Needle insertion kinematicsMedical roboticsRemote center of motion constraintsUltrasound-guided regional anesthesia (UGRA) becomes a standard procedure in surgical operations and contributes to pain management; it offers the advantages of the needle and targeted nerve detection and provides the visualization ...
Type synthesis of 1-DOF remote center of motion (RCM) mechanisms is the preliminary for research on many multi-DOF RCM mechanisms. Since types of existing RCM mechanisms are few, it is necessary to find an efficient way to create more new RCM mechanisms. In this paper, existing 1-DOF RCM...
Parallel alignment stage with remote-center-of-motion (RCM) is of key importance in precision out-of-plane aligning since it can eliminate the harmful lateral displacement generated at the output platform. This paper presents the development of a parallelogram-based compliant RCM stage for active pa...
Minimally Invasive Robotic Surgery (MIRS) is a growing field of robotics that aims to enhance precision and dexterity while reducing invasiveness and overall operation time, resulting in a faster patient recovery time.Springer, ChamInternational Symposium on Advances in Robot KinematicsPecorella, Claudia...
3a, b, the Raptor design is centered around the payload holder to maintain the center of gravity in the middle of the robot. Most of the electronics components are mounted on the center body of the robot, where a mounting structure was provided. It also allows the assembly of electronic ...
Teleoperated medical technologies are a fundamental part of the healthcare system. From telemedicine to remote surgery, they allow remote diagnosis and treatment. However, the absence of any interface able to effectively reproduce the sense of touch and
The center point of the camera projecting to XY, where these four control points are located, is the origin of the world coordinate system; the tractor's forward direction is the X-axis positive direction, the Z-axis directs to the center of the camera lens, and the Y-axis can be ...
kinematics or another suitable control strategy to move the end-effector to match the target position. The target itself would be a purely graphical aid and so there would be no noticeable lag in its movement. It would give immediate feedback as to the intended motion of the manipulator and...
The populated center is classified according to four zones with different risk levels (Table 2). Most of buildings and houses close to the two riverbeds (Giampilieri and its right-bank tributary the Mandarina, Fig. 10) were classified with different level of risk (from 1 to 3) when ...
1, there is established an XYZ orthogonal coordinate system whose origin is located at the center of a hip joint of the robot R where the legs 3 and the torso 2 are interconnected, the XYZ orthogonal coordinate system having Z-, X-, and Y-axes which extend respectively as the vertical,...