes a lot of x-ray exposure to the patient and surgeon and is a time consuming task. This paper presents the system integration of a fluoroscopic image calibration using robot assisted surgical guidance. The system integration consists of three parts; distal locking recovery, fluoroscopic calibration and tracking, and robot assisted surgical guidance. The distal locking-hole recovery algorithm is based on characteristic information of the major and minor axes of distal locking hole. The fluoroscopic calibration and tracking is modeled as pin-hole projection model to estimate a projection equation based on optical tracking system. The robot-assisted surgical guidance is developed to overlay a trajectory path using a laser beam for reducing the problem of hand – eye coordination on most surgical navigation system. We integrate each part to complete a surgical navigation system for distal locking process. The experiment of system integration is conducted to validate the accuracy of distal locking axis position and orientation. The results of the system integration shows a mean angular error of 1.10 and mean Euclidean distance in X-Y plane error of 3.65 mm

The development of a wireless LCP-based intracranial pressure sensor for traumatic brain injury patients

Raised intracranial pressure (ICP) in traumatic brain injury (TBI) patients can lead to death. ICP measurement is required to monitor the condition of a patient and to inform TBI treatment. This work presents a new wireless liquid crystal polymer (LCP) based ICP sensor. The sensor is designed with the purpose of measuring ICP and wirelessly transmitting the signal to an external monitoring unit. The sensor is minimally invasive and biocompatible due to the mechanical design and the use of LCP. A prototype sensor and associated wireless module are fabricated and tested to demonstrate the functionality and performance of the wireless LCP-based ICP sensor. Experimental results show that the wireless LCP-based ICP sensor can operate in the pressure range of 0 - 60.12 mmHg. Based on repeated measurements, the sensitivity of the sensor is found to be 25.62 µVmmHg-1, with a standard deviation of ± 1.16 µVmmHg-1. This work represents a significant step towards achieving a wireless, implantable, minimally invasive ICP monitoring strategy for TBI patients

Sensitivity and packaging improvement of an LCP pressure sensor for intracranial pressure measurement via FEM simulation

A biocompatible liquid crystal polymer (LCP) pressure sensor is proposed for measuring intracranial pressure (ICP) in Traumatic Brain Injury (TBI) patients. Finite element method using COMSOL multiphysics is employed to study the mechanical behavior of the packaged LCP pressure sensor in order to optimize the sensor design. A 3D model of the 8x8x0.2 mm LCP pressure sensor is simulated to investigate the parameters that significantly influence the sensor characteristics under the uniform pressure range of 0 to 50 mmHg. The simulation results of the new design are compared to the experimental results from a previous design. The result shows that reducing the thickness of the sensing membrane can increase the sensitivity up to six times of that previously reported. An improvement of fabrication methodology is proposed to complete the LCP packaging

Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

During laparoscopic surgeries, primary surgical tool insertion is the demanding and strenuous task. As the surgeon is unaware of the type of the tissue and associated parameters to conduct the insertion, therefore, to ease the procedure, the movement of the surgical tool needs to be controlled. It’s the operational capabilities that are to be manipulated to perform a smooth surgery even from a distant location. In this study, a robot system is being introduced for laparoscopic primary surgical tool insertion. It will incorporate a novel observer based dynamic control along with robot assisted bilateral control. Moreover, a virtual spring damper force lock system is introduced through which the slave system will notify the master regarding the target achieved and excessive force. The validation of the proposed control system is experimented with bilaterally controlled MU-LapaRobot. The experiment is comprising 3 cases of bilateral control criteria which are non-contact motion, contact motion, and limit force locking. The results defined the same value for contact and non-contact motion by 0.3N. The results depicted a force error of 3.6% and a position error of 5.8% which validated the proposed algorithm

TowardSelf-Replication of Robot Control Circuitry by Self-Inspection

Abstract. The concept of man-made self-replicatingm achines was first proposed by John von Neumann more t han5 0 years ago. However, t hereh as never been aphysical implementation of his universalconstructor architectureas a robotic system.Prior too ur other recent work,a nautonomous self-replicating mechanical s ystem hadn ot been developed. In t his paper, w ed emonstrateanon-von-Neumann architecturef or the replication of transistor circuits by active self-inspection. That is, therearen oi nstructions stored about how toconstruct the circuit,b ut information observed about the spatial organization of the originalcircuit drives alarger electromechanical( robotic) system in whichi t is embedded tocause the production of a replica of the originalcircuit.In the workp resented here,only replication of the control circuit is of interest.In the current context, the electromechanicalh ardwarei s viewed as a tool whichi s manipulated by the control circuit for its own reproduction.This architecturalp aradigm is demonstrated with prototypes that are reviewed hereand compared withani mplementation of the universal constructor concept. 1Introduction 1.1Motivation The concept of man-made self-replicatingmachines was first proposed by John von Neumann more thanf ifty years ag

An Enhanced Robotic Library System for an Off-Site Shelving Facility

This paper describes our continued work of a unique robotics project, Comprehensive Access to Printed Materials (CAPM), within the context of libraries. As libraries provide a growing array of digital library services and resources, they continue to acquire large quantities of printed material. This combined pressure of providing electronic and print-based resources and services has led to severe space constraints for many libraries, especially academic research libraries. Consequently, many libraries have built or plan to build off-site shelving facilities to accommodate printed materials. However, given that these locations are not usually within walking distance of the main library, access to these materials, specifically the ability to browse, is greatly reduced. Libraries with such facilities offer extensive physical delivery options from these facilities, sometimes offering multiple deliveries per day. Even with such delivery options, the ability to browse in real-time remains absent. The goal of the CAPM Project is to build a robotic, on-demand and batch scanning system that will allow for real-time browsing of printed materials through a web interface. We envisage the system will work as follows: an end user will identify that a monograph is located in an off-site facility. The user will engage the CAPM system that, in turn, will initiate a robot that will retrieve the requested item. The robot will deliver this item to another robotic system that will open the item and turn the pages automatically

Разработка и имплементация сплайн-алгоритма планирования пути в среде ROS/Gazebo

Планирование пути для автономных мобильных устройств является важной задачей в робототехнике. При планировании пути принято использовать один из двух классических подходов: глобальный, когда карта полностью известна, и локальный, в котором устройство по мере движения обнаруживает препятствия с помощью различных бортовых датчиков. На основе этих двух подходов также создаются алгоритмы, сочетающие в себе сильные стороны глобального и локального планирования. В ходе предыдущих исследований нами был разработан и реализован в среде Matlab прототип многокритериального сплайн-алгоритма глобального построения маршрута. Алгоритм использует граф Вороного при вычислении первой аппроксимации маршрута для запуска итерационного метода, что позволило находить путь во всех конфигурациях карты при условии существования пути от начальной точки до целевой точки. В ходе итеративного поиска использовалась целевая функция, в которой каждому критерию присваивался его вес в целевой функции. Для реализации критериев в том числе использовался метод потенциальных полей. В данной статье представлена реализация модифицированного сплайн-алгоритма для применения его на реальных автономных мобильных робототехнических системах. Для этого проводится корректирование уравнений характеристических критериев оптимальности пути. Карта препятствий, представленная в ранней версии алгоритма в виде пересечений кругов, в реальных условиях может быть представлена в виде динамически изменяемой вероятностной карты на основе сетки занятости (OccupancyGrid), а робот уже не представляет из себя геометрическую точку. Для реализации сплайн-алгоритма и дальнейшего использования его в системах управления реальных мобильных робототехнических устройств исходный код прототипа алгоритма был перенесен из среды Matlab в модуль программного обеспечения, написанный на языке программирования С++. Тестирование быстродействия алгоритма и оптимальность многокритериальной целевой функции проводились в среде ROS/Gazebo, являющимся на сегодняшний день де-факто стандартом программирования и моделирования робототехнических устройств. Полученный в результате сплайн-алгоритм поиска пути можно интегрировать в системы управления наземных колесных и гусеничных робототехнических устройств, оборудованных лазерным дальномером, а также модифицировать предложенный алгоритм для использования шагающими наземными роботами, беспилотными летающими аппаратами и беспилотными судами. Алгоритм работает в режиме реального времени и параметры влияния критериев на целевую функцию доступны для динамических изменений во время движения мобильного робота

Binary hyper-redundant robotic manipulator concept

Continuously actuated robotic manipulators are the most common type of manipulators even though they require sophisticated and expensive control and sensor systems to function with high accuracy and repeatability. Binary hyper-redundant (Bi-HR) robotic manipulators are potential candidates to be used in applications where high repeatability and reasonable accuracy are required. Such applications include pick-and-place, spot welding and assistants to people with disabilities. Generally, the Bi-HR manipulator is relatively inexpensive, lightweight, and has a high payload to arm weight ratio. This paper discusses a concept of Bi-HR manipulator, influencing concepts to the Bi-HR, examples of applications, and its advantages and disadvantages. 1

DENTAL TOOL CALIBRATION USING POINT-CLOUD-TO-POINT- CLOUD TECHNIQUE WITH THE LEAST-SQUARE SOLUTION: TOWARD DEVELOPENT OF A DENTAL NAVIGATION SYSTEM

This paper presents a dental tool calibration based on point-cloud-to-point-cloud rigid transformations and singular value decomposition (SVD). The system is a part of CIS interventions in dental implant navigation system. The system is composed of optical tracking, image processing and parameter operation parts setting up with the least square problem to find the transformation components. Results show higher accuracy compare to the standard tool-tip calibration algorithms

Surface coating of orthopedic implant to enhance the osseointegration and reduction of bacterial colonization: a review

Abstract The use of orthopedic implants in surgical technology has fostered restoration of physiological functions. Along with successful treatment, orthopedic implants suffer from various complications and fail to offer functions correspondent to native physiology. The major problems include aseptic and septic loosening due to bone nonunion and implant site infection due to bacterial colonization. Crucial advances in material selection in the design and development of coating matrixes an opportunity for the prevention of implant failure. However, many coating materials are limited in in-vitro testing and few of them thrive in clinical tests. The rate of implant failure has surged with the increasing rates of revision surgery creating physical and sensitive discomfort as well as economic burdens. To overcome critical pathogenic activities several systematic coating techniques have been developed offering excellent results that combat infection and enhance bone integration. This review article includes some more common implant coating matrixes with excellent in vitro and in vivo results focusing on infection rates, causes, complications, coating materials, host immune responses and significant research gaps. This study provides a comprehensive overview of potential coating technology, with functional combination coatings which are focused on ultimate clinical practice with substantial improvement on in-vivo tests. This includes the development of rapidly growing hydrogel coating techniques with the potential to generate several accurate and precise coating procedures