Master-Slave Control Technology Research for Abdominal Minimally Invasive Surgery Robot

2010 ◽  
Author(s):  
Yili Fu ◽  
Han Li ◽  
Qi Xie
Keyword(s):  
Minimally Invasive ◽  
Real Time ◽  
Robot Control ◽  
Transformation Method ◽  
Feedback Mechanism ◽  
Surgical Robot ◽  
Pci Bus ◽  
Trajectory Prediction ◽  
A Algorithm ◽  
The Impact

According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal.

Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery

2021 ◽  
pp. 014233122098435
Author(s):  
Wen Qi ◽  
Hang Su ◽  
Ke Fan ◽  
Ziyang Chen ◽  
Jiehao Li ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Data Fusion ◽  
Invasive Surgery ◽  
Robot Control ◽  
Surgical Robot ◽  
Robot Assisted ◽  
Multimodal Data ◽  
Multimodal Data Fusion ◽  
Fusion Framework

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification in a dynamic situation, we propose a multimodal data fusion framework to provide multiple information for accuracy enhancement. Firstly, a multi-sensors based hardware structure is designed to capture varied data from various devices, including depth camera and smartphone. Furthermore, in different surgical tasks, the robot control mechanism can shift automatically. The experimental results evaluate the efficiency of developing the multimodal framework for RAMIS by comparing it with a single sensor system. Implementing the KUKA LWR4+ in a surgical robot environment indicates that the surgical robot systems can work with medical staff in the future.

Closed-Form Solution of Inverse Kinematics for a Minimally Invasive Surgical Robot Slave Manipulator Similar to Da Vinci Robot System

2020 ◽  
Vol 3 (2) ◽  
Author(s):  
Wenjie Wang ◽  
Yuting Cao ◽  
Xiaohua Wang ◽  
Lingtao Yu
Keyword(s):  
Minimally Invasive ◽  
Closed Form ◽  
Inverse Kinematics ◽  
Robot Control ◽  
Da Vinci ◽  
Closed Form Solution ◽  
Form Solution ◽  
Surgical Robot ◽  
New Method ◽  
Minimally Invasive Surgical

Abstract Closed-form solution inverse kinematics has a unique advantage in robot control; it is quite difficult to be obtained through traditional methods as no effective analytic method has been identified so far, when the robot's joint configuration does not conform to the “Pieper Criterion.” In this paper, a new modeling method named extended Denavit-Hartenberg (DH) method was presented for solving this problem. And the conditions of robots' configuration that conform to the method have been given for different joints combinations. The precise closed-form solution to a minimally invasive surgical robot slave manipulator was obtained through this new method. The correctness of the new method was verified through simulation analyses; this study enriched robot kinematic modeling and the closed-form solution to inverse kinematics of Da Vinci surgical robot, and will help to obtain a fast, accurate, and general method of closed-form solution for the same kind of robots and provide the precondition for robot control and trajectory planning.

The impact of real-time continuous glucose monitoring on metabolic control in children with type 1 diabetes

2020 ◽  
Author(s):  
Ruxandra Calapod Ioana ◽  
Irina Bojoga ◽  
Duta Simona Gabriela ◽  
Ana-Maria Stancu ◽  
Amalia Arhire ◽  
...  
Keyword(s):  
Type 1 Diabetes ◽  
Real Time ◽  
Metabolic Control ◽  
Continuous Glucose Monitoring ◽  
Glucose Monitoring ◽  
The Impact

THE IMPACT OF TV ADVERTISING ON VIRAL: ANALYSIS USING REAL-TIME AD RATINGS

2019 ◽  
Vol 2019 ◽  
pp. 790-791
Author(s):  
Cunhyeong Ci ◽  
◽  
Hyo-Gyoo Kim ◽  
Seungbae Park ◽  
Heebok Lee
Keyword(s):  
Real Time ◽  
Tv Advertising ◽  
The Impact

778-P: The Impact of Self-Management Blood Glucose (SMBG) Real-Time Decision Support on Glycemic Control in Adult with T1D in China

Diabetes ◽  
2020 ◽  
Vol 69 (Supplement 1) ◽  
pp. 778-P
Author(s):  
ZIYU LIU ◽  
CHAOFAN WANG ◽  
XUEYING ZHENG ◽  
SIHUI LUO ◽  
DAIZHI YANG ◽  
...  
Keyword(s):  
Decision Support ◽  
Blood Glucose ◽  
Glycemic Control ◽  
Real Time ◽  
Self Management ◽  
The Impact

45. Education at distance: Broadcasting ECG rounds to Southeastern Ontario (BESO Project). An innovative approach for teaching electrocardiography

2007 ◽  
Vol 30 (4) ◽  
pp. 51 ◽  
Author(s):  
A. Baranchuk ◽  
G. Dagnone ◽  
P. Fowler ◽  
M. N. Harrison ◽  
L. Lisnevskaia ◽  
...  
Keyword(s):  
Health Care ◽  
Real Time ◽  
Digital Signal ◽  
Teaching Methodology ◽  
Care Providers ◽  
Long Distance ◽  
Medicine Clerkship ◽  
Time Problem ◽  
The Impact ◽  
Ecg Interpretation

Electrocardiography (ECG) interpretation is an essential skill for physicians as well as for many other health care professionals. Continuing education is necessary to maintain these skills. The process of teaching and learning ECG interpretation is complex and involves both deductive mechanisms and recognition of patterns for different clinical situations (“pattern recognition”). The successful methodologies of interactive sessions and real time problem based learning have never been evaluated with a long distance education model. To evaluate the efficacy of broadcasting ECG rounds to different hospitals in the Southeastern Ontario region; to perform qualitative research to determine the impact of this methodology in developing and maintaining skills in ECG interpretation. ECG rounds are held weekly at Kingston General Hospital and will be transmitted live to Napanee, Belleville, Oshawa, Peterborough and Brockville. The teaching methodology is based on real ECG cases. The audience is invited to analyze the ECG case and the coordinator will introduce comments to guide the case through the proper algorithm. Final interpretation will be achieved emphasizing the deductive process and the relevance of each case. An evaluation will be filled out by each participant at the end of each session. Videoconferencing works through a vast array of internet LANs, WANs, ISDN phone lines, routers, switches, firewalls and Codecs (Coder/Decoder) and bridges. A videoconference Codec takes the analog audio and video signal codes and compresses it into a digital signal and transmits that digital signal to another Codec where the signal is decompressed and retranslated back into analog video and audio. This compression and decompression allows large amounts of data to be transferred across a network at close to real time (384 kbps with 30 frames of video per second). Videoconferencing communication works on voice activation so whichever site is speaking has the floor and is seen by all the participating sites. A continuous presence mode allows each site to have the same visual and audio involvement as the host site. A bridged multipoint can connect between 8 and 12 sites simultaneously. This innovative methodology for teaching ECG will facilitate access to developing and maintaining skills in ECG interpretation for a large number of health care providers. Bertsch TF, Callas PW, Rubin A. Effectiveness of lectures attended via interactive video conferencing versus in-person in preparing third-year internal medicine clerkship students for clinical practice examinations. Teach Learn Med 2007; 19(1):4-8. Yellowlees PM, Hogarth M, Hilty DM. The importance of distributed broadband networks to academic biomedical research and education programs. Acad Psychaitry 2006;30:451-455

Optimisation and control of the inflow to a wastewater treatment plant using integrated modelling tools

1998 ◽  
Vol 37 (1) ◽  
pp. 347-354 ◽  
Author(s):  
Ole Mark ◽  
Claes Hernebring ◽  
Peter Magnusson
Keyword(s):  
Wastewater Treatment ◽  
Real Time ◽  
Wastewater Treatment Plant ◽  
Treatment Plant ◽  
Pilot Project ◽  
Integrated Modelling ◽  
Real Time Control ◽  
Sewer System ◽  
Time Control ◽  
The Impact

The present paper describes the Helsingborg Pilot Project, a part of the Technology Validation Project: “Integrated Wastewater” (TVP) under the EU Innovation Programme. The objective of the Helsingborg Pilot Project is to demonstrate implementation of integrated tools for the simulation of the sewer system and the wastewater treatment plant (WWTP), both in the analyses and the operational phases. The paper deals with the programme for investigating the impact of real time control (RTC) on the performance of the sewer system and wastewater treatment plant. As the project still is in a very early phase, this paper focuses on the modelling of the transport of pollutants and the evaluation of the effect on the sediment deposition pattern from the implementation of real time control in the sewer system.

scholarly journals Power Hardware-in-the-Loop-Based Performance Analysis of Different Converter Controllers for Fast Active Power Regulation in Low-Inertia Power Systems

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3274
Author(s):  
Jose Rueda Torres ◽  
Zameer Ahmad ◽  
Nidarshan Veera Kumar ◽  
Elyas Rakhshani ◽  
Ebrahim Adabi ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Power Systems ◽  
Real Time ◽  
Control Strategies ◽  
Active Power ◽  
Power Electronic ◽  
Hardware In The Loop ◽  
Digital Controllers ◽  
Power Regulation ◽  
The Impact

Future electrical power systems will be dominated by power electronic converters, which are deployed for the integration of renewable power plants, responsive demand, and different types of storage systems. The stability of such systems will strongly depend on the control strategies attached to the converters. In this context, laboratory-scale setups are becoming the key tools for prototyping and evaluating the performance and robustness of different converter technologies and control strategies. The performance evaluation of control strategies for dynamic frequency support using fast active power regulation (FAPR) requires the urgent development of a suitable power hardware-in-the-loop (PHIL) setup. In this paper, the most prominent emerging types of FAPR are selected and studied: droop-based FAPR, droop derivative-based FAPR, and virtual synchronous power (VSP)-based FAPR. A novel setup for PHIL-based performance evaluation of these strategies is proposed. The setup combines the advanced modeling and simulation functions of a real-time digital simulation platform (RTDS), an external programmable unit to implement the studied FAPR control strategies as digital controllers, and actual hardware. The hardware setup consists of a grid emulator to recreate the dynamic response as seen from the interface bus of the grid side converter of a power electronic-interfaced device (e.g., type-IV wind turbines), and a mockup voltage source converter (VSC, i.e., a device under test (DUT)). The DUT is virtually interfaced to one high-voltage bus of the electromagnetic transient (EMT) representation of a variant of the IEEE 9 bus test system, which has been modified to consider an operating condition with 52% of the total supply provided by wind power generation. The selected and programmed FAPR strategies are applied to the DUT, with the ultimate goal of ascertaining its feasibility and effectiveness with respect to the pure software-based EMT representation performed in real time. Particularly, the time-varying response of the active power injection by each FAPR control strategy and the impact on the instantaneous frequency excursions occurring in the frequency containment periods are analyzed. The performed tests show the degree of improvements on both the rate-of-change-of-frequency (RoCoF) and the maximum frequency excursion (e.g., nadir).

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