Search scope:
排序: Display mode:
Integration of microsensor for microsurgery robot’s end-effector
HU Yida, LI Dazhai, YANG Yang, SUN Xuguang
Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2, Pages 205-209 doi: 10.1007/s11465-007-0035-5
Keywords: integration filtering structure suitable robotic microsurgery position microsensor
Nonlinear dynamic analysis for elastic robotic arms
M. H. KORAYEM, H. N. RAHIMI
Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2, Pages 219-228 doi: 10.1007/s11465-011-0218-y
The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and jointsmodes and finite element methods as more convenient approaches for computing the nonlinear dynamic of robotic
Keywords: robotic arms elastic link elastic joint nonlinear dynamics optimal control
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1, Pages 45-60 doi: 10.1007/s11465-011-0205-3
In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed.the three joint modules, in which the design objective is to maximize the matched workspace of the roboticA research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrateWith a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has
Keywords: anthropomimetic design robotic arm cable-driven mechanism kinematic analysis design optimization
Stiffness analysis and experimental validation of robotic systems
Giuseppe CARBONE
Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2, Pages 182-196 doi: 10.1007/s11465-011-0221-3
Keywords: robotics stiffness performance numerical and experimental estimations
A novel task-oriented framework for dual-arm robotic assembly task
Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3, Pages 528-545 doi: 10.1007/s11465-021-0638-2
Keywords: dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception
Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu
Frontiers of Medicine 2020, Volume 14, Issue 4, Pages 382-403 doi: 10.1007/s11684-020-0781-x
Keywords: surgical robots keyhole surgery endoscopic surgery
Hui LI, Ruiqin LI, Jianwei ZHANG
Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2, Pages 353-362 doi: 10.1007/s11465-020-0620-4
Keywords: sliding-mode control robot control discrete-time uncertain systems fuzzy logic
Fertility outcome analysis after modified laparoscopic microsurgical tubal anastomosis
Jihui Ai, Pei Zhang, Lei Jin, Yufeng Li, Jing Yue, Ding Ma, Hanwang Zhang
Frontiers of Medicine 2011, Volume 5, Issue 3, Pages 310-314 doi: 10.1007/s11684-011-0152-8
Modified laparoscopic microsurgical tubal anastomosis is an alternative for microsurgical anastomosis via laparotomy to reverse sterilization in women with renewed child wish. The current study aims to evaluate the fertility outcome after modified laparoscopic microsurgical tubal anastomosis. A retrospective study was performed. Fifty-eight women who underwent modified laparoscopic microsurgical tubal anastomosis were monitored to investigate the fertility outcome and characteristics of this new technology. Of the 58 patients, the cumulative pregnancy rate (PR) in the 42 patients with follow-up data was 23.8% (10/42), 57.1% (24/42), 66.7% (28/42), and 73.8% (31/42) within 6, 12, 24, and 36 months after surgery, respectively. The intrauterine PR was 69.0% (29/42). Two patients (4.8%) had ectopic pregnancies that occurred within 24 months of surgery; three cases ended in spontaneous abortion. The delivery rate was 83.9% (26/31). The length of operating time was 1.2±0.3 h, with a range of 1.0–2.5 h (60–145 min), and the mean time was approximately 75 min. The blood loss was relatively small, between 10 and 50 ml with an average amount of 22 ml. Thus, the modified laparoscopic tubal anastomosis is a highly successful procedure and a viable alternative to open abdominal microsurgical approaches. Compared with the traditional laparoscopic tubal sterilization reversal, this modified approach has three advantages: (1) less invasive approach via a trocar reduction; (2) remodeling of tube is better performing tied together after 3–4 sutures; and (3) faster operating time.
Keywords: modified laparoscopy tubal anastomosis microsurgery
New spinal robotic technologies
Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore
Frontiers of Medicine 2019, Volume 13, Issue 6, Pages 723-729 doi: 10.1007/s11684-019-0716-6
Keywords: robotics spine surgery Mazor ExcelsiusGPS ROSA pedicle screw
Eric C. H. Lai,Chung Ngai Tang
Frontiers of Medicine 2015, Volume 9, Issue 3, Pages 356-360 doi: 10.1007/s11684-015-0404-0
Robotic system has been increasingly used in pancreatectomy.Both robotic and conventional laparoscopic groups presented no significant difference in spleen-preservationSimilar outcomes were observed in robotic distal pancreatectomy and conventional laparoscopic approachHowever, robotic approach tended to have the advantages of less blood loss and shorter hospital stay.Further studies are necessary to determine the clinical position of robotic distal pancreatectomy.
Keywords: distal pancreatectomy pancreatic neoplasm robotic surgery
Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly Article
Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding
Engineering 2023, Volume 30, Issue 11, Pages 83-92 doi: 10.1016/j.eng.2022.08.022
Keywords: Human–robot collaboration Impedance control Robotic assembly
Fault-Tolerant Control of a CPG-Governed Robotic Fish Article
Yueqi Yang, Jian Wang, Zhengxing Wu, Junzhi Yu
Engineering 2018, Volume 4, Issue 6, Pages 861-868 doi: 10.1016/j.eng.2018.09.011
Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish inThis paper explores the fault-tolerance control problem of a free-swimming robotic fish with multipleSimulations are performed for control system analysis and performance validation of the faulty roboticdemonstrate that the proposed fault-tolerant control method is able to effectively regulate the faulty roboticmotion in the presence of damage and thereby improving both the stability and the lifetime of the real robotic
Keywords: Fault-tolerant control Robotic fish Motion control Feedback controller Feedforward compensator
A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery Article
Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu
Engineering 2015, Volume 1, Issue 1, Pages 73-78 doi: 10.15302/J-ENG-2015011
In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.
Keywords: surgical robot flexible manipulator tendon-driven minimally invasive robotic surgery
A novel robotic visual perception framework for underwater operation Research Article
Yue LU, Xingyu CHEN, Zhengxing WU, Junzhi YU, Li WEN
Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 11, Pages 1602-1619 doi: 10.1631/FITEE.2100366
Underwater robotic operation usually requires visual perception (e.g., object detection and trackingIn response to these two problems, we present a design for a novel robotic visual perception frameworkFinally, combined with , an accurate and stable underwater robotic visual perception framework is establishedExtensive experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify
Keywords: Underwater operation Robotic perception Visual restoration Video object detection
Editorial Overview: Advances in Robotic Technologies
Tianran Wang
Engineering 2018, Volume 4, Issue 4, Pages 433-434 doi: 10.1016/j.eng.2018.07.016
Title Author Date Type Operation
Integration of microsensor for microsurgery robot’s end-effector
HU Yida, LI Dazhai, YANG Yang, SUN Xuguang
Journal Article
Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm
Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM
Journal Article
Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives
Yuyang Chen, Shu’an Zhang, Zhonghao Wu, Bo Yang, Qingquan Luo, Kai Xu
Journal Article
Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with
Hui LI, Ruiqin LI, Jianwei ZHANG
Journal Article
Fertility outcome analysis after modified laparoscopic microsurgical tubal anastomosis
Jihui Ai, Pei Zhang, Lei Jin, Yufeng Li, Jing Yue, Ding Ma, Hanwang Zhang
Journal Article
New spinal robotic technologies
Bowen Jiang, Tej D. Azad, Ethan Cottrill, Corinna C. Zygourakis, Alex M. Zhu, Neil Crawford, Nicholas Theodore
Journal Article
Robotic distal pancreatectomy versus conventional laparoscopic distal pancreatectomy: a comparative study
Eric C. H. Lai,Chung Ngai Tang
Journal Article
Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly
Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding
Journal Article
Fault-Tolerant Control of a CPG-Governed Robotic Fish
Yueqi Yang, Jian Wang, Zhengxing Wu, Junzhi Yu
Journal Article
A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery
Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu
Journal Article
A novel robotic visual perception framework for underwater operation
Yue LU, Xingyu CHEN, Zhengxing WU, Junzhi YU, Li WEN
Journal Article