Respiratory Compensation System in Spinal Surgery

2017 ◽  
Author(s):  
Yu Sun ◽  
Haiyun Chen ◽  
Zhongliang Jiang ◽  
Peng Gao ◽  
Ying Hu ◽  
...  
Keyword(s):  
Spinal Surgery ◽  
Medical Image ◽  
Control Algorithm ◽  
Compensation System ◽  
Surgical Robots ◽  
Respiratory Compensation ◽  
Actual Application ◽  
Robot Systems ◽  
Infrared Tracking ◽  
Accuracy And Stability

The traditional spinal surgery is often conducted by hand operation with the help of navigation system which is combined with medical image. Although a veteran surgeon has a good adaptability during surgeries, it will tend to decrease along with the increase in surgery time which causes fatigues and leads to low qualities. Many surgical robots have been developed to assist surgeons in operation, and some of them approved by doctors or researchers are DaVinci (Intuitive Surgical, America) [1], Renaissance (Mazor Robotics, Israel), etc. These robot systems have enhanced the accuracy of operation; however, the adaptabilities are still weakened at the same time. During the pedicle screw drilling, surgeons can well adapt to the spine movements mainly caused by respiration, while it is difficult for these robots to adapt to the movements, indicating that the accuracy might drop in the actual application. Respiratory compensation system is aimed to keep the region of operation stable or reduce the amplitude of fluctuation [2]. The rests of paper introduced the respiratory compensation system and its control algorithm based on infrared tracking data, and experiments were conducted to analyze the accuracy and stability.

Medical Image Analysis by Robot Kinematics

2006 ◽  
Vol 326-328 ◽  
pp. 875-878
Author(s):  
Jae Bum An ◽  
Li Li Xin
Keyword(s):  
Image Registration ◽  
Medical Image ◽  
Medical Images ◽  
Medical Image Analysis ◽  
Robot Kinematics ◽  
Surgical Robots ◽  
Cross Sectional ◽  
Registration Algorithm ◽  
Straight Line ◽  
Actual Shape

In this paper we present an analysis of medical images based on robot kinematics. One of the most important problems in robot-assisted surgeries is associated with the medical image registration of surgical tools and anatomical targets. The fundamental problems of contemporary frame-based image registration are that the registration fails in case of incomplete data in the image and the registration algorithm depends on the shape, assembly, and number of fiducials. To solve the registration problem in the situation where a cylindrical end-effector of surgical robots operates inside the patient’s body, we developed a numerical method by applying robot kinematics knowledge to cross-sectional medical images. Our method includes a 6-D registration algorithm and a cylindrical frame with four helix and one straight line fiducials. The numerical algorithm requires only a single cross-sectional image and are robust to noise and missing data, and are algorithmically invariant to the actual shape, number, and assembly of fiducials. The algorithm and frame are introduced in this paper, and simulation results are described to show the adequate accuracy and resistance to noise.

Artificial Intelligence-a Paradigm shift in Health Care Management

2022 ◽  
Vol 13 (1) ◽  
pp. 0-0
Keyword(s):  
Artificial Intelligence ◽  
Technological Development ◽  
Medical Procedures ◽  
Surgical Robots ◽  
New Developments ◽  
Current State ◽  
Emerging Trends ◽  
Robot Systems ◽  
Operative Planning ◽  
Applications Of Ai

Artificial Intelligence (AI) is gradually changing the practice of surgery with the advanced technological development of imaging, navigation, and robotic intervention. In this article, the recent successful and influential applications of AI in surgery are reviewed from pre-operative planning and intra-operative guidance to the integration of surgical robots. It ends with summarizing the current state, emerging trends, and major challenges in the future development of AI in surgery. Robotic surgery is the use of computer technologies working in conjunction with robot systems to perform medical procedures. The technology is also known as computer-aided surgery and robot-assisted surgery. This paper reviews the key capabilities of AI to help surgeons understand and critically evaluate new AI applications and to contribute to new developments in the field of Neuro Surgery.

Researcher of Region Growing Medical Image Segmentation Based on Adaboost Algorithm

2010 ◽  
Vol 142 ◽  
pp. 21-25
Author(s):  
Peng Wang ◽  
X.F. Ye ◽  
Shi Wei Yin ◽  
Shao Chen Kang ◽  
Jing Lei Xin
Keyword(s):  
Image Segmentation ◽  
Background Subtraction ◽  
Medical Image ◽  
Region Growing ◽  
Medical Image Segmentation ◽  
Segmentation Algorithm ◽  
Adaboost Algorithm ◽  
Actual Application ◽  
Region Extraction ◽  
Seed Pixel

To obtain better region extraction results of medical image, a new segmentation algorithm is proposed based on improved Adaboost algorithm. The seed pixel is selected with background subtraction. The neighborhood point is judged. The primary selected seed is calibrated with label, and then the range of seed is reduced through growing label and the maximal saliency. The optimized Adaboost algorithm is taken as growing criterion to optimally combine the scrappy region when the region growing is over. The experiment result shows that the accuracy and robustness of the algorithm both meet the actual application required.

scholarly journals Communication-free and Index-free Distributed Formation Control Algorithm for Multi-robot Systems

2019 ◽  
Vol 151 ◽  
pp. 431-438 ◽  
Author(s):  
J. Peña Queralta ◽  
C. Mccord ◽  
T.N. Gia ◽  
H. Tenhunen ◽  
T. Westerlund
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Robot Systems ◽  
Multi Robot

A Minimum-Energy Consumption Control Algorithm for Omni-Directional Mobile Robots

2013 ◽  
Vol 291-294 ◽  
pp. 2408-2411
Author(s):  
Jian Bin Wang ◽  
Yi Min Yang ◽  
Jing Li
Keyword(s):  
Energy Consumption ◽  
Control Algorithm ◽  
Control Method ◽  
Minimum Energy ◽  
Minimum Energy Consumption ◽  
Actual Application ◽  
Wheel Drive ◽  
Four Wheel Drive ◽  
Consumption Control ◽  
Motor Model

A minimum-energy consumption control algorithm is applied to motion control of a four-wheel drive omni-directional mobile robot (FDOMR) in actual application environment. After establishing the robot’s dynamic equations with motor model, we have chosen a practical cost function as the total energy drawn from the batteries. Considering the translation and rotation, we have found out the velocity curve by optimal control theory. Various simulations are performed and the consumed energy is compared to the normal control method that without minimum energy consumption control. Simulation results reveal that the energy saving is much more compared to the traditional control, the operational time of the FDOMR with given batteries is lengthened and the efficiency of battery is improved.

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Jinwei Yu ◽  
Jinchen Ji ◽  
Zhonghua Miao ◽  
Jin Zhou
Keyword(s):  
Collision Avoidance ◽  
Distributed Control ◽  
Control Algorithm ◽  
Control Method ◽  
Negative Effects ◽  
Control Gain ◽  
Robot Systems ◽  
Distributed Control Algorithm ◽  
Velocity Matching ◽  
Multi Robot

SUMMARY This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

New control algorithm for automatic PMD compensation system

2012 ◽  
Vol 10 (3) ◽  
pp. 030607-30610 ◽  
Author(s):  
Jinnan Zhang Jinnan Zhang ◽  
Yue Gu Yue Gu ◽  
Xueguang Yuan Xueguang Yuan ◽  
Feng Tian Feng Tian ◽  
Xiaoguang Zhang Xiaoguang Zhang ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Compensation System ◽  
Pmd Compensation

Body-Supported Medical Robots: A Survey

2004 ◽  
Vol 16 (5) ◽  
pp. 513-519 ◽  
Author(s):  
Peter Berkelman ◽  
◽  
Jocelyne Troccaz ◽  
Philippe Cinquin ◽  
Keyword(s):  
Robot Manipulator ◽  
Medical Robotics ◽  
The Body ◽  
Medical Procedure ◽  
Pedicle Screw Placement ◽  
Surgical Robots ◽  
Medical Robots ◽  
Robot Systems ◽  
Set Up ◽  
Improved Accuracy

In medical robotics applications it is often advantageous for a robot to be directly mounted on or supported by the body of the patient during a medical procedure or examination. Whereas early medical robot systems were generally manipulator arms with a large base resting on the floor or mounted to the table next to the patient, several more recently developed systems rest directly on the patient. Body-supported medical robots can be designed to be much more compact and lightweight, leading to improved accuracy and safety and reduced cost, and are easier to set up and use in the operating room environment compared to conventional robot manipulator arms. Five examples of body-supported surgical robots are surveyed in this paper: The ARTHROBOT for total hip arthroplasty, PRAXITELES for knee arthroplasty, MARS for spinal pedicle screw placement and drill guiding, TER for remote ultrasound examinations, and LER for endoscope positioning in minimally invasive surgery.

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