31 research outputs found
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 β 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 Β΅VmmHg-1, with a standard deviation of Β± 1.16 Β΅VmmHg-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. Itβs 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
Π Π°Π·ΡΠ°Π±ΠΎΡΠΊΠ° ΠΈ ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅Π½ΡΠ°ΡΠΈΡ ΡΠΏΠ»Π°ΠΉΠ½-Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΠΏΡΡΠΈ Π² ΡΡΠ΅Π΄Π΅ ROS/Gazebo
ΠΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅ ΠΏΡΡΠΈ Π΄Π»Ρ Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΡΡ
ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΡ
ΡΡΡΡΠΎΠΉΡΡΠ² ΡΠ²Π»ΡΠ΅ΡΡΡ Π²Π°ΠΆΠ½ΠΎΠΉ Π·Π°Π΄Π°ΡΠ΅ΠΉ Π² ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΠΊΠ΅. ΠΡΠΈ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΠΈ ΠΏΡΡΠΈ ΠΏΡΠΈΠ½ΡΡΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡ ΠΎΠ΄ΠΈΠ½ ΠΈΠ· Π΄Π²ΡΡ
ΠΊΠ»Π°ΡΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΏΠΎΠ΄Ρ
ΠΎΠ΄ΠΎΠ²: Π³Π»ΠΎΠ±Π°Π»ΡΠ½ΡΠΉ, ΠΊΠΎΠ³Π΄Π° ΠΊΠ°ΡΡΠ° ΠΏΠΎΠ»Π½ΠΎΡΡΡΡ ΠΈΠ·Π²Π΅ΡΡΠ½Π°, ΠΈ Π»ΠΎΠΊΠ°Π»ΡΠ½ΡΠΉ, Π² ΠΊΠΎΡΠΎΡΠΎΠΌ ΡΡΡΡΠΎΠΉΡΡΠ²ΠΎ ΠΏΠΎ ΠΌΠ΅ΡΠ΅ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΠΎΠ±Π½Π°ΡΡΠΆΠΈΠ²Π°Π΅Ρ ΠΏΡΠ΅ΠΏΡΡΡΡΠ²ΠΈΡ Ρ ΠΏΠΎΠΌΠΎΡΡΡ ΡΠ°Π·Π»ΠΈΡΠ½ΡΡ
Π±ΠΎΡΡΠΎΠ²ΡΡ
Π΄Π°ΡΡΠΈΠΊΠΎΠ². ΠΠ° ΠΎΡΠ½ΠΎΠ²Π΅ ΡΡΠΈΡ
Π΄Π²ΡΡ
ΠΏΠΎΠ΄Ρ
ΠΎΠ΄ΠΎΠ² ΡΠ°ΠΊΠΆΠ΅ ΡΠΎΠ·Π΄Π°ΡΡΡΡ Π°Π»Π³ΠΎΡΠΈΡΠΌΡ, ΡΠΎΡΠ΅ΡΠ°ΡΡΠΈΠ΅ Π² ΡΠ΅Π±Π΅ ΡΠΈΠ»ΡΠ½ΡΠ΅ ΡΡΠΎΡΠΎΠ½Ρ Π³Π»ΠΎΠ±Π°Π»ΡΠ½ΠΎΠ³ΠΎ ΠΈ Π»ΠΎΠΊΠ°Π»ΡΠ½ΠΎΠ³ΠΎ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ.
Π Ρ
ΠΎΠ΄Π΅ ΠΏΡΠ΅Π΄ΡΠ΄ΡΡΠΈΡ
ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ Π½Π°ΠΌΠΈ Π±ΡΠ» ΡΠ°Π·ΡΠ°Π±ΠΎΡΠ°Π½ ΠΈ ΡΠ΅Π°Π»ΠΈΠ·ΠΎΠ²Π°Π½ Π² ΡΡΠ΅Π΄Π΅ Matlab ΠΏΡΠΎΡΠΎΡΠΈΠΏ ΠΌΠ½ΠΎΠ³ΠΎΠΊΡΠΈΡΠ΅ΡΠΈΠ°Π»ΡΠ½ΠΎΠ³ΠΎ ΡΠΏΠ»Π°ΠΉΠ½-Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° Π³Π»ΠΎΠ±Π°Π»ΡΠ½ΠΎΠ³ΠΎ ΠΏΠΎΡΡΡΠΎΠ΅Π½ΠΈΡ ΠΌΠ°ΡΡΡΡΡΠ°. ΠΠ»Π³ΠΎΡΠΈΡΠΌ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅Ρ Π³ΡΠ°Ρ ΠΠΎΡΠΎΠ½ΠΎΠ³ΠΎ ΠΏΡΠΈ Π²ΡΡΠΈΡΠ»Π΅Π½ΠΈΠΈ ΠΏΠ΅ΡΠ²ΠΎΠΉ Π°ΠΏΠΏΡΠΎΠΊΡΠΈΠΌΠ°ΡΠΈΠΈ ΠΌΠ°ΡΡΡΡΡΠ° Π΄Π»Ρ Π·Π°ΠΏΡΡΠΊΠ° ΠΈΡΠ΅ΡΠ°ΡΠΈΠΎΠ½Π½ΠΎΠ³ΠΎ ΠΌΠ΅ΡΠΎΠ΄Π°, ΡΡΠΎ ΠΏΠΎΠ·Π²ΠΎΠ»ΠΈΠ»ΠΎ Π½Π°Ρ
ΠΎΠ΄ΠΈΡΡ ΠΏΡΡΡ Π²ΠΎ Π²ΡΠ΅Ρ
ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΡ
ΠΊΠ°ΡΡΡ ΠΏΡΠΈ ΡΡΠ»ΠΎΠ²ΠΈΠΈ ΡΡΡΠ΅ΡΡΠ²ΠΎΠ²Π°Π½ΠΈΡ ΠΏΡΡΠΈ ΠΎΡ Π½Π°ΡΠ°Π»ΡΠ½ΠΎΠΉ ΡΠΎΡΠΊΠΈ Π΄ΠΎ ΡΠ΅Π»Π΅Π²ΠΎΠΉ ΡΠΎΡΠΊΠΈ. Π Ρ
ΠΎΠ΄Π΅ ΠΈΡΠ΅ΡΠ°ΡΠΈΠ²Π½ΠΎΠ³ΠΎ ΠΏΠΎΠΈΡΠΊΠ° ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π»Π°ΡΡ ΡΠ΅Π»Π΅Π²Π°Ρ ΡΡΠ½ΠΊΡΠΈΡ, Π² ΠΊΠΎΡΠΎΡΠΎΠΉ ΠΊΠ°ΠΆΠ΄ΠΎΠΌΡ ΠΊΡΠΈΡΠ΅ΡΠΈΡ ΠΏΡΠΈΡΠ²Π°ΠΈΠ²Π°Π»ΡΡ Π΅Π³ΠΎ Π²Π΅Ρ Π² ΡΠ΅Π»Π΅Π²ΠΎΠΉ ΡΡΠ½ΠΊΡΠΈΠΈ. ΠΠ»Ρ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΠΈ ΠΊΡΠΈΡΠ΅ΡΠΈΠ΅Π² Π² ΡΠΎΠΌ ΡΠΈΡΠ»Π΅ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π»ΡΡ ΠΌΠ΅ΡΠΎΠ΄ ΠΏΠΎΡΠ΅Π½ΡΠΈΠ°Π»ΡΠ½ΡΡ
ΠΏΠΎΠ»Π΅ΠΉ.
Π Π΄Π°Π½Π½ΠΎΠΉ ΡΡΠ°ΡΡΠ΅ ΠΏΡΠ΅Π΄ΡΡΠ°Π²Π»Π΅Π½Π° ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΡ ΠΌΠΎΠ΄ΠΈΡΠΈΡΠΈΡΠΎΠ²Π°Π½Π½ΠΎΠ³ΠΎ ΡΠΏΠ»Π°ΠΉΠ½-Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° Π΄Π»Ρ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΡ Π΅Π³ΠΎ Π½Π° ΡΠ΅Π°Π»ΡΠ½ΡΡ
Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΡΡ
ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΡ
ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°Ρ
. ΠΠ»Ρ ΡΡΠΎΠ³ΠΎ ΠΏΡΠΎΠ²ΠΎΠ΄ΠΈΡΡΡ ΠΊΠΎΡΡΠ΅ΠΊΡΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅ ΡΡΠ°Π²Π½Π΅Π½ΠΈΠΉ Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΊΡΠΈΡΠ΅ΡΠΈΠ΅Π² ΠΎΠΏΡΠΈΠΌΠ°Π»ΡΠ½ΠΎΡΡΠΈ ΠΏΡΡΠΈ. ΠΠ°ΡΡΠ° ΠΏΡΠ΅ΠΏΡΡΡΡΠ²ΠΈΠΉ, ΠΏΡΠ΅Π΄ΡΡΠ°Π²Π»Π΅Π½Π½Π°Ρ Π² ΡΠ°Π½Π½Π΅ΠΉ Π²Π΅ΡΡΠΈΠΈ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° Π² Π²ΠΈΠ΄Π΅ ΠΏΠ΅ΡΠ΅ΡΠ΅ΡΠ΅Π½ΠΈΠΉ ΠΊΡΡΠ³ΠΎΠ², Π² ΡΠ΅Π°Π»ΡΠ½ΡΡ
ΡΡΠ»ΠΎΠ²ΠΈΡΡ
ΠΌΠΎΠΆΠ΅Ρ Π±ΡΡΡ ΠΏΡΠ΅Π΄ΡΡΠ°Π²Π»Π΅Π½Π° Π² Π²ΠΈΠ΄Π΅ Π΄ΠΈΠ½Π°ΠΌΠΈΡΠ΅ΡΠΊΠΈ ΠΈΠ·ΠΌΠ΅Π½ΡΠ΅ΠΌΠΎΠΉ Π²Π΅ΡΠΎΡΡΠ½ΠΎΡΡΠ½ΠΎΠΉ ΠΊΠ°ΡΡΡ Π½Π° ΠΎΡΠ½ΠΎΠ²Π΅ ΡΠ΅ΡΠΊΠΈ Π·Π°Π½ΡΡΠΎΡΡΠΈ (OccupancyGrid), Π° ΡΠΎΠ±ΠΎΡ ΡΠΆΠ΅ Π½Π΅ ΠΏΡΠ΅Π΄ΡΡΠ°Π²Π»ΡΠ΅Ρ ΠΈΠ· ΡΠ΅Π±Ρ Π³Π΅ΠΎΠΌΠ΅ΡΡΠΈΡΠ΅ΡΠΊΡΡ ΡΠΎΡΠΊΡ.
ΠΠ»Ρ ΡΠ΅Π°Π»ΠΈΠ·Π°ΡΠΈΠΈ ΡΠΏΠ»Π°ΠΉΠ½-Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΠΈ Π΄Π°Π»ΡΠ½Π΅ΠΉΡΠ΅Π³ΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΡ Π΅Π³ΠΎ Π² ΡΠΈΡΡΠ΅ΠΌΠ°Ρ
ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΡΠ΅Π°Π»ΡΠ½ΡΡ
ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΡ
ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΡΡΡΠΎΠΉΡΡΠ² ΠΈΡΡ
ΠΎΠ΄Π½ΡΠΉ ΠΊΠΎΠ΄ ΠΏΡΠΎΡΠΎΡΠΈΠΏΠ° Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° Π±ΡΠ» ΠΏΠ΅ΡΠ΅Π½Π΅ΡΠ΅Π½ ΠΈΠ· ΡΡΠ΅Π΄Ρ Matlab Π² ΠΌΠΎΠ΄ΡΠ»Ρ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌΠ½ΠΎΠ³ΠΎ ΠΎΠ±Π΅ΡΠΏΠ΅ΡΠ΅Π½ΠΈΡ, Π½Π°ΠΏΠΈΡΠ°Π½Π½ΡΠΉ Π½Π° ΡΠ·ΡΠΊΠ΅ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π‘++. Π’Π΅ΡΡΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅ Π±ΡΡΡΡΠΎΠ΄Π΅ΠΉΡΡΠ²ΠΈΡ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΠΈ ΠΎΠΏΡΠΈΠΌΠ°Π»ΡΠ½ΠΎΡΡΡ ΠΌΠ½ΠΎΠ³ΠΎΠΊΡΠΈΡΠ΅ΡΠΈΠ°Π»ΡΠ½ΠΎΠΉ ΡΠ΅Π»Π΅Π²ΠΎΠΉ ΡΡΠ½ΠΊΡΠΈΠΈ ΠΏΡΠΎΠ²ΠΎΠ΄ΠΈΠ»ΠΈΡΡ Π² ΡΡΠ΅Π΄Π΅ ROS/Gazebo, ΡΠ²Π»ΡΡΡΠΈΠΌΡΡ Π½Π° ΡΠ΅Π³ΠΎΠ΄Π½ΡΡΠ½ΠΈΠΉ Π΄Π΅Π½Ρ Π΄Π΅-ΡΠ°ΠΊΡΠΎ ΡΡΠ°Π½Π΄Π°ΡΡΠΎΠΌ ΠΏΡΠΎΠ³ΡΠ°ΠΌΠΌΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΠΈ ΠΌΠΎΠ΄Π΅Π»ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΡΡΡΠΎΠΉΡΡΠ².
ΠΠΎΠ»ΡΡΠ΅Π½Π½ΡΠΉ Π² ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΠ΅ ΡΠΏΠ»Π°ΠΉΠ½-Π°Π»Π³ΠΎΡΠΈΡΠΌ ΠΏΠΎΠΈΡΠΊΠ° ΠΏΡΡΠΈ ΠΌΠΎΠΆΠ½ΠΎ ΠΈΠ½ΡΠ΅Π³ΡΠΈΡΠΎΠ²Π°ΡΡ Π² ΡΠΈΡΡΠ΅ΠΌΡ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π½Π°Π·Π΅ΠΌΠ½ΡΡ
ΠΊΠΎΠ»Π΅ΡΠ½ΡΡ
ΠΈ Π³ΡΡΠ΅Π½ΠΈΡΠ½ΡΡ
ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΡΡΡΠΎΠΉΡΡΠ², ΠΎΠ±ΠΎΡΡΠ΄ΠΎΠ²Π°Π½Π½ΡΡ
Π»Π°Π·Π΅ΡΠ½ΡΠΌ Π΄Π°Π»ΡΠ½ΠΎΠΌΠ΅ΡΠΎΠΌ, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΌΠΎΠ΄ΠΈΡΠΈΡΠΈΡΠΎΠ²Π°ΡΡ ΠΏΡΠ΅Π΄Π»ΠΎΠΆΠ΅Π½Π½ΡΠΉ Π°Π»Π³ΠΎΡΠΈΡΠΌ Π΄Π»Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΡ ΡΠ°Π³Π°ΡΡΠΈΠΌΠΈ Π½Π°Π·Π΅ΠΌΠ½ΡΠΌΠΈ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ, Π±Π΅ΡΠΏΠΈΠ»ΠΎΡΠ½ΡΠΌΠΈ Π»Π΅ΡΠ°ΡΡΠΈΠΌΠΈ Π°ΠΏΠΏΠ°ΡΠ°ΡΠ°ΠΌΠΈ ΠΈ Π±Π΅ΡΠΏΠΈΠ»ΠΎΡΠ½ΡΠΌΠΈ ΡΡΠ΄Π°ΠΌΠΈ. ΠΠ»Π³ΠΎΡΠΈΡΠΌ ΡΠ°Π±ΠΎΡΠ°Π΅Ρ Π² ΡΠ΅ΠΆΠΈΠΌΠ΅ ΡΠ΅Π°Π»ΡΠ½ΠΎΠ³ΠΎ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ ΠΈ ΠΏΠ°ΡΠ°ΠΌΠ΅ΡΡΡ Π²Π»ΠΈΡΠ½ΠΈΡ ΠΊΡΠΈΡΠ΅ΡΠΈΠ΅Π² Π½Π° ΡΠ΅Π»Π΅Π²ΡΡ ΡΡΠ½ΠΊΡΠΈΡ Π΄ΠΎΡΡΡΠΏΠ½Ρ Π΄Π»Ρ Π΄ΠΈΠ½Π°ΠΌΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΈΠ·ΠΌΠ΅Π½Π΅Π½ΠΈΠΉ Π²ΠΎ Π²ΡΠ΅ΠΌΡ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ°
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.Β 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