Robotic control of therapeutic device on body surface considering contact force and moment

2015 ◽  
Author(s):  
Kaoru Natsume ◽  
Shinya Onogi ◽  
Takashi Mochizuki ◽  
Kohji Masuda
Keyword(s):  
Contact Force ◽  
Body Surface ◽  
Robotic Control ◽  
Therapeutic Device

scholarly journals Positioning System of an Ultrasound Therapeutic Device with Consideration with Body Surface Contact

2014 ◽  
Vol 32 (7) ◽  
pp. 624-632
Author(s):  
Sachie Irisawa ◽  
Shinya Onogi ◽  
Kaoru Natsume ◽  
Kohji Masuda
Keyword(s):  
Body Surface ◽  
Positioning System ◽  
Surface Contact ◽  
Therapeutic Device

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

2017 ◽  
Vol 02 (01) ◽  
pp. 1750002 ◽  
Author(s):  
Michael C. Yip ◽  
Jake A. Sganga ◽  
David B. Camarillo
Keyword(s):  
Contact Force ◽  
Hybrid Control ◽  
Tracking Error ◽  
Beating Heart ◽  
Robotic Control ◽  
Loop Control ◽  
Control Approach ◽  
Continuum Robot ◽  
Treatment Margins ◽  
Tip Position

Continuum manipulators enable minimally-invasive surgery on the beating heart, but the challenges involved in manually controlling the manipulator’s tip position and contact force with the tissue result in failed procedures and complications. The objective of this work is to achieve autonomous robotic control of a continuum manipulator’s position and force in a beating heart model. We present a model-less hybrid control approach that regulates the tip position/force of manipulators with unknown kinematics/mechanics, under unknown constraints along the manipulator’s body. The algorithms estimate the Jacobian in the presence of heartbeat disturbances and sensor noise in real time, enabling closed-loop control. Using this model-less control approach, a robotic catheter autonomously traced clinically relevant paths on a simulated beating heart environment while regulating contact force. A gating procedure is used to tighten the treatment margins and improve precision. Experimental results demonstrate the capabilities of the robot ([Formula: see text][Formula: see text]mm–[Formula: see text][Formula: see text]mm tracking error) while user demonstrations show the difficulty of manually performing the same task ([Formula: see text][Formula: see text]mm–[Formula: see text][Formula: see text]mm tracking error). This new, robotically-enabled contiguous ablation method could reduce ablation path discontinuities, improve consistency of treatment, and therefore improve clinical outcomes.

scholarly journals Development of Probe Scan Mechanism for Echography using Pneumatic Actuators and Its Estimation Control in Contact Force on Body Surface

2010 ◽  
Vol 28 (7) ◽  
pp. 792-801 ◽  
Author(s):  
Koichi Ando ◽  
Shun Saito ◽  
Yusuke Aoki ◽  
Ken'ichi Ozawa ◽  
Kohji Masuda
Keyword(s):  
Contact Force ◽  
Body Surface ◽  
Pneumatic Actuators

scholarly journals Development of Tele-echography Interface Considering Contact Force of Ultrasound Probe to Body Surface

2008 ◽  
Vol 44 (11) ◽  
pp. 878-885 ◽  
Author(s):  
Tomohiro HORIGUCHI ◽  
Kensuke OOKOMORI ◽  
Hiroki WATANABE ◽  
Kohji MASUDA
Keyword(s):  
Contact Force ◽  
Body Surface ◽  
Ultrasound Probe

Three-Dimensional Reconstruction of Native Androctonus Australis Hemocyanin

1990 ◽  
Vol 48 (1) ◽  
pp. 452-453
Author(s):  
Nicolas Boisset ◽  
Jean-Christophe Taveau ◽  
Jean Lamy ◽  
Terence Wagenknecht ◽  
Michael Radermacher ◽  
...  
Keyword(s):  
Electron Microscopy ◽  
Solid Body ◽  
Body Surface ◽  
Three Dimensional ◽  
Staining Technique ◽  
Three Dimensional Reconstruction ◽  
Dimensional Reconstruction ◽  
View Reconstruction ◽  
Surface Representations ◽  
Top View

Hemocyanin, the respiratory pigment of the scorpion Androctonus australis is composed of 24 kidney shaped subunits. A model of architecture supported by many indirect arguments has been deduced from electron microscopy (EM) and immuno-EM. To ascertain, the disposition of the subunits within the oligomer, the 24mer was submitted to three-dimensional reconstruction by the method of single-exposure random-conical tilt series.A sample of native hemocyanin, prepared with the double layer negative staining technique, was observed by transmisson electron microscopy under low-dose conditions. Six 3D-reconstructions were carried out indenpendently from top, side and 45°views. The results are composed of solid-body surface representations, and slices extracted from the reconstruction volume.The main two characters of the molecule previously reported by Van Heel and Frank, were constantly found in the solid-body surface representations. These features are the presence of two different faces called flip and flop and a rocking of the molecule around an axis passing through diagonnally opposed hexamers. Furthermore, in the solid-body surface of the top view reconstruction, the positions and orientations of the bridges connecting the half molecules were found in excellent agreement with those predicted by the model.

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