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At least 865 records · Page 48Linked to original sources

PubMed2000

An efficient neural network approach to dynamic robot motion planning.

In this paper, a biologically inspired neural network approach to real-time collision-free motion planning of mobile robots or robot manipulators in a nonstationary environment is proposed. Each neuron in the topologically organized neural network has only local connections, whose neural dynamics is characterized by a shunting equation. Thus the computational complexity linearly depends on the neural network size. The real-time robot motion is planned through the dynamic activity landscape of the neural network without any prior knowledge of the dynamic environment, without explicitly searching over the free workspace or the collision paths, and without any learning procedures. Therefore it is computationally efficient. The global stability of the neural network is guaranteed by qualitative analysis and the Lyapunov stability theory. The effectiveness and efficiency of the proposed approach are demonstrated through simulation studies.

Artificial Intelligence↗

PubMed1999

Video-assisted and robotic mitral valve surgery: toward an endoscopic surgery.

Our group at East Carolina University recently has shown the efficacy of new video-assisted mitral valve surgery. Moreover, we review the evolution and predict the future of endoscopic and robotic-enabling technology for cardiac valve surgery. Herein, a video-assisted mitral valve operation is described and early results are discussed. Cardiopulmonary bypass was established via the femoral vessels, and blood cardioplegic arrest was induced by using a new percutaneous, transthoracic cross-clamp. A 6-cm minithoracotomy was used in each patient. Videoscopy was helpful for suture placement, chord reconstruction, leaflet resection, knot tying, and valve ring or prosthesis positioning. Thus far, 85 patients have undergone this surgery successfully with a 1.2% surgical mortality rate. Our early study with cost data is reviewed in detail. Cardiopulmonary perfusion times and cross-clamp periods for the entire group have been longer than for conventional sternotomy patients at 167 +/- 4.6 minutes and 120 +/- 4.0 minutes, respectively, but complications have been less. Complex repairs and replacements were possible. Bleeding, ventilatory times, and hospital lengths of stay have been reduced. One patient required a second surgery for a failed repair. Recently, we have used voice-activated, robotic assistance for camera control in 28 patients. This has decreased camera motion artifact and lens cleaning while providing direct cerebral-eye tracking of instruments by the surgeon. From this and other studies we reviewed, we conclude that video-assisted and computer-assisted robotic techniques are safe and may be the pathway to truly endoscopic mitral valve surgery.

Cardiac Surgical Procedures↗

PubMed1999

Minimally invasive mitral valve surgery using three-dimensional video and robotic assistance.

Different techniques have been developed for the common goal to minimize surgical trauma for mitral valve surgery. This article focuses on Port-Access (Heartport, Inc, Redwood City, CA) mitral valve replacement or repair (PAMVR) with emphasis on three-dimensional video and robotic assistance. PAMVR was undertaken using a small right anterior minithoracotomy using an endovascular cardiopulmonary bypass (CPB) system. A three-dimensional minicamera allowed visualization of the mitral valve apparatus during this limited access surgery. The three-dimensional (3D) image was displayed inside a helmet just above the real surgical image (VISTA system [Vista, Inc, Westborough, MA]). In addition, the camera was attached to a robotic arm (AESOP [Computer Motion, Inc, Goleta, CA]) that allows stabilization and voice-activated movement of the camera. Fifty patients (16 men, 34 women), aged 36 to 77 years (median, 61.5 years) underwent PAMVR. The underlying diseases were mitral valve insufficiency (n = 36) and combined mitral valve disease (n = 14). With optimal visualization, mitral valve repair was performed in 26 patients with quadrangular resection of the posterior leaflet (n = 26) and repair of the anterior leaflet (n = 3) together with insertion of a posterior or complete anuloplasty ring. The valve was replaced in 24 patients with a mechanical valve prosthesis. Intraoperative and postoperative mortality was 0%. One patient (2%) needed reoperation after a failed repair of an anterior leaflet prolaps. Three-month follow-up was complete in 40 patients, with 34 patients (85%) in New York Heart Association (NYHA) class I and 6 patients in class II. In conclusion, using 3D video and robotic assistance, it was possible to minimize the length of skin incision but at the same time to optimally visualize the whole mitral valve apparatus to perform true Port-Access mitral valve surgery, including complex repair techniques.

Adult↗

PubMed2002

Robotically assisted nerve and facet blocks: a cadaveric study.

RATIONALE AND OBJECTIVES: This study was performed to evaluate the feasibility of using a joystick-controlled robotic needle driver to place a 22-gauge needle for nerve and facet blocks. MATERIALS AND METHODS: Biplane fluoroscopy and a robotic needle driver were used to place 12 needles into the lumbar paraspinal region of an embalmed female cadaver (age at death, 98 years). Small metal BB nipple markers (1 mm in diameter) were inserted percutaneously to serve as targets. Six needles were then placed near the nerve root, and six were placed near the facet root. Anteroposterior and lateral radiographs were obtained after each needle placement to assess its accuracy. RESULTS: All needles were placed within 3 mm of the target BB. The average distance was 1.44 mm +/- 0.66 (standard deviation). DISCUSSION: A robotic needle driver can be used to place needles accurately in the nerve and facet regions. Clinical studies are required to investigate the advantages and disadvantages of this system for interventional procedures involving needles.

Aged↗

PubMed2005

Artificial intelligence and robotics in high throughput post-genomics.

The shift of post-genomics towards a systems approach has offered an ever-increasing role for artificial intelligence (AI) and robotics. Many disciplines (e.g. engineering, robotics, computer science) bear on the problem of automating the different stages involved in post-genomic research with a view to developing quality assured high-dimensional data. We review some of the latest contributions of AI and robotics to this end and note the limitations arising from the current independent, exploratory way in which specific solutions are being presented for specific problems without regard to how these could be eventually integrated into one comprehensible integrated intelligent system.

Artificial Intelligence↗

PubMed1999

Evaluation of robot-based registration for subtraction radiography.

Digital subtraction of (plane film) radiographs of an area of interest taken over time is a powerful diagnostic tool. In dentistry for example, this is used to detect and treat periodontal disease (i.e. the sequence of diseases that leads to the loss of bone supporting the teeth). A precondition of subtraction radiography is correct three-dimensional registration of the film and X-ray source, without which the subtraction images are meaningless. A small misalignment can be compensated for by post-processing of the digitized films (by correspondence and rectification) to remove artifacts due to positioning errors. This paper presents a novel approach to subtraction radiography which replaces customary mechanical alignment methods (such as a stent or cephalostat) with a robot. A mechanical stent is a short rod attached at one end to the X-ray source and at the other to a mechanical appliance protruding from the patient's mouth. An experimental system was constructed which creates a 'sensorized stent' by integrating a plastic mouth appliance (with the impression of the patient's teeth), a robot carrying an X-ray source and a host computer. Results showed that the robotic system was superior to the mechanical alignment approach, due to its excellent accuracy and repeatability. This resulted in much less variation in the non-registered X-ray images, and in a smaller standard deviation in the intensities of subtracted images overall. The results suggest that in the future, diagnostic studies including subtraction radiography will not need either mechanical alignment (which is imprecise) or post-processing registration (which is time consuming).

Cadaver↗

PubMed2002

[Planning and simulation of minimally-invasive robotic heart surgery].

Due to their numerous advantages, mainly in terms of patient benefit, mini-invasive robotically assisted interventions are gaining in importance in various surgical fields. However, this conversion has its own challenges that stem from both its novelty and complexity. In this paper we propose to accompany the surgeons in their transition, by offering an integrated environment that enables them to make better use of this new technology. The proposed system is patient-dependent, and enables the planning, validation, simulation, teaching and archiving of robotically assisted interventions. The approach is illustrated for a coronary bypass graft using the daVinci tele-operated robot.

Cardiac Surgical Procedures↗

PubMedDate not supplied

Robonaut: a robot designed to work with humans in space.

The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

Artificial Intelligence↗

PubMed2004

Intelligent self-tuning of PID control for the robotic testing system for human musculoskeletal joints test.

In this paper, an intelligent proportional-integral-derivative (PID) control method is introduced to the robotic testing system for the biomechanical study of human musculoskeletal joints. For the testing system, the robot is a highly nonlinear and heavily coupled complicated system, and the human spinal specimen also demonstrates nonlinear property when undergoing testing. Although the conventional PID control approach is extensively used in most industrial control systems, it will break down for nonlinear systems, particularly for complicated systems that have no precise mathematical models. To overcome those difficulties, an intelligent fuzzy PID controller is proposed replacing the widely used conventional PID controllers. The fuzzy PID algorithm is outlined using the fuzzy set theory. The design techniques are developed based on the linguistic phase plane approach. The heuristic rules of syntheses are summarized into a rule-based expert system. Experiments are carried out and the results demonstrate the good performance of the robotic testing system using the proposed control method.

Algorithms↗

PubMed2003

Measurement of mechanical strain on mandibular surface with mastication robot: influence of muscle loading direction and magnitude.

OBJECTIVES: To investigate the mechanical effects of mastication on the mandible, we developed computational controlled mastication robot system with human dry skull and analyzed the strain distribution on the mandibular bone surface. DESIGN: In the mastication robot, the mandible was suspended by eight wires, which simulated masticatory muscles. A non-linear spring damper generated viscoelastic properties, and tension sensors for simulation of jaw reflection to avoid unusual biting force were applied as a biological feedback mechanism. By using this robot system, various patterns of muscle loading (change of wire direction and magnitude) were performed. RESULTS: From the results, significant differences in the amount of principal strain and its distribution were demonstrated in each condition (ANOVA, post hoc test, and p < 0.05). The value of maximum principal strain ranged from 79.66 x 10(-6) [at anterior border of ramus (Buccal side), 128 N] to -1.42 x 10(-6) [at foramen mentale (Buccal side), 32 N]. CONCLUSION: These results suggested that the muscle loading generated the mechanical strain on the mandibular bone surface and it was affected by the changes in loading direction and magnitude.

Analysis of Variance↗

PubMed1999

Real-time control of a robot arm using simultaneously recorded neurons in the motor cortex.

To determine whether simultaneously recorded motor cortex neurons can be used for real-time device control, rats were trained to position a robot arm to obtain water by pressing a lever. Mathematical transformations, including neural networks, converted multineuron signals into 'neuronal population functions' that accurately predicted lever trajectory. Next, these functions were electronically converted into real-time signals for robot arm control. After switching to this 'neurorobotic' mode, 4 of 6 animals (those with > 25 task-related neurons) routinely used these brain-derived signals to position the robot arm and obtain water. With continued training in neurorobotic mode, the animals' lever movement diminished or stopped. These results suggest a possible means for movement restoration in paralysis patients.

Animals↗

PubMed2000

Automatic design and manufacture of robotic lifeforms.

Biological life is in control of its own means of reproduction, which generally involves complex, autocatalysing chemical reactions. But this autonomy of design and manufacture has not yet been realized artificially. Robots are still laboriously designed and constructed by teams of human engineers, usually at considerable expense. Few robots are available because these costs must be absorbed through mass production, which is justified only for toys, weapons and industrial systems such as automatic teller machines. Here we report the results of a combined computational and experimental approach in which simple electromechanical systems are evolved through simulations from basic building blocks (bars, actuators and artificial neurons); the 'fittest' machines (defined by their locomotive ability) are then fabricated robotically using rapid manufacturing technology. We thus achieve autonomy of design and construction using evolution in a 'limited universe' physical simulation coupled to automatic fabrication.

Computer Simulation↗

PubMed1997

Fully robotic method for characterization of toxic residues.

A fully automated method for the determination of toxic residues was developed using a robotic station. The robot performs the weighing of the solid sample and applies the standard leaching method based on continuous stirring with discontinuous pH monitoring and control by addition of acid solution for 24 h; it then filters the sample and prepares the different dilutions for application of the luminescence test which is monitored by aspiration of the solutions into the flow cell of a luminescence detector. The data from both the sample mass and dilution step are used together with those from the detector by the computer for calculation of the toxicity. The two manual procedures usually applied in routine laboratories were developed by the robotic station; the results obtained by both methods were compared with those provided by the manual method and showed excellent agreement. The main advantage of the proposed method is that it is fully automated as opposed to the constant human attendance (for at least 28 h) required by the manual method.

Hazardous Substances↗

PubMed2001

Online Internet-based robotic telepathology in the diagnosis of neuro-oncology cases: a teleneuropathology feasibility study.

This feasibility study examined the diagnostic accuracy of Internet-based dynamic-robotic telepathology using neuropathology cases. Randomly, 83 cases were selected from the routine diagnostic workload of the Neurosurgical Pathology Laboratory in Poznan, Poland. Telepathology diagnoses were compared with conventional paraffin section diagnosis. The neuropathologists, operating a robotically controlled motorized microscope over the Internet from 3 different Polish cities, individually reviewed the cases using computer workstations. Viewing times ranged from 2 minutes 54 seconds to 32 minutes 12 seconds per case. The mean diagnostic accuracy for telepathology diagnosis was 95%, with 2 of 3 observers achieving 100% diagnostic accuracy. Image quality was judged to be sufficient for correct evaluation, and the viewing times required to establish a final diagnosis by remote video microscopy were acceptable. Generally, user acceptance of robotic telepathology was high.

Adolescent↗

PubMed2002

Robotic-assisted cardiac surgery: anesthetic and postoperative considerations.

OBJECTIVE: To assess the feasibility of endoscopic telemanipulated cardiac surgery and describe the anesthetic, postoperative, and surgical implications of minimally invasive robotic-assisted cardiac surgery. DESIGN: Prospective study. SETTING: Cardiovascular and transplant center, university hospital. PARTICIPANTS: Twenty patients (13 men, 7 women) scheduled for either coronary artery bypass graft surgery or valve surgery. Mean age was 53 +/- 5 years (range, 31 to 75 years) and mean New York Heart Association class was 2.4. Three patients (6 %) were having redo procedures, and 1 patient had bacterial endocarditis. INTERVENTIONS: Surgery was done with the aid of the daVinci surgical robot (Intuitive Surgical, Mountain View, CA). Induction and maintenance of anesthesia consisted of a target-controlled infusion of remifentanil and propofol. In 11 cases (55%), cardiopulmonary bypass was performed with Port-Access technology (Heartport, Redwood City, CA), and in the remaining 9 cases (45%), conventional femorofemoral bypass was used. MEASUREMENTS AND MAIN RESULTS: Fifteen patients (75 %) were extubated within 6 hours and discharged from the cardiac surgery intensive care unit on postoperative day 1. Two patients (10%) were reexplored in the immediate postoperative period. Two conversions to thoracotomy were reported. One reoperation at 6 months and 1 late death occurred. At 1-year follow-up, excellent functional results were observed in 18 cases. CONCLUSION: Caution should be used when assessing innovative medical-surgical techniques. Despite technical difficulties and lengthy procedures, results were satisfactory. The feasibility of robotic-assisted surgery for coronary artery bypass graft and valve procedures is intuitively appealing.

Adult↗

PubMed2000

Robotically enhanced "Dresden technique" with bilateral internal mammary artery grafting.

BACKGROUND: A tendency to reduce the operative trauma seems to be the prominent sign of development in cardiac surgery. The combination of the previously introduced minimally invasive "Dresden Technique" with the robotically enhanced endoscopic system enables further progress in coronary artery surgery. METHODS: From May 1999, 25 patients (19 male, 6 female, mean age 63 +/- 8.0 years) suffering from multivessel coronary artery disease (CAD) were treated surgically using arterial revascularization through the bilateral internal mammary arteries (BIMA). Both mammaries were harvested endoscopically using the da Vinci robotic system. Further, the "Dresden Technique" was applied for anastomosis of these vessels with the coronaries. RESULTS: All patients survived the surgery. Mean duration of surgery amounted (244 +/- 82.1 min). BIMA dissection took (87 +/- 18.1 min). An average of 2.2 anastomoses were performed per patient. Postoperatively, the patients remained on ICU for 19 +/- 18 hrs. One patient needed reexploration for bleeding (4%). CONCLUSIONS: The addition of robotically enhanced endoscopic mammary artery harvesting method to the "Dresden Technique" for coronary artery surgery enables the introduction of a new treatment method for CAD into surgical practice, helping to perform an arterial revascularization with a distinctly reduced surgical trauma.

Aged↗

PubMed2000

Robotic coronary artery surgery--the evolution of a new minimally invasive approach in coronary artery surgery.

BACKGROUND: With the introduction of a wrist-enhanced robotic surgical system into minimally invasive cardiac surgery, the outlook of performing closed chest coronary artery bypass operations became a reality. METHODS: Since May, 1999, this new wrist-enhanced instrumentation has been used in 109 (79 male, 30 female, median age 63 +/- 9.9 years) patients. Seven suffering from single vessel coronary artery disease (SVD) and double vessel disease (DVD) were treated as totally endoscopic coronary artery bypass (TECAB). 60 with SVD underwent a wrist-enhanced, minimally invasive direct coronary artery bypass procedure. 25 with DVD were treated using the robotically enhanced Dresden Technique coronary artery bypass. RESULTS: Survival was 100%. In all patients the IMAs were safely harvested totally endoscopically. In the TECAB group, all patients were operated via a three-point stab incision. Data were observed during and after the operation. CONCLUSIONS: Our preliminary experiences with this new surgical technique for the robotically enhanced, minimally invasive treatment of coronary artery disease promote an optimistic way of thinking about the further development of these procedures.

Aged↗

PubMedDate not supplied

[Robots, navigation, telesurgery: state of the art and market overview].

UNLABELLED: Currently surgical robots and navigation system are established in the OR. They assist the surgeon as active or passive navigators for orientation on the patient and for insertion of implants. In future, telesurgery will shaft medical experience over great distances. AIM: The goal of this paper is to describe applicable technologies, to analyse today's state of the art and to list the available products in tables. METHOD: An extensive search in literature databases and company's documents and personally conducted interviews were done for evaluation. RESULTS: The systems can be categorized in "active" or "semi-active" (robots), "navigation systems" and "telesurgical workstations". 14 robots, 22 navigation systems and four telesurgical workstations are described. Registration of anatomical structures can be performed with either pins, pair-point, surface, ultrasonic or fluoroscopic matching. At present optical, magnetic or mechanical localizer systems are used. CONCLUSION: The increased use of computer and image-guided methods (CAS and IGS) will optimize surgical treatment. The future has to show whether the necessary additional costs and time will bring better clinical results.

Equipment Design↗