New Trends in Medical and Service Robotics : MESROB 2023 / edited by Daniela Tarnita, Nicolae Dumitru, Doina Pisla, Giuseppe Carbone, Ionut Geonea.

Format:

Book

Author/Creator:

Tarniţă, Daniela.

Contributor:

Dumitru, Nicolae.

Pisla, Doina.

Carbone, Giuseppe.

Geonea, Ionut.

Series:

Mechanisms and Machine Science, 2211-0992 ; 133

Language:

English

Subjects (All):

Biomedical engineering.

Robotics.

Machinery.

Biomedical Engineering and Bioengineering.

Robotic Engineering.

Machinery and Machine Elements.

Local Subjects:

Biomedical Engineering and Bioengineering.

Robotic Engineering.

Machinery and Machine Elements.

Physical Description:

1 online resource (400 pages)

Edition:

1st ed. 2023.

Place of Publication:

Cham : Springer Nature Switzerland : Imprint: Springer, 2023.

Summary:

This volume contains the papers of the 8th International Workshop on Medical and Service Robots (MESROB) which was held in Craiova, Romania, on June 7-10, 2023. The main topics include: design of medical devices, kinematics and dynamics for medical robotics, exoskeletons and prostheses, anthropomorphic hands, therapeutic robots and rehabilitation, cognitive robots, humanoid and service robots, assistive robots and elderly assistance, surgical robots, human-robot interfaces, haptic devices, medical treatments, medical lasers, and surgical planning and navigation. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaboration among different specialists, demonstrating that medical and service robotics will drive the technological and societal change in the coming decades.

Contents:

Intro

Preface

Organization

Contents

Surgical Robotics

Soft Robot Assistance for Tumor Biopsy and Ablation in Magnetic Resonance Imaging*-12pt

1 Introduction

2 Concept and Methods

2.1 Requirements for Percutaneous Interventions Using the Assistance System in MRI

2.2 Procedure of the Medical Intervention with the Assistance System

2.3 Conceptual Design of the Robotic System

2.4 Sterility Concept

2.5 Fabrication of the Soft Robot

3 Characterization and Validation of the Soft Robotic Assistance System

3.1 Bending Characteristics of the Soft Robot

4 Results of the Bending Characterization

5 Discussion

References

Workspace-aware Planning of a Surgical Robot Mounting in Virtual Reality

2 Materials and Methods

2.1 Apparatus

2.2 Workspace Calculation, Visualization, and Interaction

2.3 Evaluation

3 Results

4 Discussion

5 Conclusion

Structural Study of a Robotic System for Sils Surgery

1.1 State of the Art in Robotic SILS

2 Parallel Robotic System for SILS

2.1 Robotic Integration in Medical Procedure

2.2 The SILS Robot Platform Motions

3 The 6 DOF Robotic Platform

3.1 The First Motion Chain

3.2 The Second Motion Chain

3.3 The Third Motion Chain

4 FEM Analysis of System Components

5 Conclusions

Design and Functional Analysis of a New Parallel Modular Robotic System for Single Incision Laparoscopic Surgery

2 Kinematic Scheme for a New Parallel Modular Robotic System

3 Constructive Design of a New Parallel Modular Robot for SILS

4 Robot Simulation and Workspace Generation in Siemens NX

5 Finite Element Analysis for Main Components of the Robot

6 Conclusions

References.

Design and Development of a 6-Degree-Of-Freedom Robotic Device for Cochlear Implantation Surgery

2 Design

2.1 System Overview

2.2 Design of 3-PRRS Parallel Manipulator

3 Analysis

3.1 Inverse Kinematic Analysis

4 Experiment

4.1 Experimental Setup

4.2 Insertion Test

Fuzzy Logic Systems: From WisdomofAge Mentoring Platform to Medical Robots

2 Methodology

2.1 Quality of Live Surveys

2.2 Fuzzy Logic System

Design of Medical Devices

Grip-Type Pseudo Force Display with Normal and Tangential Skin Stimulationpg*-12pt

2 Device

2.1 Overview

2.2 Device Design and Production

3 Applications

4 Conclusion

Design of a Surgical Stapler for Laparoscopic Colectomy

2 Workspace Analysis

3 Mechanism Design of Surgical Stapler

3.1 Kinematics Equations of the Tensegrity Mechanism

3.2 Simulation and Singularities

4 Application to the Stapler Design

An Experimental Characterization of RIBOLUTION Rib Fracture Fixator

2 RIBOLUTION Design and Functionality

3 Testing Design

4 Test Results

5 Considerations for RIBOLUTION Fixator Implementation

Pre-clinical Study of a Customized Rehabilitation Device Prototype for Patients with Immobility Syndrome

2 ABLEFIT: Device Description

3 ABLEFIT: Pre-clinical Study

4 Conclusions

A Step Towards Obtaining an Innovative Smartbath for Shower in Bed of Disabled and Elder's People

2 Design of the New Step of Smartbath

3 Smartbath Hardware and Software Systems

3.1 Hardware System

3.2 Software System

4 Final Remarks

Lab Experiences for a Driver Monitoring System

2 Problems and Requirements

3 Conceptual Design

4 Prototype Assembly

5 Lab Tests and Results

Wire Actuation Mechanism for Wrist Exoskeleton

2 Background

3 Mechanical Design of the Proposed Exoskeleton

3.1 3D Model of the Proposed Structure

3.2 Kinematics of the Mechanism

3.3 Numerical Example

Exoskeletons and Prostheses

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance*-12pt

2 Active Lower Limb Exoskeleton Robot

2.1 The ALEXO Configuration

2.2 Hardware and Control Architecture

3 Trajectory Control Method

4 Simulations

5 Physical Experiments

5.1 Trajectory Tracking

5.2 Walking Assistance Tests

Preliminary Design of a Novel ULRD Upper Limb Rehabilitation Device

2 Mechanical Design

3 Kinematic Analysis

3.1 Forward Kinematic Analysis

3.2 Inverse Kinematic Analysis

3.3 Constraint Analysis

Development of a Passive Ankle-Foot Exoskeleton for Variable Force Resistance Training

2 Proposed System Design

4 Static Analysis

5 Experimental Results

5.1 Finite Element Analysis of the Coupler

5.2 Experimental Verification of the Variable Stiffness Spring

5.3 Performance Test of the PAFE

6 Conclusion

Design and Performance Analysis of Ankle Joint Exoskeleton

2 Motion Requirements from Ankle Biomechanics

3 Design of a Wearable Device for Ankle Motion Assistance

4 Procedure of Design

5 Performance Analysis

A Leg Exoskeleton Mechanism for Human Walking Assistance

1 Introduction.

2 Experimental Evaluation of Human Ankle Joint

3 Ankle Joint Actuation Mechanisms

4 A Leg Exoskeleton Concept and Functional Evaluations

Dynamic Analysis and Structural Optimization of a New Exoskeleton Prototype for Lower Limb Rehabilitation

2 The Proposed Structural Solution

3 Structural Optimization of Robot Kinematic Elements

Developments in the Design of an Ankle Rehabilitation Platform

2 Developments on the Rehabilitation Platform Design

2.1 Previous Designs

2.2 New Design

3 Conclusion

Effect of a Passive Shoulder Support Exoskeleton on Fatigue During Working with Arms over Shoulder Level

2 Methods

2.1 Participants

2.2 Passive Shoulder Support Exoskeleton

2.3 Protocol

2.4 Data Processing and Statistics

3.1 Effect on Muscle Activity

3.2 Objective and Perceived Fatigue

3.3 Cardiac Cost

3.4 Constrain, Discomfort and Usability

Virtual Prototyping of a Leg Exoskeleton for Human Persons with Neuromotor Deficiencies

2 Human Lower Limb Kinematic Models

3 Human Walking Analysis for Exoskeleton Programming and Control

4 Mathematical Models for Exoskeleton Mechanism Dynamic Analysis

5 Robotic System Virtual Prototyping

6 Exoskeleton Experimental Tests

7 Conclusions

Biomechanics

An Experimental Testing Procedure for Validating a Passive Upper-Limb Exoskeleton

2 Approach Measurement System

2.1 Marker Detection Strategy

2.2 Payload Measurement System

3 Experimental Setup

4 Experimental Evaluation

4.1 First Tests - User Without Wearing the Exoskeleton and Without Payload.

4.2 Second Tests - User Without Wearing the Exoskeleton Holding a Payload

4.3 Third Tests - User Wearing the Exoskeleton Without Holding a Payload

4.4 Fourth Tests - User Wearing the Exoskeleton and Holding a Payload

A New Bio-Inspired Joint with Variable Stiffness*-12pt

2 Joints Actuated by Antagonist Tendons

2.1 Joint Stiffness

2.2 Joint Stiffness Modulation for the P-module

2.3 Joint Stiffness Modulation for the X-module

3 A Novel Module: The E-module

3.1 Design Parameters of the E-module

Parametric Identification of Postural Control Models in Humans Challenged by Impulse-Controlled Perturbations

2.1 Experimental Trials with Automated Perturbation Device

2.2 Single-Link and Double-Link Inverted Pendulum Models

2.3 Parametric Identification of Balance Control Models

3 Results and Discussion

Nonlinear Dynamics Used to Study the Influence of Treadmill Speed and Incline on the Human Hip Stability

2 Experimental Protocol

3 Nonlinear Dynamic Analysis

3.1 State Space Reconstruction (SSR)

4 Results

5 Discussions

Numerical Analysis of a Testbed Used for Liver Tissue of Biomechanical Behavior

Experimental Evaluation of Respiration in Patients Undergoing Thoracic Surgery

2 Issues in Patients with Thoracic Surgery

3 RESPIRholter, the Monitoring Device

4 Testing Protocol

5 Results and Diagnosis Outputs

5.1 A Patient Case Study

Dynamic Functional Stability Analysis of Gait After Anterior Cruciate Ligament (ACL) Reconstruction

1 Problem Description.

1.1 A Subsection Sample.

Other Format:

Print version: Tarnita, Daniela New Trends in Medical and Service Robotics

ISBN:

9783031324468

OCLC:

1379834284