INTRODUCTION: Robot-assisted laparoscopy is a safe surgical approach with several studies suggesting correlations between complication rates and the surgeon's technical skills. Surgical skills are usually assessed by questionnaires completed by an ex...
The international journal of medical robotics + computer assisted surgery : MRCAS
Nov 8, 2021
BACKGROUND: The purpose of this study is to develop a methodology to better control a human-robot collaboration for robotic dental implant placement. We have designed a human-robot collaborative implant system (HRCDIS) which is based on a zero-force ...
This paper proposes a post-processing method called bidirectional interpolation method for sampling-based path planning algorithms, such as rapidly-exploring random tree (RRT). The proposed algorithm applies interpolation to the path generated by the...
Understanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human-robot interaction (pHRI). In physical human-human interaction (pHHI), small interaction forces are known to co...
The investigation and study of the limbs, especially the human arm, have inspired a wide range of humanoid robots, such as movement and muscle redundancy, as a human motor system. One of the main issues related to musculoskeletal systems is the joint...
Fiber-based artificial muscles with excellent actuation performance are gaining great attention as soft materials for flexible actuators; however, current advances in fiber-based artificial muscles generally suffer from high cost, harsh stimulation r...
The introduction of robotic surgery in hospitals has raised much debate given the various effects on care, costs, education and medical advancement. Purchasing discussions are often approached with more questions than answers and there is a need for ...
Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. In this study, we construct and study a class of origami springs generalized from the known in...
BACKGROUND: This study aims to report the results of a pioneering clinical study using the single-port transaxillary robotic thyroidectomy (START) for 200 patients with thyroid tumor and to introduce our novel two-step retraction method.
Different from traditional redundant manipulators, the redundant manipulators used in the surgical environment require the end effector (EE) to have high pose (position and orientation) accuracy to ensure the smooth progress of the operation. When an...
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