Science.gov

Sample records for needle driver robot

  1. Evaluation of nonholonomic needle steering using a robotic needle driver

    NASA Astrophysics Data System (ADS)

    Wilson, Emmanuel; Ding, Jeinan; Carignan, Craig; Krishnan, Karthik; Avila, Rick; Turner, Wes; Stoianovici, Dan; Yankelevitz, David; Banovac, Filip; Cleary, Kevin

    2010-02-01

    Accurate needle placement is a common need in the medical environment. While the use of small diameter needles for clinical applications such as biopsy, anesthesia and cholangiography is preferred over the use of larger diameter needles, precision placement can often be challenging, particularly for needles with a bevel tip. This is due to deflection of the needle shaft caused by asymmetry of the needle tip. Factors such as the needle shaft material, bevel design, and properties of the tissue penetrated determine the nature and extent to which a needle bends. In recent years, several models have been developed to characterize the bending of the needle, which provides a method of determining the trajectory of the needle through tissue. This paper explores the use of a nonholonomic model to characterize needle bending while providing added capabilities of path planning, obstacle avoidance, and path correction for lung biopsy procedures. We used a ballistic gel media phantom and a robotic needle placement device to experimentally assess the accuracy of simulated needle paths based on the nonholonomic model. Two sets of experiments were conducted, one for a single bend profile of the needle and the second set of tests for double bending of the needle. The tests provided an average error between the simulated path and the actual path of 0.8 mm for the single bend profile and 0.9 mm for the double bend profile tests over a 110 mm long insertion distance. The maximum error was 7.4 mm and 6.9 mm for the single and double bend profile tests respectively. The nonholonomic model is therefore shown to provide a reasonable prediction of needle bending.

  2. Diminished suture strength after robotic needle driver manipulation.

    PubMed

    Ricchiuti, Daniel; Cerone, Jeffrey; Shie, Scott; Jetley, Ajay; Noe, Donald; Kovacik, Mark

    2010-09-01

    Robot-assisted minimally invasive surgery has become a routine surgical option for the treatment of prostate cancer. Despite its technical advancements, the da Vinci(®) Surgical System still lacks haptic feedback to the surgeon, resulting in a maximally applied compressive force by the robotic needle driver during every grasping maneuver. Without this perceptional sense of touch and grip control, repetitive robotic needle driver manipulation may unknowingly lead to irreparable damage to fine sutures used during delicate anastomotic repairs. For robotic prostatectomy, any such loss of integrity can potentially lead to premature breakdown of the urethrovesical anastomosis and urine extravasation, especially important for a less-than-perfectly fashioned anastomotic repair. Although it has already been established that overhandling of sutures using handheld laparoscopic instruments can lead to reduced suture strength, it has not been established to what extent this may occur after robotic surgical procedures. We present analytical data and analyses concerning the failure strength of fine sutures commonly used for urethrovesical anastomotic repair during robotic prostatectomy, after repetitive robotic needle driver manipulation. When compared with noncompromised monofilament suture controls, the average maximal failure force after repetitive robotic manipulation was significantly reduced by 35% (p < 0.0001). Similarly, the average maximal failure force of braided sutures was significantly reduced after repetitive robotic manipulation by 3% (p = 0.009). This work demonstrates that significant reductions in monofilament and braided suture strength integrity can occur after customary repetitive manipulation by robotic needle drivers in an ex vivo model, with further research warranted in the in vivo setting.

  3. Towards a Teleoperated Needle Driver Robot with Haptic Feedback for RFA of Breast Tumors under Continuous MRI1

    PubMed Central

    Kokes, Rebecca; Lister, Kevin; Gullapalli, Rao; Zhang, Bao; MacMillan, Alan; Richard, Howard; Desai, Jaydev P.

    2009-01-01

    Objective The purpose of this paper is to explore the feasibility of developing a MRI-compatible needle driver system for radiofrequency ablation (RFA) of breast tumors under continuous MRI imaging while being teleoperated by a haptic feedback device from outside the scanning room. The developed needle driver prototype was designed and tested for both tumor targeting capability as well as RFA. Methods The single degree-of-freedom (DOF) prototype was interfaced with a PHANToM haptic device controlled from outside the scanning room. Experiments were performed to demonstrate MRI-compatibility and position control accuracy with hydraulic actuation, along with an experiment to determine the PHANToM’s ability to guide the RFA tool to a tumor nodule within a phantom breast tissue model while continuously imaging within the MRI and receiving force feedback from the RFA tool. Results Hydraulic actuation is shown to be a feasible actuation technique for operation in an MRI environment. The design is MRI-compatible in all aspects except for force sensing in the directions perpendicular to the direction of motion. Experiments confirm that the user is able to detect healthy vs. cancerous tissue in a phantom model when provided with both visual (imaging) feedback and haptic feedback. Conclusion The teleoperated 1-DOF needle driver system presented in this paper demonstrates the feasibility of implementing a MRI-compatible robot for RFA of breast tumors with haptic feedback capability. PMID:19303805

  4. Robotic Single-Site® Sacrocolpopexy: First Report and Technique Using the Single-Site® Wristed Needle Driver

    PubMed Central

    2016-01-01

    The recently introduced da Vinci Single-Site® platform offers cosmetic benefits when compared with standard Multi-Site® robotic surgery. The innovative endowristed technology has increased the use of the da Vinci Single-Site® platform. The newly introduced Single-Site® Wristed Needle Driver has made it feasible to perform various surgeries that require multiple laparoscopic sutures and knot tying. Laparoscopic sacrocolpopexy is also a type of technically difficult surgery requiring multiple sutures, and there have been no reports of it being performed using the da Vinci Single-Site® platform. Thus, to the best of our knowledge, this is the first report of robotic single-site (RSS) sacrocolpopexy, and I found this procedure to be feasible and safe. All RSS procedures were completed successfully. The mean operative time was 122.17±22.54 minutes, and the mean blood loss was 66.67±45.02 mL. No operative or major postoperative complications occurred. Additional studies should be performed to assess the benefits of RSS sacrocolpopexy. I present the first six cases of da Vinci Single-Site® surgery in urogynecology and provide a detailed description of the technique. PMID:27189301

  5. Robot-Assisted Needle Steering

    PubMed Central

    Reed, Kyle B.; Majewicz, Ann; Kallem, Vinutha; Alterovitz, Ron; Goldberg, Ken; Cowan, Noah J.; Okamura, Allison M.

    2012-01-01

    Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and scientific studies, and is considered to be one of the simplest and most minimally invasive medical procedures. Robot-assisted needle steering has the potential to improve the effectiveness of existing medical procedures and enable new ones by allowing increased accuracy through more dexterous control of the needle tip path and acquisition of targets not accessible by straight-line trajectories. In this article, we describe a robot-assisted needle steering system that uses three integrated controllers: a motion planner concerned with guiding the needle around obstacles to a target in a desired plane, a planar controller that maintains the needle in the desired plane, and a torsion compensator that controls the needle tip orientation about the axis of the needle shaft. Experimental results from steering an asymmetric-tip needle in artificial tissue demonstrate the effectiveness of the system and its sensitivity to various environmental and control parameters. In addition, we show an example of needle steering in ex vivo biological tissue to accomplish a clinically relevant task, and highlight challenges of practical needle steering implementation. PMID:23028210

  6. Robotic Intelligence Kernel: Driver

    SciTech Connect

    2009-09-16

    The INL Robotic Intelligence Kernel-Driver is built on top of the RIK-A and implements a dynamic autonomy structure. The RIK-D is used to orchestrate hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a single cognitive behavior kernel that provides intrinsic intelligence for a wide variety of unmanned ground vehicle systems.

  7. Closed loop control of a robot assisted smart flexible needle for percutaneous intervention.

    PubMed

    Maria Joseph, F O; Hutapea, P; Dicker, A; Yu, Y; Podder, T

    2015-08-01

    This paper presents the experimental evaluation of a coordinated control system for a robot and robot-driven shape memory alloy (SMA) actuated smart flexible needle capable of following a curved path for percutaneous intervention. The robot driving the needle is considered the outer loop and the non-linear SMA actuated flexible needle system comprises the inner loop. The two feedback control loops are coordinated in such a way that the robot drives the needle while monitoring the needle's actual deflection against a preplanned ideal trajectory, so that the needle tip reaches the target location within an acceptable accuracy. In air and in water experimental results are presented to validate the ability of the proposed coordinated controller to track the overall desired trajectory which includes the combined trajectory of the robot driver and the needle.

  8. Mechanics of Flexible Needles Robotically Steered through Soft Tissue

    PubMed Central

    Misra, S.; Reed, K. B.; Schafer, B. W.; Ramesh, K. T.; Okamura, A. M.

    2010-01-01

    The tip asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. This enables robotic needle steering, which can be used in medical procedures to reach subsurface targets inaccessible by straight-line trajectories. However, accurate path planning and control of needle steering requires models of needle-tissue interaction. Previous kinematic models required empirical observations of each needle and tissue combination in order to fit model parameters. This study describes a mechanics-based model of robotic needle steering, which can be used to predict needle behavior and optimize system design based on fundamental mechanical and geometrical properties of the needle and tissue. We first present an analytical model for the loads developed at the tip, based on the geometry of the bevel edge and material properties of soft-tissue simulants (gels). We then present a mechanics-based model that calculates the deflection of a bevel-tipped needle inserted through a soft elastic medium. The model design is guided by microscopic observations of needle-gel interactions. The energy-based formulation incorporates tissue-specific parameters, and the geometry and material properties of the needle. Simulation results follow similar trends (deflection and radius of curvature) to those observed in experimental studies of robotic needle insertion. PMID:21170164

  9. Needle Path Planning for Autonomous Robotic Surgical Suturing

    PubMed Central

    Jackson, Russell C.; Çavuşoğlu, M. Cenk

    2013-01-01

    This paper develops a path plan for suture needles used with solid tissue volumes in endoscopic surgery. The path trajectory is based on the best practices that are used by surgeons. The path attempts to minimize the interaction forces between the tissue and the needle. Using surgical guides as a basis, two different techniques for driving a suture needle are developed. The two techniques are compared in hardware experiments by robotically driving the suture needle using both of the motion plans. PMID:24683500

  10. Needle Path Planning for Autonomous Robotic Surgical Suturing.

    PubMed

    Jackson, Russell C; Cavuşoğlu, M Cenk

    2013-12-31

    This paper develops a path plan for suture needles used with solid tissue volumes in endoscopic surgery. The path trajectory is based on the best practices that are used by surgeons. The path attempts to minimize the interaction forces between the tissue and the needle. Using surgical guides as a basis, two different techniques for driving a suture needle are developed. The two techniques are compared in hardware experiments by robotically driving the suture needle using both of the motion plans.

  11. Evaluation of Robotic Needle Steering in ex vivo Tissue

    PubMed Central

    Majewicz, Ann; Wedlick, Thomas R.; Reed, Kyle B.; Okamura, Allison M.

    2010-01-01

    Insertion velocity, tip asymmetry, and shaft diameter may influence steerable needle insertion paths in soft tissue. In this paper we examine the effects of these variables on needle paths in ex vivo goat liver, and demonstrate practical applications of robotic needle steering for ablation, biopsy, and brachytherapy. All experiments were performed using a new portable needle steering robot that steers asymmetric-tip needles under fluoroscopic imaging. For bevel-tip needles, we found that larger diameter needles resulted in less curvature, i.e. less steerability, confirming previous experiments in artificial tissue. The needles steered with radii of curvature ranging from 3:4 cm (for the most steerable pre-bent needle) to 2:97m (for the least steerable bevel needle). Pre-bend angle significantly affected needle curvature, but bevel angle did not. We hypothesize that biological tissue characteristics such as inhomogeneity and viscoelasticity significantly increase path variability. These results underscore the need for closed-loop image guidance for needle steering in biological tissues with complex internal structure. PMID:21339851

  12. Ultrasound probe and needle-guide calibration for robotic ultrasound scanning and needle targeting.

    PubMed

    Kim, Chunwoo; Chang, Doyoung; Petrisor, Doru; Chirikjian, Gregory; Han, Misop; Stoianovici, Dan

    2013-06-01

    Image-to-robot registration is a typical step for robotic image-guided interventions. If the imaging device uses a portable imaging probe that is held by a robot, this registration is constant and has been commonly named probe calibration. The same applies to probes tracked by a position measurement device. We report a calibration method for 2-D ultrasound probes using robotic manipulation and a planar calibration rig. Moreover, a needle guide that is attached to the probe is also calibrated for ultrasound-guided needle targeting. The method is applied to a transrectal ultrasound (TRUS) probe for robot-assisted prostate biopsy. Validation experiments include TRUS-guided needle targeting accuracy tests. This paper outlines the entire process from the calibration to image-guided targeting. Freehand TRUS-guided prostate biopsy is the primary method of diagnosing prostate cancer, with over 1.2 million procedures performed annually in the U.S. alone. However, freehand biopsy is a highly challenging procedure with subjective quality control. As such, biopsy devices are emerging to assist the physician. Here, we present a method that uses robotic TRUS manipulation. A 2-D TRUS probe is supported by a 4-degree-of-freedom robot. The robot performs ultrasound scanning, enabling 3-D reconstructions. Based on the images, the robot orients a needle guide on target for biopsy. The biopsy is acquired manually through the guide. In vitro tests showed that the 3-D images were geometrically accurate, and an image-based needle targeting accuracy was 1.55 mm. These validate the probe calibration presented and the overall robotic system for needle targeting. Targeting accuracy is sufficient for targeting small, clinically significant prostatic cancer lesions, but actual in vivo targeting will include additional error components that will have to be determined.

  13. Robotic Image-Guided Needle Interventions of the Prostate

    PubMed Central

    Mozer, Pierre C; Partin, Alan W; Stoianovici, Dan

    2009-01-01

    Prostate biopsy and needle-directed prostate therapies are currently performed free-handed or with needle external templates under ultrasound guidance. Direct image-guided intervention robots are modern instruments that have the potential to substantially enhance these procedures. These may increase the accuracy and repeatability with which needles are placed in the gland. The authors’ group has developed a robot for precise prostate targeting that operates remotely alongside the patient in the magnetic resonance imaging scanner, as guided according to the image. PMID:19390670

  14. Observations on rotating needle insertions using a brachytherapy robot

    NASA Astrophysics Data System (ADS)

    Meltsner, M. A.; Ferrier, N. J.; Thomadsen, B. R.

    2007-09-01

    A robot designed for prostate brachytherapy implantations has the potential to greatly improve treatment success. Much of the research in robotic surgery focuses on measuring accuracy. However, there exist many factors that must be optimized before an analysis of needle placement accuracy can be determined. Some of these parameters include choice of the needle type, insertion velocity, usefulness of the rotating needle and rotation speed. These parameters may affect the force at which the needle interacts with the tissue. A reduction in force has been shown to decrease the compression of the prostate and potentially increase the accuracy of seed position. Rotating the needle as it is inserted may reduce frictional forces while increasing accuracy. However, needle rotations are considered to increase tissue damage due to the drilling nature of the insertion. We explore many of the factors involved in optimizing a brachytherapy robot, and the potential effects each parameter may have on the procedure. We also investigate the interaction of rotating needles in gel and suggest the rotate-cannula-only method of conical needle insertion to minimize any tissue damage while still maintaining the benefits of reduced force and increased accuracy.

  15. Robotic systems for percutaneous needle-guided interventions.

    PubMed

    Kettenbach, Joachim; Kronreif, Gernot

    2015-02-01

    Several groups have developed robotic systems for invasive medical procedures. In this article we will focus on selected robotic systems for percutaneous needle-guided interventions using CT or MR imaging. We present six interventional robotic systems designed to work with imaging modalities such as CT, Cone-beam CT and MRI. The details of each system are given along with any phantom, animal, or human trials performed with each particular robot. Although each of these systems has specific features, they are all of great clinical value since they provide very stable needle guidance -- even for angulated approaches, they may allow access to lesions when the width of the CT- or MR- gantry would limit the access for a biopsy needle or other interventional tools such as thermal ablation probes. Then, such a robot may be able to guide the needle into the most promising region of the lesion without the need for a second contrast injection. Thus, more efficacious characterization and treatment, particularly for lesions that are difficult to target, can be anticipated. Although more research and clinical trials are certainly needed, it is, however, our belief that robotic systems will be an important part of future interventions.

  16. Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study

    PubMed Central

    Seifabadi, Reza; Song, Sang-Eun; Krieger, Axel; Cho, Nathan Bongjoon; Tokuda, Junichi; Fichtinger, Gabor; Iordachita, Iulian

    2012-01-01

    Purpose Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. Methods We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master–slave needle driver module using piezo motors was also added to the base robot. Results Variable size workspace was achieved using appropriate link length, compared with the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5mm (STD=1.37mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master–slave needle driver was always below 0.1mm. Conclusion Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest the feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task. PMID:21698389

  17. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement

    PubMed Central

    Fischer, Gregory S.; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; DiMaio, Simon P.; Tempany, Clare M.; Hata, Nobuhiko; Fichtinger, Gabor

    2010-01-01

    Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. However, the benefits cannot be readily harnessed for interventional procedures due to difficulties that surround the use of high-field (1.5T or greater) MRI. The inability to use conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intraprostatic needle placement inside closed high-field MRI scanners. MRI compatibility of the robot has been evaluated under 3T MRI using standard prostate imaging sequences and average SNR loss is limited to 5%. Needle alignment accuracy of the robot under servo pneumatic control is better than 0.94 mm rms per axis. The complete system workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the robot mechanism and controller design, the system integration, and presents results of preliminary evaluation of the system. PMID:21057608

  18. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement.

    PubMed

    Fischer, Gregory S; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Dimaio, Simon P; Tempany, Clare M; Hata, Nobuhiko; Fichtinger, Gabor

    2008-06-01

    Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of prostate and surrounding tissue, thus granting potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. However, the benefits cannot be readily harnessed for interventional procedures due to difficulties that surround the use of high-field (1.5T or greater) MRI. The inability to use conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intraprostatic needle placement inside closed high-field MRI scanners. MRI compatibility of the robot has been evaluated under 3T MRI using standard prostate imaging sequences and average SNR loss is limited to 5%. Needle alignment accuracy of the robot under servo pneumatic control is better than 0.94 mm rms per axis. The complete system workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the robot mechanism and controller design, the system integration, and presents results of preliminary evaluation of the system.

  19. Effects of Rotational Motion in Robotic Needle Insertion

    PubMed Central

    Ramezanpour, H.; Yousefi, H.; Rezaei, M.; Rostami, M.

    2015-01-01

    Background Robotic needle insertion in biological tissues has been known as one the most applicable procedures in sampling, robotic injection and different medical therapies and operations. Objective In this paper, we would like to investigate the effects of angular velocity in soft tissue insertion procedure by considering force-displacement diagram. Non-homogenous camel liver can be exploited as a tissue sample under standard compression test with Zwick/Roell device employing 1-D axial load-cell. Methods Effects of rotational motion were studied by running needle insertion experiments in 5, 50 and 200 mm/min in two types of with or without rotational velocity of 50, 150 and 300 rpm. On further steps with deeper penetrations, friction force of the insertion procedure in needle shaft was acquired by a definite thickness of the tissue. Results Designed mechanism of fixture for providing different frequencies of rotational motion is available in this work. Results for comparison of different force graphs were also provided. Conclusion Derived force-displacement graphs showed a significant difference between two procedures; however, tissue bleeding and disorganized micro-structure would be among unavoidable results. PMID:26688800

  20. Needle steering for robot-assisted insertion into soft tissue: A survey

    NASA Astrophysics Data System (ADS)

    Gao, Dedong; Lei, Yong; Zheng, Haojun

    2012-07-01

    Needle insertion is a common surgical procedure used in diagnosis and treatment. The needle steering technologies make continuous developments in theoretical and practical aspects along with the in-depth research on needle insertion. It is necessary to summarize and analyze the existing results to promote the future development of theories and applications of needle insertion. Thus, a survey of the state of the art of research is presented on algorithms of needle steering techniques, the surgical robots and devices. Based on the analysis of the needle insertion procedure, the concept of needle steering is defined as a kinematics problem, which is to place the needle at the target and avoid the obstacles. The needle steering techniques, including the artificial potential field method and the nonholonomic model, are introduced to control the needles for improving the accuracy. Based on the quasi-static thinking, the virtual spring model and the cantilever-beam model are developed to calculate the amount of needle deflection and generate the needle path. The phantoms instead of the real tissue are used to verify the models mentioned in most of the experimentations. For the desired needle trajectories, the image-guided robotic devices and some novel needles are presented to achieve the needle steering. Finally, the challenges are provided involving the controllability of the long flexible needle and the properties of soft tissue. The results and investigations can be used for further study on the precision and accuracy of needle insertion.

  1. A Wrist for Needle-Sized Surgical Robots

    PubMed Central

    York, Peter A.; Swaney, Philip J.; Gilbert, Hunter B.; Webster, Robert J.

    2015-01-01

    The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. We present a needle-sized wrist design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The wrist consists of a nitinol tube with several asymmetric cutouts, actuated by a tendon. Perhaps counter-intuitively, within this seemingly simple design concept, design optimization is challenging due to the number of parameters available and nonlinearities in material properties. In this paper, we examine a subset of possible geometries and derive kinematic and static models. Experimental results with a 1.16 mm diameter prototype validate the models. Lastly, we provide a discussion summarizing the lessons learned in our early experience designing and fabricating wrists of this type. PMID:26405562

  2. A Wrist for Needle-Sized Surgical Robots.

    PubMed

    York, Peter A; Swaney, Philip J; Gilbert, Hunter B; Webster, Robert J

    2015-05-01

    The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. We present a needle-sized wrist design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The wrist consists of a nitinol tube with several asymmetric cutouts, actuated by a tendon. Perhaps counter-intuitively, within this seemingly simple design concept, design optimization is challenging due to the number of parameters available and nonlinearities in material properties. In this paper, we examine a subset of possible geometries and derive kinematic and static models. Experimental results with a 1.16 mm diameter prototype validate the models. Lastly, we provide a discussion summarizing the lessons learned in our early experience designing and fabricating wrists of this type.

  3. A Prototype Body-Mounted MRI-Compatible Robot for Needle Guidance in Shoulder Arthrography

    PubMed Central

    Monfaredi, R.; Seifabadi, R.; Iordachita, I.; Sze, R.; Safdar, N. M.; Sharma, K.; Fricke, S.; Krieger, A.; Cleary, K.

    2014-01-01

    A novel compact and lightweight patient-mounted MRI-compatible robot has been designed for MRI image-guided interventions. This robot is intended to enable MRI-guided needle placement as done in shoulder arthrography. The robot could make needle placement more accurate and simplify the current workflow by converting the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) to a one-stage procedure (streamlined workflow all in MRI suite). The robot has 4 degrees of freedom (DOF), two for orientation of the needle and two for needle positioning. The mechanical design was based on several criteria including rigidity, MRI compatibility, compact design, sterilizability, and adjustability. The proposed workflow is discussed and initial MRI compatibility experiments are presented. The results show that artifacts in the region of interest are minimal and that MRI images of the shoulder were not adversely affected by placing the robot on a human volunteer. PMID:25473653

  4. Does Needle Rotation Improve Lesion Targeting?

    PubMed Central

    Badaan, Shadi; Petrisor, Doru; Kim, Chunwoo; Mozer, Pierre; Mazilu, Dumitru; Gruionu, Lucian; Patriciu, Alex; Cleary, Kevin; Stoianovici, Dan

    2011-01-01

    Background Image-guided robots are manipulators that operate based on medical images. Perhaps the most common class of image-guided robots are robots for needle interventions. Typically, these robots actively position and/or orient a needle guide, but needle insertion is still done by the physician. While this arrangement may have safety advantages and keep the physician in control of needle insertion, actuated needle drivers can incorporate other useful features. Methods We first present a new needle driver that can actively insert and rotate a needle. With this device we investigate the use of needle rotation in controlled in-vitro experiments performed with a specially developed revolving needle driver. Results These experiments show that needle rotation can improve targeting and may reduce errors by as much as 70%. Conclusion The new needle driver provides a unique kinematic architecture that enables insertion with a compact mechanism. Perhaps the most interesting conclusion of the study is that lesions of soft tissue organs may not be perfectly targeted with a needle without using special techniques, either manually or with a robotic device. The results of this study show that needle rotation may be an effective method of reducing targeting errors. PMID:21360796

  5. Toward robotic needle steering in lung biopsy: a tendon-actuated approach

    NASA Astrophysics Data System (ADS)

    Kratchman, Louis B.; Rahman, Mohammed M.; Saunders, Justin R.; Swaney, Philip J.; Webster, Robert J., III

    2011-03-01

    Needle tip dexterity is advantageous for transthoracic lung biopsies, which are typically performed with rigid, straight biopsy needles. By providing intraoperative compensation for trajectory error and lesion motion, tendon-driven biopsy needles may reach smaller or deeper nodules in fewer attempts, thereby reducing trauma. An image-guided robotic system that uses these needles also has the potential to reduce radiation exposure to the patient and physician. In this paper, we discuss the design, workflow, kinematic modeling, and control of both the needle and a compact and inexpensive robotic prototype that can actuate the tendon-driven needle for transthoracic lung biopsy. The system is designed to insert and steer the needle under Computed Tomography (CT) guidance. In a free-space targeting experiment using a discrete proportional control law with digital camera feedback, we show a position error of less than 1 mm achieved using an average of 8.3 images (n=3).

  6. Registration and motion compensation of a needle placement robot for CT-guided spinal procedures

    NASA Astrophysics Data System (ADS)

    Xu, Sheng; Cleary, Kevin R.; Stoianovici, Dan; Fichtinger, Gabor

    2005-04-01

    Computed tomography (CT) guided needle placement is an established practice in the medical field. The efficacy of these procedures is related to the accuracy of needle placement. Current free-hand techniques have limitations in accuracy, which is often affected by the patient motion. In response to these problems and as a testbed for future developments, we propose a robotically assisted needle placement system consisting of a mobile CT scanner, a needle insertion robot, and an optical localizer. This paper presents the overall system concept and concentrates on the system registration and compensation of the patient motion. Accuracy results using an abdominal phantom are also presented.

  7. Three-dimensional needle-tip localization by electric field potential and camera hybridization for needle electromyography exam robotic simulator

    PubMed Central

    He, Siyu; Gomez-Tames, Jose; Yu, Wenwei

    2016-01-01

    As one of neurological tests, needle electromygraphy exam (NEE) plays an important role to evaluate the conditions of nerves and muscles. Neurology interns and novice medical staff need repetitive training to improve their skills in performing the exam. However, no training systems are able to reproduce multiple pathological conditions to simulate real needle electromyogram exam. For the development of a robotic simulator, three components need to be realized: physical modeling of upper limb morphological features, position-dependent electromyogram generation, and needle localization; the latter is the focus of this study. Our idea is to couple two types of sensing mechanism in order to acquire the needle-tip position with high accuracy. One is to segment the needle from camera images and calculate its insertion point on the skin surface by a top-hat transform algorithm. The other is voltage-based depth measurement, in which a conductive tissue-like phantom was used to realize both needle-tip localization and physical sense of needle insertion. For that, a pair of electrodes was designed to generate a near-linear voltage distribution along the depth direction of the tissue-like phantom. The accuracy of the needle-tip position was investigated by the electric field potential and camera hybridization. The results showed that the needle tip could be detected with an accuracy of 1.05±0.57 mm. PMID:27382339

  8. Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions.

    PubMed

    Fischer, Gregory S; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W; Tempany, Clare M; Hata, Nobuhiko; Fichtinger, Gabor

    2008-06-13

    Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.

  9. Disposable patient-mounted geared robot for image-guided needle insertion

    NASA Astrophysics Data System (ADS)

    Watkins, Charles; Kato, Takahisa; Hata, Nobuhiko

    2016-03-01

    Patient-mounted robotic needle guidance is an emerging method of needle insertion in percutaneous ablation therapies. During needle insertion, patient-mounted robots can account for patient body movement, unlike gantry or floor mounted devices, and still increase the accuracy and precision of needle placement. Patient-mounted robots, however, require repeated sterilisation, which is often a difficult process with complex devices; overcoming this challenge is therefore key to the success of a patient mounted robot. To eliminate the need for repeated sterilization, we have developed a disposable patient-mounted robot with two rings as a kinematic structure: an angled upper ring both rotates and revolves about the lower ring. Using this structure, the robot has a clinically suitable range of needle insertion angles with a remote center of motion. To achieve disposability, our structure applies a disposable gear transmission component which detachably interfaces with non-disposable driving motors. With a manually driven prototype of the gear trains, we assessed whether the kinematic structure of the two rings can be operated only by using input pinions locating at outside of the kinematic structure. Our tests confirmed that the input pinions were able to rotate both upper and lower rings independently. We also determined a linear relationship of rotation transmission with the gear trains and determined that the rotation transmission between the pinions and the two rings were within 3 % of error from the designed value. Our robot introduces a novel approach to patient-mounted robots, and has potential to enable sterile and accurate needle guidance in percutaneous ablation therapies.

  10. Biopsy Needle Artifact Localization in MRI-guided Robotic Transrectal Prostate Intervention

    PubMed Central

    Song, Sang-Eun; Cho, Nathan B.; Iordachita, Iulian; Guion, Peter; Fichtinger, Gabor; Kaushal, Aradhana; Camphausen, Kevin; Whitcomb, Louis L.

    2013-01-01

    Recently a number of robotic intervention systems for magnetic resonance image (MRI) guided needle placement in the prostate have been reported. In MRI-guided needle interventions, after a needle is inserted, the needle position is often confirmed with a volumetric MRI scan. Commonly used titanium needles are not directly visible in an MR image, but they generate a susceptibility artifact in the immediate neighborhood of the needle. This paper reports the results of a quantitative study of the relationship between the true position of titanium biopsy needle and the corresponding needle artifact position in MR images, thereby providing a better understanding of the influence of needle artifact on targeting errors. The titanium needle tip artifact extended 9 mm beyond the actual needle tip location with tendency to bend towards the scanner’s B0 magnetic field direction, and axially displaced 0.38 mm and 0.32 mm (mean) in scanner’s frequency and phase encoding direction, respectively. PMID:22481805

  11. Controlling a Robotically Steered Needle in the Presence of Torsional Friction

    PubMed Central

    Reed, Kyle B.; Okamura, Allison M.; Cowan, Noah J.

    2010-01-01

    A flexible needle can be accurately steered by robotically controlling the orientation of the bevel tip as the needle is inserted into tissue. Here, we demonstrate the significant effect of friction between the long, flexible needle shaft and the tissue, which can cause a significant discrepancy between the orientation of the needle tip and the orientation of the base where the needle is controlled. Our experiments show that several common phantom tissues used in needle steering experiments impart substantial frictional forces to the needle shaft, resulting in a lag of over 45° for a 10 cm insertion depth in some phantoms; clinical studies have reported torques large enough to could cause similar errors during needle insertions. Such angle discrepancies will result in poor performance or failure of path planners and image-guided controllers, since the needles used in percutaneous procedures are too small for state-of-the-art imaging to accurately measure the tip angle. To compensate for the angle discrepancy, we develop a model for the rotational dynamics of a needle being continuously inserted into tissue and show how a PD controller is sufficient to compensate for the rotational dynamics. PMID:21461175

  12. Efficacy of the EZ-IO® needle driver for out-of-hospital intraosseous access - a preliminary, observational, multicenter study

    PubMed Central

    2011-01-01

    Background Intraosseous (IO) access represents a reliable alternative to intravenous vascular access and is explicitly recommended in the current guidelines of the European Resuscitation Council when intravenous access is difficult or impossible. We therefore aimed to study the efficacy of the intraosseous needle driver EZ-IO® in the prehospital setting. Methods During a 24-month period, all cases of prehospital IO access using the EZ-IO® needle driver within three operational areas of emergency medical services were prospectively recorded by a standardized questionnaire that needed to be filled out by the rescuer immediately after the mission and sent to the primary investigator. We determined the rate of successful insertion of the IO needle, the time required, immediate procedure-related complications, the level of previous experience with IO access, and operator's subjective satisfaction with the device. Results 77 IO needle insertions were performed in 69 adults and five infants and children by emergency physicians (n = 72 applications) and paramedics (n = 5 applications). Needle placement was successful at the first attempt in all but 2 adults (one patient with unrecognized total knee arthroplasty, one case of needle obstruction after placement). The majority of users (92%) were relative novices with less than five previous IO needle placements. Of 22 responsive patients, 18 reported pain upon fluid administration via the needle. The rescuers' subjective rating regarding handling of the device and ease of needle insertion, as described by means of an analogue scale (0 = entirely unsatisfied, 10 = most satisfied), provided a median score of 10 (range 1-10). Conclusions The EZ-IO® needle driver was an efficient alternative to establish immediate out-of-hospital vascular access. However, significant pain upon intramedullary infusion was observed in the majority of responsive patients. PMID:22029625

  13. Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

    PubMed Central

    Fischer, Gregory S.; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W.; Tempany, Clare M.; Hata, Nobuhiko; Fichtinger, Gabor

    2011-01-01

    Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system. PMID:21686038

  14. Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy

    PubMed Central

    Liu, Shaoli; Xia, Zeyang; Liu, Jianhua; Xu, Jing; Ren, He; Lu, Tong; Yang, Xiangdong

    2016-01-01

    The “robotic-assisted liver tumor coagulation therapy” (RALTCT) system is a promising candidate for large liver tumor treatment in terms of accuracy and speed. A prerequisite for effective therapy is accurate surgical planning. However, it is difficult for the surgeon to perform surgical planning manually due to the difficulties associated with robot-assisted large liver tumor therapy. These main difficulties include the following aspects: (1) multiple needles are needed to destroy the entire tumor, (2) the insertion trajectories of the needles should avoid the ribs, blood vessels, and other tissues and organs in the abdominal cavity, (3) the placement of multiple needles should avoid interference with each other, (4) an inserted needle will cause some deformation of liver, which will result in changes in subsequently inserted needles’ operating environment, and (5) the multiple needle-insertion trajectories should be consistent with the needle-driven robot’s movement characteristics. Thus, an effective multiple-needle surgical planning procedure is needed. To overcome these problems, we present an automatic multiple-needle surgical planning of optimal insertion trajectories to the targets, based on a mathematical description of all relevant structure surfaces. The method determines the analytical expression of boundaries of every needle “collision-free reachable workspace” (CFRW), which are the feasible insertion zones based on several constraints. Then, the optimal needle insertion trajectory within the optimization criteria will be chosen in the needle CFRW automatically. Also, the results can be visualized with our navigation system. In the simulation experiment, three needle-insertion trajectories were obtained successfully. In the in vitro experiment, the robot successfully achieved insertion of multiple needles. The proposed automatic multiple-needle surgical planning can improve the efficiency and safety of robot-assisted large liver tumor

  15. Robot-assisted needle insertion for venous catheterization.

    PubMed

    Pasternak, Jacyr

    2015-01-01

    Vein access can be challenging for a variety of patients. The development of robots-assisted central or peripheral veins puncture would facilitate life of health professionals and patients. New robots are under development for this purpose and probably they will become available for practical use in the near future. These techniques may decrease significantly the cost of medicine, which currently uses less informatics resources than other industries.

  16. Robot-assisted needle insertion for venous catheterization

    PubMed Central

    Pasternak, Jacyr

    2015-01-01

    Vein access can be challenging for a variety of patients. The development of robots-assisted central or peripheral veins puncture would facilitate life of health professionals and patients. New robots are under development for this purpose and probably they will become available for practical use in the near future. These techniques may decrease significantly the cost of medicine, which currently uses less informatics resources than other industries. PMID:26313434

  17. 3T MR Guided in bore transperineal prostate biopsy: A Comparison of robotic and manual needle-guidance templates

    PubMed Central

    Tilak, Gaurie; Tuncali, Kemal; Song, Sang-Eun; Tokuda, Junichi; Olubiyi, Olutayo; Fennessy, Fiona; Fedorov, Andriy; Penzkofer, Tobias; Tempany, Clare; Hata, Nobuhiko

    2014-01-01

    Purpose To demonstrate the utility of a robotic needle-guidance template device as compared to a manual template for in-bore 3T transperineal MR-guided prostate biopsy. Materials and Methods This two-arm mixed retrospective-prospective study included 99 cases of targeted transperineal prostate biopsies. The biopsy needles were aimed at suspicious foci noted on multiparametric 3T MRI using manual template (historical control) as compared with a robotic template. The following data was obtained: the accuracy of average and closest needle placement to the focus, histologic yield, percentage of cancer volume in positive core samples, complication rate, and time to complete the procedure. Results 56 cases were performed using the manual template, and 43 cases were performed using the robotic template. The mean accuracy of the best needle placement attempt was higher in the robotic group (2.39 mm) than the manual group (3.71 mm, p<0.027). The mean core procedure time was shorter in the robotic (90.82min) than the manual group (100.63min, p<0.030). Percentage of cancer volume in positive core samples was higher in robotic group (p<0.001). Cancer yields and complication rates were not statistically different between the two sub-groups (p = 0.557 and p=0.172 respectively). Conclusion The robotic needle-guidance template helps accurate placement of biopsy needles in MRI-guided core biopsy of prostate cancer. PMID:25263213

  18. Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery

    PubMed Central

    Liu, Taoming; Çavuşoğlu, M. Cenk

    2016-01-01

    This paper presents algorithms for selection of needle grasp and for selection of entry ports of robotic instruments, for autonomous robotic execution of the minimally invasive surgical suturing task. A critical issue for automatic execution of surgical tasks, such as suturing, is the choice of needle grasp for the robotic system. Inappropriate needle grasp increases operating time requiring multiple regrasps to complete the desired task. In robotic minimally invasive surgery, the entry port that the surgical robot goes through into the patient’s body has a significant role on the performance of the robot. Improper entry port affects the robot’s dexterity, manipulability and reachability. The proposed methods use manipulability, dexterity and torque metrics for needle grasp selection, and employ needle grasp robustness and target location robustness metrics for port selection. The results of a case study simulation in thoracoscopic surgery is also presented to demonstrate the proposed methods. Note to Practitioners—This paper is motivated by the problem of automating low-level surgical tasks in robotic surgery, such as, suturing, retraction, dissection, and providing exposure. Specifically, this paper focuses on needle grasp and entry port selection for automating robotic surgical suturing. Selection of an appropriate way of grasping a needle is critical for successfully and robustly completing autonomous suturing. To the best authors’ knowledge, there are no earlier studies in the literature which focus on the needle grasp selection problem. The proposed approach determines how to grasp the needle by optimizing the surgical system’s manipulation performance. The existing approaches in the literature for selecting entry ports for the robotic surgical tools only consider the teleoperated robotic minimally invasive surgery, in which the surgeons directly control the robotic instruments. However, automated performance of suturing introduces additional

  19. Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions

    PubMed Central

    Tokuda, Junichi; Song, Sang-Eun; Fischer, Gregory S.; Iordachita, Iulian; Seifabadi, Reza; Cho, Bong Joon; Tuncali, Kemal; Fichtinger, Gabor; Tempany, Clare M.; Hata, Nobuhiko

    2013-01-01

    Purpose To evaluate the targeting accuracy of a small profile MRI-compatible pneumatic robot for needle placement that can angulate a needle insertion path into a large accessible target volume. Methods We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures and support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner. The robot is designed to guide a needle towards a lesion so that a radiologist can manually insert it in the bore. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between −5.7° and 5.7° horizontally and between −5.7° and 4.3° vertically in the MRI scanner after sterilizing and draping the device. Results The robot positioned the needle for angulated insertion as specified on the navigation software with overall targeting error of 0.8 ± 0.5 mm along the horizontal axis and 0.8 ± 0.8 mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4 mm. Conclusions Our preclinical evaluation demonstrated that the MRI-compatible pneumatic robot for needle placement with the capability to angulate the needle insertion path provides targeting accuracy feasible for clinical MRI-guided prostate interventions. The clinical feasibility has to be established in a clinical study. PMID:22678723

  20. Integration and evaluation of a needle-positioning robot with volumetric microcomputed tomography image guidance for small animal stereotactic interventions

    SciTech Connect

    Waspe, Adam C.; McErlain, David D.; Pitelka, Vasek; Holdsworth, David W.; Lacefield, James C.; Fenster, Aaron

    2010-04-15

    Purpose: Preclinical research protocols often require insertion of needles to specific targets within small animal brains. To target biologically relevant locations in rodent brains more effectively, a robotic device has been developed that is capable of positioning a needle along oblique trajectories through a single burr hole in the skull under volumetric microcomputed tomography (micro-CT) guidance. Methods: An x-ray compatible stereotactic frame secures the head throughout the procedure using a bite bar, nose clamp, and ear bars. CT-to-robot registration enables structures identified in the image to be mapped to physical coordinates in the brain. Registration is accomplished by injecting a barium sulfate contrast agent as the robot withdraws the needle from predefined points in a phantom. Registration accuracy is affected by the robot-positioning error and is assessed by measuring the surface registration error for the fiducial and target needle tracks (FRE and TRE). This system was demonstrated in situ by injecting 200 {mu}m tungsten beads into rat brains along oblique trajectories through a single burr hole on the top of the skull under micro-CT image guidance. Postintervention micro-CT images of each skull were registered with preintervention high-field magnetic resonance images of the brain to infer the anatomical locations of the beads. Results: Registration using four fiducial needle tracks and one target track produced a FRE and a TRE of 96 and 210 {mu}m, respectively. Evaluation with tissue-mimicking gelatin phantoms showed that locations could be targeted with a mean error of 154{+-}113 {mu}m. Conclusions: The integration of a robotic needle-positioning device with volumetric micro-CT image guidance should increase the accuracy and reduce the invasiveness of stereotactic needle interventions in small animals.

  1. Registration of a needle-positioning robot to high-resolution 3D ultrasound and computed tomography for image-guided interventions in small animals

    NASA Astrophysics Data System (ADS)

    Waspe, Adam C.; Lacefield, James C.; Holdsworth, David W.; Fenster, Aaron

    2008-03-01

    Preclinical research often requires the delivery of biological substances to specific locations in small animals. Guiding a needle to targets in small animals with an error < 200 μm requires accurate registration. We are developing techniques to register a needle-positioning robot to high-resolution three-dimensional ultrasound and computed tomography small animal imaging systems. Both techniques involve moving the needle to predetermined robot coordinates and determining corresponding needle locations in image coordinates. Registration accuracy will therefore be affected by the robot positioning error and is assessed by measuring the target registration error (TRE). A point-based registration between robot and micro-ultrasound coordinates was accomplished by attaching a fiducial phantom onto the needle. A TRE of 145 μm was achieved when moving the needle to a set of robot coordinates and registering the coordinates to needle tip locations determined from ultrasound fiducial measurements. Registration between robot and micro-CT coordinates was accomplished by injecting barium sulfate into tracks created when the robot withdraws the needle from a phantom. Points along cross-sectional slices of the segmented needle tracks were determined using an intensity-weighted centroiding algorithm. A minimum distance TRE of 194 +/- 18 μm was achieved by registering centroid points to robot trajectories using the iterative closest point (ICP) algorithm. Simulations, incorporating both robot and ultrasound fiducial localization errors, verify that robot error is a significant component of the experimental registration. Simulations of micro-CT to robot ICP registration similarly agree with the experimental results. Both registration techniques produce a TRE < 200 μm, meeting design specification.

  2. Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy.

    PubMed

    Su, Hao; Shang, Weijian; Cole, Gregory; Li, Gang; Harrington, Kevin; Camilo, Alexander; Tokuda, Junichi; Tempany, Clare M; Hata, Nobuhiko; Fischer, Gregory S

    2015-08-01

    This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The developed modular robot control interface software performs image-based registration, kinematics calculation, and exchanges robot commands and coordinates between the navigation software and the robot controller with a new implementation of the open network communication protocol OpenIGTLink. Comprehensive compatibility of the robot is evaluated inside a 3-Tesla MRI scanner using standard imaging sequences and the signal-to-noise ratio (SNR) loss is limited to 15%. The image deterioration due to the present and motion of robot demonstrates unobservable image interference. Twenty-five targeted needle placements inside gelatin phantoms utilizing an 18-gauge ceramic needle demonstrated 0.87 mm root mean square (RMS) error in 3D Euclidean distance based on MRI volume segmentation of the image-guided robotic needle placement procedure.

  3. Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

    PubMed Central

    Su, Hao; Shang, Weijian; Cole, Gregory; Li, Gang; Harrington, Kevin; Camilo, Alexander; Tokuda, Junichi; Tempany, Clare M.; Hata, Nobuhiko; Fischer, Gregory S.

    2014-01-01

    This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The developed modular robot control interface software performs image-based registration, kinematics calculation, and exchanges robot commands and coordinates between the navigation software and the robot controller with a new implementation of the open network communication protocol OpenIGTLink. Comprehensive compatibility of the robot is evaluated inside a 3-Tesla MRI scanner using standard imaging sequences and the signal-to-noise ratio (SNR) loss is limited to 15%. The image deterioration due to the present and motion of robot demonstrates unobservable image interference. Twenty-five targeted needle placements inside gelatin phantoms utilizing an 18-gauge ceramic needle demonstrated 0.87 mm root mean square (RMS) error in 3D Euclidean distance based on MRI volume segmentation of the image-guided robotic needle placement procedure. PMID:26412962

  4. Real-time Needle Steering in Response to Rolling Vein Deformation by a 9-DOF Image-Guided Autonomous Venipuncture Robot.

    PubMed

    Chen, Alvin I; Balter, Max L; Maguire, Timothy J; Yarmush, Martin L

    2015-01-01

    Venipuncture is the most common invasive medical procedure performed in the United States and the number one cause of hospital injury. Failure rates are particularly high in pediatric and elderly patients, whose veins tend to deform, move, or roll as the needle is introduced. To improve venipuncture accuracy in challenging patient populations, we have developed a portable device that autonomously servos a needle into a suitable vein under image guidance. The device operates in real time, combining near-infrared and ultrasound imaging, computer vision software, and a 9 degrees-of-freedom robot that servos the needle. In this paper, we present the kinematic and mechanical design of the latest generation robot. We then investigate in silico and in vitro the mechanics of vessel rolling and deformation in response to needle insertions performed by the robot. Finally, we demonstrate how the robot can make real-time adjustments under ultrasound image guidance to compensate for subtle vessel motions during venipuncture.

  5. Real-time Needle Steering in Response to Rolling Vein Deformation by a 9-DOF Image-Guided Autonomous Venipuncture Robot

    PubMed Central

    Chen, Alvin I.; Balter, Max L.; Maguire, Timothy J.; Yarmush, Martin L.

    2015-01-01

    Venipuncture is the most common invasive medical procedure performed in the United States and the number one cause of hospital injury. Failure rates are particularly high in pediatric and elderly patients, whose veins tend to deform, move, or roll as the needle is introduced. To improve venipuncture accuracy in challenging patient populations, we have developed a portable device that autonomously servos a needle into a suitable vein under image guidance. The device operates in real time, combining near-infrared and ultrasound imaging, computer vision software, and a 9 degrees-of-freedom robot that servos the needle. In this paper, we present the kinematic and mechanical design of the latest generation robot. We then investigate in silico and in vitro the mechanics of vessel rolling and deformation in response to needle insertions performed by the robot. Finally, we demonstrate how the robot can make real-time adjustments under ultrasound image guidance to compensate for subtle vessel motions during venipuncture. PMID:26779381

  6. Reduced dose to urethra and rectum with the use of variable needle spacing in prostate brachytherapy: a potential role for robotic technology

    PubMed Central

    Vyas, Shilpa; Le, Yi; Zhang, Zhe; Armour, Woody

    2015-01-01

    Purpose Several robotic delivery systems for prostate brachytherapy are under development or in pre-clinical testing. One of the features of robotic brachytherapy is the ability to vary spacing of needles at non-fixed intervals. This feature may play an important role in prostate brachytherapy, which is traditionally template-based with fixed needle spacing of 0.5 cm. We sought to quantify potential reductions in the dose to urethra and rectum by utilizing variable needle spacing, as compared to fixed needle spacing. Material and methods Transrectal ultrasound images from 10 patients were used by 3 experienced planners to create 120 treatment plans. Each planner created 4 plan variations per patient with respect to needle positions: 125I fixed spacing, 125I variable spacing, 103Pd fixed spacing, and 103Pd variable spacing. The primary planning objective was to achieve a prostate V100 of 100% while minimizing dose to urethra and rectum. Results All plans met the objective of achieving prostate V100 of 100%. Combined results for all plans show statistically significant improvements in all assessed dosimetric variables for urethra (Umax, Umean, D30, D5) and rectum (Rmax, Rmean, RV100) when using variable spacing. The dose reductions for mean and maximum urethra dose using variable spacing had p values of 0.011 and 0.024 with 103Pd, and 0.007 and 0.029 with 125I plans. Similarly dose reductions for mean and maximum rectal dose using variable spacing had p values of 0.007 and 0.052 with 103Pd, and 0.012 and 0.037 with 125I plans. Conclusions The variable needle spacing achievable by the use of robotics in prostate brachytherapy allows for reductions in both urethral and rectal planned doses while maintaining prostate dose coverage. Such dosimetric advantages have the potential in translating to significant clinical benefits with the use of robotic brachytherapy. PMID:26622227

  7. Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment.

    PubMed

    Gilbert, Hunter B; Neimat, Joseph; Webster, Robert J

    2015-04-01

    Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., "follow-the-leader" deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment.

  8. Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment

    PubMed Central

    Gilbert, Hunter B.; Neimat, Joseph; Webster, Robert J.

    2015-01-01

    Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., “follow-the-leader” deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment. PMID:26622208

  9. A Workspace-oriented Needle Guiding Robot for 3T MRI-guided Transperineal Prostate Intervention: Evaluation of In-bore Workspace and MRI Compatibility

    PubMed Central

    Song, Sang-Eun; Hata, Nobuhiko; Iordachita, Iulian; Fichtinger, Gabor; Tempany, Clare; Tokuda, Junichi

    2013-01-01

    Background Magnetic Resonance Imaging (MRI) guided prostate interventions have been introduced to enhance the cancer detection. For accurate needle positioning, in-bore operated robotic systems have been developed and optimal use of the confined in-bore space become a critical engineering challenge. Methods As preliminary evaluation of our prostate intervention robot, we conducted a workspace design analysis using a new evaluation method that we developed for in-bore operated robots for transperineal prostate interventions, and an MRI compatibility study. Results The workspace analysis resulted in the effective workspace (VW) of 0.32, which is greater than that of our early prototype despite that the current robot is approximately 50% larger than the early prototype in sectional space. The MRI compatibility study resulted in less than 15% signal-to-noise ratio (SNR) reduction. Conclusions The new workspace evaluation method quantifies the workspace utilization of the in-bore operated robots for MRI-guided transperineal prostate interventions, providing a useful tool for evaluation and new robot design. The robot creates insignificant electromagnetic noise during typical prostate imaging sequences. PMID:22492680

  10. Comparison of CT Fluoroscopy-Guided Manual and CT-Guided Robotic Positioning System for In Vivo Needle Placements in Swine Liver

    SciTech Connect

    Cornelis, F.; Takaki, H.; Laskhmanan, M.; Durack, J. C.; Erinjeri, J. P.; Getrajdman, G. I.; Maybody, M.; Sofocleous, C. T.; Solomon, S. B.; Srimathveeravalli, G.

    2015-10-15

    PurposeTo compare CT fluoroscopy-guided manual and CT-guided robotic positioning system (RPS)-assisted needle placement by experienced IR physicians to targets in swine liver.Materials and MethodsManual and RPS-assisted needle placement was performed by six experienced IR physicians to four 5 mm fiducial seeds placed in swine liver (n = 6). Placement performance was assessed for placement accuracy, procedure time, number of confirmatory scans, needle manipulations, and procedure radiation dose. Intra-modality difference in performance for each physician was assessed using paired t test. Inter-physician performance variation for each modality was analyzed using Kruskal–Wallis test.ResultsPaired comparison of manual and RPS-assisted placements to a target by the same physician indicated accuracy outcomes was not statistically different (manual: 4.53 mm; RPS: 4.66 mm; p = 0.41), but manual placement resulted in higher total radiation dose (manual: 1075.77 mGy/cm; RPS: 636.4 mGy/cm; p = 0.03), required more confirmation scans (manual: 6.6; RPS: 1.6; p < 0.0001) and needle manipulations (manual: 4.6; RPS: 0.4; p < 0.0001). Procedure time for RPS was longer than manual placement (manual: 6.12 min; RPS: 9.7 min; p = 0.0003). Comparison of inter-physician performance during manual placement indicated significant differences in the time taken to complete placements (p = 0.008) and number of repositions (p = 0.04) but not in other study measures (p > 0.05). Comparison of inter-physician performance during RPS-assisted placement suggested statistically significant differences in procedure time (p = 0.02) and not in other study measures (p > 0.05).ConclusionsCT-guided RPS-assisted needle placement reduced radiation dose, number of confirmatory scans, and needle manipulations when compared to manual needle placement by experienced IR physicians, with equivalent accuracy.

  11. Robotics.

    ERIC Educational Resources Information Center

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  12. Robotics

    SciTech Connect

    Scheide, A.W.

    1983-11-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS.

  13. Estimating needle-tissue interaction forces for hollow needles using fiber Bragg grating sensors

    NASA Astrophysics Data System (ADS)

    Kumar, Saurabh; Shrikanth, V.; Bharadwaj, Amrutur; Asokan, Sundarrajan; Bobji, M. S.

    2016-03-01

    Brachytherapy and neurological procedures can benefit from real-time estimation of needle-tissue interaction forces, specifically for robotic or robot-assisted procedures. Fiber Bragg Grating Sensors provide advantages of very small size and electromagnetic immunity for use in measurement of the forces directly at the needle tip. This has advantages compared to measurements at the needle shaft which require extensive models of the friction between needle and tissues with varying depth. This paper presents the measurement of tip forces for a hollow needle and compensation for bending when encountering regions of varying stiffness in phantoms with multiple layers prepared using Polydimethylsiloxane.

  14. Workflow assessment of 3T MRI-guided transperineal targeted prostate biopsy using a robotic needle guidance

    NASA Astrophysics Data System (ADS)

    Song, Sang-Eun; Tuncali, Kemal; Tokuda, Junichi; Fedorov, Andriy; Penzkofer, Tobias; Fennessy, Fiona; Tempany, Clare; Yoshimitsu, Kitaro; Magill, John; Hata, Nobuhiko

    2014-03-01

    Magnetic resonance imaging (MRI) guided transperineal targeted prostate biopsy has become a valuable instrument for detection of prostate cancer in patients with continuing suspicion for aggressive cancer after transrectal ultrasound guided (TRUS) guided biopsy. The MRI-guided procedures are performed using mechanical targeting devices or templates, which suffer from limitations of spatial sampling resolution and/or manual in-bore adjustments. To overcome these limitations, we developed and clinically deployed an MRI-compatible piezoceramic-motor actuated needle guidance device, Smart Template, which allows automated needle guidance with high targeting resolution for use in a wide closed-bore 3-Tesla MRI scanner. One of the main limitations of the MRI-guided procedure is the lengthy procedure time compared to conventional TRUS-guided procedures. In order to optimize the procedure, we assessed workflow of 30 MRI-guided biopsy procedures using the Smart Template with focus on procedure time. An average of 3.4 (range: 2~6) targets were preprocedurally selected per procedure and 2.2 ± 0.8 biopsies were performed for each target with an average insertion attempt of 1.9 ± 0.7 per biopsy. The average technical preparation time was 14 ± 7 min and the in-MRI patient preparation time was 42 ± 7 min. After 21 ± 7 min of initial imaging, 64 ± 12 min of biopsy was performed yielding an average of 10 ± 2 min per tissue sample. The total procedure time occupying the MRI suite was 138 ± 16 min. No noticeable tendency in the length of any time segment was observed over the 30 clinical cases.

  15. Robotics

    NASA Technical Reports Server (NTRS)

    1985-01-01

    An overview of research being done into the use of robotic devices in space by MSFC is discussed. The video includes footage and explanations of robots being used to blast layers of thermal coating from the Space Shuttle's external tanks, the Shuttle's Remote Manipulator Arm, and animations of an Orbiting Maneuvering Vehicle to retrieve and repair satellites.

  16. "MRI Stealth" robot for prostate interventions.

    PubMed

    Stoianovici, Dan; Song, Danny; Petrisor, Doru; Ursu, Daniel; Mazilu, Dumitru; Muntener, Michael; Mutener, Michael; Schar, Michael; Patriciu, Alexandru

    2007-01-01

    The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep 1, designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the "MRI stealth" robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager's room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low

  17. CT-directed robotic biopsy testbed: motivation and concept

    NASA Astrophysics Data System (ADS)

    Cleary, Kevin R.; Stoianovici, Dan S.; Glossop, Neil D.; Gary, Kevin A.; Onda, Sumiyo; Cody, Richard; Lindisch, David; Stanimir, Alexandru; Mazilu, Dumitru; Patriciu, Alexandru; Watson, Vance; Levy, Elliot

    2001-05-01

    As a demonstration platform, we are developing a robotic biopsy testbed incorporating a mobile CT scanner, a small needle driver robot, and an optical localizer. This testbed will be used to compare robotically assisted biopsy to the current manual technique, and allow us to investigate software architectures for integrating multiple medical devices. This is a collaboration between engineers and physicians from three universities and a commercial vendor. In this paper we describe the CT-directed biopsy technique, review some other biopsy systems including passive and semi- autonomous devices, describe our testbed components, and present our software architecture. This testbed is a first step in developing the image-guided, robotically assisted, physician directed, biopsy systems of the future.

  18. Towards synergistic control of hands-on needle insertion with automated needle steering for MRI-guided prostate interventions.

    PubMed

    Wartenberg, Marek; Patel, Niravkumar; Gang Li; Fischer, Gregory S

    2016-08-01

    A significant hurdle of accurate needle tip placement in percutaneous needle-based prostate interventions is unmodeled needle deflection and tissue deformation during insertion. This paper introduces a robotic platform for developing synergistic, cooperatively controlled needle insertion algorithms decoupled from closed-loop image-guided needle steering. Shared control of the surgical workspace through human-robot synergy creates a balance between the accuracy of robotic autonomy while still providing ultimate control of the procedure to the physician. Validation tests were performed using camera-based image-guided feedback control of needle steering with cooperative hands-on needle insertion. Locations were targeted inside a transparent gelatin phantom with an average total error of 2.68 ± 0.34mm and in-plane error of 2.59 ± 0.30mm.

  19. Observations of Needle-Tissue Interactions

    PubMed Central

    Misra, Sarthak; Reed, Kyle B.; Ramesh, K. T.; Okamura, Allison M.

    2010-01-01

    Needles with asymmetric bevel tips naturally bend when they are inserted into soft tissue. In this study, we present an analytical model for the loads developed at the bevel tip during needle-tissue interaction. The model calculates the loads based on the geometry of the bevel edge and gel material properties. The modeled transverse force developed at the tip is compared to forces measured experimentally. The analytical model explains the trends observed in the experiments. In addition to macroscopic studies, we also present microscopic observations of needle-tissue interactions. These results contribute to a mechanics-based model of robotic needle steering, extending previous work on kinematic models. PMID:19963709

  20. “MRI Stealth” robot for prostate interventions

    PubMed Central

    STOIANOVICI, DAN; SONG, DANNY; PETRISOR, DORU; URSU, DANIEL; MAZILU, DUMITRU; MUTENER, MICHAEL; SCHAR, MICHAEL; PATRICIU, ALEXANDRU

    2011-01-01

    The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep (1), designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the “MRI stealth” robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager’s room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low

  1. Remote Electromagnetic Vibration of Steerable Needles for Imaging in Power Doppler Ultrasound

    PubMed Central

    Cabreros, Sarah S.; Jimenez, Nina M.; Greer, Joseph D.; Adebar, Troy K.; Okamura, Allison M.

    2015-01-01

    Robotic needle steering systems for minimally invasive medical procedures require complementary medical imaging systems to track the needles in real time. Ultrasound is a promising imaging modality because it offers relatively low-cost, real-time imaging of the needle. Previous methods applied vibration to the base of the needle using a voice coil actuator, in order to make the needle visible in power Doppler ultrasound. We propose a new method for needle tip vibration, using electromagnetic actuation of small permanent magnets placed inside the needle to improve needle tip visibility in power Doppler imaging. Robotic needle insertion experiments using artificial tissue and ex vivo porcine liver showed that the electromagnetic tip vibration method can generate a stronger Doppler response compared to the previous base vibration method, resulting in better imaging at greater needle depth in tissue. It also eliminates previous issues with vibration damping along the shaft of the needle. PMID:26413379

  2. Remote Electromagnetic Vibration of Steerable Needles for Imaging in Power Doppler Ultrasound.

    PubMed

    Cabreros, Sarah S; Jimenez, Nina M; Greer, Joseph D; Adebar, Troy K; Okamura, Allison M

    2015-05-01

    Robotic needle steering systems for minimally invasive medical procedures require complementary medical imaging systems to track the needles in real time. Ultrasound is a promising imaging modality because it offers relatively low-cost, real-time imaging of the needle. Previous methods applied vibration to the base of the needle using a voice coil actuator, in order to make the needle visible in power Doppler ultrasound. We propose a new method for needle tip vibration, using electromagnetic actuation of small permanent magnets placed inside the needle to improve needle tip visibility in power Doppler imaging. Robotic needle insertion experiments using artificial tissue and ex vivo porcine liver showed that the electromagnetic tip vibration method can generate a stronger Doppler response compared to the previous base vibration method, resulting in better imaging at greater needle depth in tissue. It also eliminates previous issues with vibration damping along the shaft of the needle.

  3. Design of a small animal biopsy robot.

    PubMed

    Bebek, Ozkan; Hwang, Myun Joong; Fei, Baowei; Cavusoglu, M

    2008-01-01

    Small animals are widely used in biomedical research studies. They have compact anatomy and small organs. Therefore it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology offers a convenient and reliable solution for accurate needle insertion. In this paper, a novel 5 degrees of freedom (DOF) robot design for inserting needles into small animal subjects is proposed. The design has a compact size, is light weight, and has high resolution. Parallel mechanisms are used in the design for stable and reliable operation. The proposed robot has two gimbal joints that carry the needle mechanism. The robot can realize dexterous alignment of the needle before insertion.

  4. Robotics

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O.

    2007-01-01

    Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and

  5. Robotics

    NASA Technical Reports Server (NTRS)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  6. Driver Adaptive Warning Systems

    DTIC Science & Technology

    1998-03-01

    this threshold, an alarm is triggered. Since TLC based systems can have user defined thresholds, a warning can be given as early as desired. However, the...Driver Adaptive Warning Systems Thesis Proposal Parag H. Batavia CMU-RI-TR-98-07 The Robotics Institute Carnegie Mellon University Pittsburgh...control number. 1. REPORT DATE MAR 1998 2. REPORT TYPE 3. DATES COVERED 00-00-1998 to 00-00-1998 4. TITLE AND SUBTITLE Driver Adaptive Warning

  7. Detecting stages of needle penetration into tissues through force estimation at needle tip using fiber Bragg grating sensors

    NASA Astrophysics Data System (ADS)

    Kumar, Saurabh; Shrikanth, Venkoba; Amrutur, Bharadwaj; Asokan, Sundarrajan; Bobji, Musuvathi S.

    2016-12-01

    Several medical procedures involve the use of needles. The advent of robotic and robot assisted procedures requires dynamic estimation of the needle tip location during insertion for use in both assistive systems as well as for automatic control. Most prior studies have focused on the maneuvering of solid flexible needles using external force measurements at the base of the needle holder. However, hollow needles are used in several procedures and measurements of forces in proximity of such needles can eliminate the need for estimating frictional forces that have high variations. These measurements are also significant for endoscopic procedures in which measurement of forces at the needle holder base is difficult. Fiber Bragg grating sensors, due to their small size, inert nature, and multiplexing capability, provide a good option for this purpose. Force measurements have been undertaken during needle insertion into tissue mimicking phantoms made of polydimethylsiloxane as well as chicken tissue using an 18-G needle instrumented with FBG sensors. The results obtained show that it is possible to estimate the different stages of needle penetration including partial rupture, which is significant for procedures in which precise estimation of needle tip position inside the organ or tissue is required.

  8. Using rotation for steerable needle detection in 3D color-Doppler ultrasound images.

    PubMed

    Mignon, Paul; Poignet, Philippe; Troccaz, Jocelyne

    2015-08-01

    This paper demonstrates a new way to detect needles in 3D color-Doppler volumes of biological tissues. It uses rotation to generate vibrations of a needle using an existing robotic brachytherapy system. The results of our detection for color-Doppler and B-Mode ultrasound are compared to a needle location reference given by robot odometry and robot ultrasound calibration. Average errors between detection and reference are 5.8 mm on needle tip for B-Mode images and 2.17 mm for color-Doppler images. These results show that color-Doppler imaging leads to more robust needle detection in noisy environment with poor needle visibility or when needle interacts with other objects.

  9. Modeling and Control of Needles with Torsional Friction

    PubMed Central

    Reed, Kyle B.; Okamura, Allison M.; Cowan, Noah J.

    2010-01-01

    A flexible needle can be accurately steered by robotically controlling the bevel tip orientation as the needle is inserted into tissue. Friction between the long, flexible needle shaft and the tissue can cause a significant discrepancy between the orientation of the needle tip and the orientation of the base where the needle angle is controlled. Our experiments show that several common phantom tissues used in needle steering experiments impart substantial friction forces to the needle shaft, resulting in a lag of over 45° for a 10 cm insertion depth in some phantoms; clinical studies report torques large enough to cause similar errors during needle insertions. Such angle discrepancies will result in poor performance or failure of path planners and image-guided controllers, since the needles used in percutaneous procedures are too small for state-of-the-art imaging to accurately measure the tip angle. To compensate for the angle discrepancy, we develop an estimator using a mechanics-based model of the rotational dynamics of a needle being inserted into tissue. Compared to controllers that assume a rigid needle in a frictionless environment, our estimator-based controller improves the tip angle convergence time by nearly 50% and reduces the path deviation of the needle by 70%. PMID:19695979

  10. Coaxial needle insertion assistant with enhanced force feedback.

    PubMed

    De Lorenzo, Danilo; Koseki, Yoshihiko; De Momi, Elena; Chinzei, Kiyoyuki; Okamura, Allison M

    2013-02-01

    Many medical procedures involving needle insertion into soft tissues, such as anesthesia, biopsy, brachytherapy, and placement of electrodes, are performed without image guidance. In such procedures, haptic detection of changing tissue properties at different depths during needle insertion is important for needle localization and detection of subsurface structures. However, changes in tissue mechanical properties deep inside the tissue are difficult for human operators to sense, because the relatively large friction force between the needle shaft and the surrounding tissue masks the smaller tip forces. A novel robotic coaxial needle insertion assistant, which enhances operator force perception, is presented. This one-degree-of-freedom cable-driven robot provides to the operator a scaled version of the force applied by the needle tip to the tissue, using a novel design and sensors that separate the needle tip force from the shaft friction force. The ability of human operators to use the robot to detect membranes embedded in artificial soft tissue was tested under the conditions of 1) tip force and shaft force feedback, and 2) tip force only feedback. The ratio of successful to unsuccessful membrane detections was significantly higher (up to 50%) when only the needle tip force was provided to the user.

  11. Emergency physician's needle holder.

    PubMed

    Abidin, M R; Towler, M A; Lombardi, S A; Becker, D G; Thacker, J G; McGregor, W; Edlich, R F

    1989-01-01

    A new needle holder is described that has jaws metallurgically bonded with tungsten carbide particles that enhance needle holding security without causing sutural damage during instrument ties. Scissors have also been incorporated into the needle holder to cut sutures. One ringlet on a handle has been offset to facilitate retrieval of the needle holder from a flat surface.

  12. Behavior of tip-steerable needles in ex vivo and in vivo tissue.

    PubMed

    Majewicz, Ann; Marra, Steven P; van Vledder, Mark G; Lin, MingDe; Choti, Michael A; Song, Danny Y; Okamura, Allison M

    2012-10-01

    Robotic needle steering is a promising technique to improve the effectiveness of needle-based clinical procedures, such as biopsies and ablation, by computer-controlled, curved insertions of needles within solid organs. In this paper, we explore the capabilities, challenges, and clinical relevance of asymmetric-tip needle steering through experiments in ex vivo and in vivo tissue. We evaluate the repeatability of needle insertion in inhomogeneous biological tissue and compare ex vivo and in vivo needle curvature and insertion forces. Steerable needles curved more in kidney than in liver and prostate, likely due to differences in tissue properties. Pre-bent needles produced higher insertion forces in liver and more curvature in vivo than ex vivo. When compared to straight stainless steel needles, steerable needles did not cause a measurable increase in tissue damage and did not exert more force during insertion. The minimum radius of curvature achieved by prebent needles was 5.23 cm in ex vivo tissue, and 10.4 cm in in vivo tissue. The curvatures achieved by bevel tip needles were negligible for in vivo tissue. The minimum radius of curvature for bevel tip needles in ex vivo tissue was 16.4 cm; however, about half of the bevel tip needles had negligible curvatures. We also demonstrate a potential clinical application of needle steering by targeting and ablating overlapping regions of cadaveric canine liver.

  13. Behavior of Tip-Steerable Needles in ex vivo and in vivo Tissue

    PubMed Central

    Majewicz, Ann; Marra, Steven P.; van Vledder, Mark G.; Lin, MingDe; Choti, Michael A.; Song, Danny Y.; Okamura, Allison M.

    2012-01-01

    Robotic needle steering is a promising technique to improve the effectiveness of needle-based clinical procedures, such as biopsies and ablation, by computer-controlled, curved insertions of needles within solid organs. In this paper, we explore the capabilities, challenges, and clinical relevance of asymmetric-tip needle steering though experiments in ex vivo and in vivo tissue. We evaluate the repeatability of needle insertion in inhomogeneous biological tissue and compare ex vivo and in vivo needle curvature and insertion forces. Steerable needles curved more in kidney than in liver and prostate, likely due to differences in tissue properties. Pre-bent needles produced higher insertion forces in liver and more curvature in vivo than ex vivo. When compared to straight stainless steel needles, steerable needles did not cause a measurable increase in tissue damage and did not exert more force during insertion. The minimum radius of curvature achieved by pre-bent needles was 5.23 cm in ex vivo tissue, and 10.4 cm in in vivo tissue. The curvatures achieved by bevel tip needles were negligible for in vivo tissue. The minimum radius of curvature for bevel tip needles in ex vivo tissue was 16.4 cm; however, about half of the bevel tip needles had negligible curvatures. We also demonstrate a potential clinical application of needle steering by targeting and ablating overlapping regions of cadaveric canine liver. PMID:22711767

  14. Older Drivers

    MedlinePlus

    ... Affects Driving Tips for Safe Driving Making Your Vehicle Safe Regulations Affecting Older Drivers When Driving Skills ... Like drivers of any age, they use their vehicles to go shopping, do errands, and visit the ...

  15. Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions.

    PubMed

    Seifabadi, Reza; Iordachita, Iulian; Fichtinger, Gabor

    2012-12-31

    Accurate needle placement plays a key role in success of prostate biopsy and brachytherapy. During percutaneous interventions, the prostate gland rotates and deforms which may cause significant target displacement. In these cases straight needle trajectory is not sufficient for precise targeting. Although needle spinning and fast insertion may be helpful, they do not entirely resolve the issue. We propose robot-assisted bevel-tip needle steering under MRI guidance as a potential solution to compensate for the target displacement. MRI is chosen for its superior soft tissue contrast in prostate imaging. Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command the needle steering slave robot which operates inside the scanner. The needle steering slave robot was designed to be integrated with a previously developed pneumatically actuated transperineal robot for MRI-guided prostate needle placement. We describe design challenges and present the conceptual design of the master and slave robots and the associated controller.

  16. Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions

    PubMed Central

    Seifabadi, Reza; Iordachita, Iulian; Fichtinger, Gabor

    2013-01-01

    Accurate needle placement plays a key role in success of prostate biopsy and brachytherapy. During percutaneous interventions, the prostate gland rotates and deforms which may cause significant target displacement. In these cases straight needle trajectory is not sufficient for precise targeting. Although needle spinning and fast insertion may be helpful, they do not entirely resolve the issue. We propose robot-assisted bevel-tip needle steering under MRI guidance as a potential solution to compensate for the target displacement. MRI is chosen for its superior soft tissue contrast in prostate imaging. Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command the needle steering slave robot which operates inside the scanner. The needle steering slave robot was designed to be integrated with a previously developed pneumatically actuated transperineal robot for MRI-guided prostate needle placement. We describe design challenges and present the conceptual design of the master and slave robots and the associated controller. PMID:24649480

  17. Robotics and surgery: A sustainable relationship?

    PubMed Central

    Khajuria, Ankur

    2015-01-01

    Robotic surgery is increasingly being employed to overcome the disadvantages associated with use of conventional techniques such as laparoscopy. However, despite significant promise, there are some clear disadvantages and robust evidence base supporting the use of robotic assistance remains lacking. In this paper, the advantages and drivers for robotics will be discussed, its drawbacks and its future role in surgery. PMID:25789298

  18. A novel curvature-controllable steerable needle for percutaneous intervention.

    PubMed

    Bui, Van Khuyen; Park, Sukho; Park, Jong-Oh; Ko, Seong Young

    2016-08-01

    Over the last few decades, flexible steerable robotic needles for percutaneous intervention have been the subject of significant interest. However, there still remain issues related to (a) steering the needle's direction with less damage to surrounding tissues and (b) increasing the needle's maximum curvature for better controllability. One widely used approach is to control the fixed-angled bevel-tip needle using a "duty-cycle" algorithm. While this algorithm has shown its applicability, it can potentially damage surrounding tissue, which has prevented the widespread adoption of this technology. This situation has motivated the development of a new steerable flexible needle that can change its curvature without axial rotation, while at the same time producing a larger curvature. In this article, we propose a novel curvature-controllable steerable needle. The proposed robotic needle consists of two parts: a cannula and a stylet with a bevel-tip. The curvature of the needle's path is controlled by a control offset, defined by the offset between the bevel-tip and the cannula. As a result, the necessity of rotating the whole needle's body is decreased. The duty-cycle algorithm is utilized to a limited degree to obtain a larger radius of curvature, which is similar to a straight path. The first prototype of 0.46 mm (outer diameter) was fabricated and tested with both in vitro gelatin phantom and ex vivo cow liver tissue. The maximum curvatures measured 0.008 mm(-1) in 6 wt% gelatin phantom, 0.0139 mm(-1) in 10 wt% gelatin phantom, and 0.0038 mm(-1) in cow liver. The experimental results show a linear relationship between the curvature and the control offset, which can be utilized for future implementation of this control algorithm.

  19. Percutaneous needle placement using laser guidance: a practical solution

    NASA Astrophysics Data System (ADS)

    Xu, Sheng; Kapoor, Ankur; Abi-Jaoudeh, Nadine; Imbesi, Kimberly; Hong, Cheng William; Mazilu, Dumitru; Sharma, Karun; Venkatesan, Aradhana M.; Levy, Elliot; Wood, Bradford J.

    2013-03-01

    In interventional radiology, various navigation technologies have emerged aiming to improve the accuracy of device deployment and potentially the clinical outcomes of minimally invasive procedures. While these technologies' performance has been explored extensively, their impact on daily clinical practice remains undetermined due to the additional cost and complexity, modification of standard devices (e.g. electromagnetic tracking), and different levels of experience among physicians. Taking these factors into consideration, a robotic laser guidance system for percutaneous needle placement is developed. The laser guidance system projects a laser guide line onto the skin entry point of the patient, helping the physician to align the needle with the planned path of the preoperative CT scan. To minimize changes to the standard workflow, the robot is integrated with the CT scanner via optical tracking. As a result, no registration between the robot and CT is needed. The robot can compensate for the motion of the equipment and keep the laser guide line aligned with the biopsy path in real-time. Phantom experiments showed that the guidance system can benefit physicians at different skill levels, while clinical studies showed improved accuracy over conventional freehand needle insertion. The technology is safe, easy to use, and does not involve additional disposable costs. It is our expectation that this technology can be accepted by interventional radiologists for CT guided needle placement procedures.

  20. Precessing Ferromagnetic Needle Magnetometer.

    PubMed

    Jackson Kimball, Derek F; Sushkov, Alexander O; Budker, Dmitry

    2016-05-13

    A ferromagnetic needle is predicted to precess about the magnetic field axis at a Larmor frequency Ω under conditions where its intrinsic spin dominates over its rotational angular momentum, Nℏ≫IΩ (I is the moment of inertia of the needle about the precession axis and N is the number of polarized spins in the needle). In this regime the needle behaves as a gyroscope with spin Nℏ maintained along the easy axis of the needle by the crystalline and shape anisotropy. A precessing ferromagnetic needle is a correlated system of N spins which can be used to measure magnetic fields for long times. In principle, by taking advantage of rapid averaging of quantum uncertainty, the sensitivity of a precessing needle magnetometer can far surpass that of magnetometers based on spin precession of atoms in the gas phase. Under conditions where noise from coupling to the environment is subdominant, the scaling with measurement time t of the quantum- and detection-limited magnetometric sensitivity is t^{-3/2}. The phenomenon of ferromagnetic needle precession may be of particular interest for precision measurements testing fundamental physics.

  1. Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

    NASA Technical Reports Server (NTRS)

    Zornetzer, Steve; Gage, Douglas

    2005-01-01

    Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

  2. Exploratorium: Robots.

    ERIC Educational Resources Information Center

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  3. NPIP: A skew line needle configuration optimization system for HDR brachytherapy

    SciTech Connect

    Siauw, Timmy; Cunha, Adam; Berenson, Dmitry; Atamtuerk, Alper; Hsu, I-Chow; Goldberg, Ken; Pouliot, Jean

    2012-07-15

    or fewer needles than the current HDR brachytherapy workflow. Combined with robot assisted brachytherapy, this system has the potential to reduce side effects associated with treatment. A physical trial should be done to test the implant feasibility of NPIP needle configurations.

  4. Robotic surgery

    MedlinePlus

    Robot-assisted surgery; Robotic-assisted laparoscopic surgery; Laparoscopic surgery with robotic assistance ... computer station and directs the movements of a robot. Small surgical tools are attached to the robot's ...

  5. A Biologically-Inspired Autonomous Robot

    DTIC Science & Technology

    1993-12-13

    AD-A273 909 DTIC ELECTE SDEC,2 01993 A PERFORMANCE REPORT A Biologically-Inspired Autonomous Robot Grant N00014-90-J- 1545 Period of Performance: 3...rough estimate of the torque generated by the electrical activation of the muscle dunng the movement. " The previous simulation of the robot has been...reaction forces for the robot that shares features with Full’s force measurements of cockroach walking. "* The 18 motor driver circuits for the robot have

  6. Needle breakage: incidence and prevention.

    PubMed

    Malamed, Stanley F; Reed, Kenneth; Poorsattar, Susan

    2010-10-01

    Since the introduction of nonreusable, stainless steel dental local anesthetic needles, needle breakage has become an extremely rare complication of dental local anesthetic injections. But although rare, dental needle breakage can, and does, occur. Review of the literature and personal experience brings into focus several commonalities which, when avoided, can minimize the risk of needle breakage with the fragment being retained from occurring.

  7. Buffon's needle problem

    NASA Astrophysics Data System (ADS)

    Schröer, H.

    We accidentally let a needle fall with the length L on a table. On the table are drawn parallel lines with distance D. We assume L is smaller than D. We introduce the rotation probability. Then we generalize the Buffon's needle problem. We view a general convex set. We have to solve a two-dimensional integral. There is an english and a german edition.

  8. In vivo motion and force measurement of surgical needle intervention during prostate brachytherapy

    SciTech Connect

    Podder, Tarun; Clark, Douglas; Sherman, Jason; Fuller, Dave; Messing, Edward; Rubens, Deborah; Strang, John; Brasacchio, Ralph; Liao, Lydia; Ng, W.-S.; Yu Yan

    2006-08-15

    In this paper, we present needle insertion forces and motion trajectories measured during actual brachytherapy needle insertion while implanting radioactive seeds in the prostate glands of 20 different patients. The needle motion was captured using ultrasound images and a 6 degree-of-freedom electromagnetic-based position sensor. Needle velocity was computed from the position information and the corresponding time stamps. From in vivo data we found the maximum needle insertion forces to be about 15.6 and 8.9 N for 17 gauge (1.47 mm) and 18 gauge (1.27 mm) needles, respectively. Part of this difference in insertion forces is due to the needle size difference (17G and 18G) and the other part is due to the difference in tissue properties that are specific to the individual patient. Some transverse forces were observed, which are attributed to several factors such as tissue heterogeneity, organ movement, human factors in surgery, and the interaction between the template and the needle. However, theses insertion forces are significantly responsible for needle deviation from the desired trajectory and target movement. Therefore, a proper selection of needle and modulated velocity (translational and rotational) may reduce the tissue deformation and target movement by reducing insertion forces and thereby improve the seed delivery accuracy. The knowledge gleaned from this study promises to be useful for not only designing mechanical/robotic systems but also developing a predictive deformation model of the prostate and real-time adaptive controlling of the needle.

  9. Development of Needle Insertion Manipulator for Central Venous Catheterization

    NASA Astrophysics Data System (ADS)

    Kobayashi, Yo; Hong, Jaesung; Hamano, Ryutaro; Hashizume, Makoto; Okada, Kaoru; Fujie, Masakatsu G.

    Central venous catheterization is a procedure, which a doctor insert a catheter into the patient’s vein for transfusion. Since there are risks of bleeding from arterial puncture or pneumothorax from pleural puncture. Physicians are strictly required to make needle reach up into the vein and to stop the needle in the middle of vein. We proposed a robot system for assisting the venous puncture, which can relieve the difficulties in conventional procedure, and the risks of complication. This paper reports the design structuring and experimental results of needle insertion manipulator. First, we investigated the relationship between insertion force and angle into the vein. The results indicated that the judgment of perforation using the reaction force is possible in case where the needling angle is from 10 to 20 degree. The experiment to evaluate accuracy of the robot also revealed that it has beyond 0.5 mm accuracy. We also evaluated the positioning accuracy in the ultrasound images. The results displays that the accuracy is beyond 1.0 mm and it has enough for venous puncture. We also carried out the venous puncture experiment to the phantom and confirm our manipulator realized to make needle reach up into the vein.

  10. Innovation in surgical education--a driver for change.

    PubMed

    Aggarwal, Rajesh; Darzi, Ara

    2011-01-01

    The delivery of healthcare is undergoing a major transition period across the globe. Drivers for change range from the introduction of new technologies such as primary angioplasty and robotic surgery, to restriction in work hours of trainee doctors.

  11. Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback.

    PubMed

    Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico

    2014-01-01

    Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work, we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle's ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.

  12. Megasessions for Robotic Hair Restoration.

    PubMed

    Pereira, Joa O Carlos; Pereira Filho, Joa O Carlos; Cabrera Pereira, Joa O Pedro

    2016-11-01

    A robotic system can select and remove individual hair follicles from the donor area with great precision and without fatigue. This report describes the use of the robotic system in a megasession for hair restoration. Patients were instructed to cut their hair to 1.0 to 1.2 mm before surgery. The robot selected and removed 600 to 800 grafts per hour so the follicular units (FU)s could be transplanted manually to recipient sites. The robot arm consists of a sharp inner punch and a blunt outer punch which together separate FUs from the sur- rounding tissue. Stereoscopic cameras controlled by image processing software allow the system to identify the angle and direction of hair growth. The physician and one assistant control the harvesting with a hand-held remote control and computer monitor while the patient is positioned in an adjustable chair. When the robot has harvested all the FUs they are removed by technicians with small forceps. Hairline design, creation of recipient sites, and graft placement are performed manually by the physician. Clinical photographs before and after surgery show that patients experience excellent outcomes with the robotic megasession. Phy- sician fatigue during graft extraction is reduced because the robot performs the repetitive movements without fatigue. Variability of graft extraction is minimized because the robot's optical system can be programmed to choose the best FUs. The transection rate is reduced because the robot's graft extraction system uses two needles, a sharp one to piece the skin and a blunt needle to dissect the root without trauma. A robotic megasession for hair restoration is minimally invasive, does not result in linear scars in the donor area, and is associated with minimal fatigue and discomfort for both patient and physician. Healing is rapid and patients experience a high level of satisfaction with the results. J Drugs Dermatol. 2016;15(11):1407-1412..

  13. Needle Federated Search Engine

    SciTech Connect

    2009-12-01

    The Idaho National Laboratory (INL) has combined a number of technologies, tools, and resources to accomplish a new means of federating search results. The resulting product is a search engine called Needle, an open-source-based tool that the INL uses internally for researching across a wide variety of information repositories. Needle has a flexible search interface that allows end users to point at any available data source. A user can select multiple sources such as commercial databases (Web of Science, Engineering Index), external resources (WorldCat, Google Scholar), and internal corporate resources (email, document management system, library collections) in a single interface with one search query. In the future, INL hopes to offer this open-source engine to the public. This session will outline the development processes for making Needle™s search interface and simplifying the federation of internal and external data sources.

  14. Trigger Point Dry Needling.

    PubMed

    2017-03-01

    Increasingly, physical therapists in the United States and throughout the world are using dry needling to treat musculoskeletal pain, even though this treatment has been a controversial addition to practice. To better generalize to physical therapy practice the findings about dry needling thus far, the authors of a study published in the March 2017 issue of JOSPT identified the need for a systematic review examining the effectiveness of dry needling performed by physical therapists on people with musculoskeletal pain. Their review offers a meta-analysis of data from several included studies and assesses the evidence for risks of bias. J Orthop Sports Phys Ther 2017;47(3):150. doi:10.2519/jospt.2017.0502.

  15. A "Needling" Complication.

    PubMed

    Banerji, John S; Govier, Fred E

    2016-11-01

    Intracavernosal injection therapy with vasoactive agents for treatment of erectile dysfunction has been around for more than 3 decades since its advent in the early 1980s. Common complications include ecchymosis and hematoma at the site of injection, priapism, and fibrosis. We describe a rare but potentially dangerous complication of breakage of needle during administering of injections, and discuss its successful retrieval.

  16. NEEDLE TRADES, MATHEMATICS - I.

    ERIC Educational Resources Information Center

    COLICCHIO, ANTOINETTE J.

    THE NEEDLE TRADES INDUSTRY CONSISTS OF THREE TYPES OF ESTABLISHMENTS -- THE REGULAR MANUFACTURERS, THE APPAREL JOBBERS, AND THE CONTRACTORS. THE FUNCTIONS INCLUDED COVER A WIDE SCOPE FROM BUYING OF RAW MATERIAL TO SELLING OF THE FINISHED APPAREL. THE PURPOSE OF THIS STUDY GUIDE IS TO FURNISH BASIC KNOWLEDGE IN MATHEMATICS AND DEVELOP SKILL IN…

  17. Robot and robot system

    NASA Technical Reports Server (NTRS)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  18. Design and Control of a 1-DOF MRI Compatible Pneumatically Actuated Robot with Long Transmission Lines

    PubMed Central

    Yang, Bo; Tan, U-Xuan; McMillan, Alan; Gullapalli, Rao; Desai, Jaydev P.

    2011-01-01

    This paper presents the design and control of an MRI-compatible 1-DOF needle driver robot and its precise position control using pneumatic actuation with long transmission lines. MRI provides superior image quality compared to other imaging modalities such as CT or ultrasound, but imposes severe limitations on the material and actuator choice (to prevent image distortion) due to its strong magnetic field. We are primarily interested in developing a pneumatically actuated breast biopsy robot with a large force bandwidth and precise targeting capability during radio-frequency ablation (RFA) of breast tumor, and exploring the possibility of using long pneumatic transmission lines from outside the MRI room to the device in the magnet to prevent any image distortion whatsoever. This paper presents a model of the entire pneumatic system. The pneumatic lines are approximated by a first order system with time delay, because its dynamics are governed by the telegraph equation with varying coefficients and boundary conditions, which cannot be solved precisely. The slow response of long pneumatic lines and valve subsystems make position control challenging. This is further compounded by the presence of non-uniform friction in the device. Sliding mode control (SMC) was adopted, where friction was treated as an uncertainty term to drive the system onto the sliding surface. Three different controllers were designed, developed, and evaluated to achieve precise position control of the RFA probe. Experimental results revealed that all SMCs gave satisfactory performance with long transmission lines. We also performed several experiments with a 3-DOF fiber-optic force sensor attached to the needle driver to evaluate the performance of the device in the MRI under continuous imaging. PMID:22058649

  19. Autonomous caregiver following robotic wheelchair

    NASA Astrophysics Data System (ADS)

    Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary

    2011-12-01

    In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

  20. Biopsy needle tips with markers--MR compatible needles for high-precision needle tip positioning.

    PubMed

    Müller-Bierl, Bernd M; Martirosian, Petros; Graf, Hansjörg; Boss, Andreas; König, Claudius; Pereira, Philippe L; Schick, Fritz

    2008-06-01

    Needle tip visualization is of high importance in magnetic resonance imaging (MRI) guided interventional procedures, for example for taking biopsies from suspicious lesions in the liver or kidney. The exact position of the needle tip is often obscured by image artifacts arising from the magnetic properties of the needle. The authors investigated two special biopsy needle tip designs using diamagnetic coatings. For common interventional MR sequences, the needle tip can be identified in the MR image by several equidistant dark spots arranged along a straight line. A dotted instead of a solid line allows for an improved control of the movement of the needle, not only if the needle is tilted toward the imaging plane, but also if the needle leaves an empty canal with signal extinction, which cannot be distinguished from the needle material itself. With the proposed design the position of the needle tip can be estimated with a precision of approximately 1 mm using conventional FLASH, FISP, and TSE sequences, as used for interventional MR. Furthermore, the size of the biopsy probe can be estimated from the artifact. In using needles with a properly designed tip coating, taking biopsies under MR control is beginning to be greatly simplified. The approach to design artifacts using diamagnetic material in combination with paramagnetic material paves the way toward new instruments and implants, suitably tailored to the needs of the interventional radiologist.

  1. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

    PubMed

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

    2013-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

  2. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

    PubMed Central

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

    2014-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

  3. Toward adaptive stereotactic robotic brachytherapy for prostate cancer: Demonstration of an adaptive workflow incorporating inverse planning and an MR stealth robot

    PubMed Central

    CUNHA, J. ADAM; HSU, I-CHOW; POULIOT, JEAN; ROACH, MACK; SHINOHARA, KATSUTO; KURHANEWICZ, JOHN; REED, GALEN; STOIANOVICI, DAN

    2011-01-01

    To translate any robot into a clinical environment, it is critical that the robot can seamlessly integrate with all the technology of a modern clinic. MRBot, an MR-stealth brachytherapy delivery device, was used in a closed-bore 3T MRI and a clinical brachytherapy cone beam CT suite. Targets included ceramic dummy seeds, MR-Spectroscopy-sensitive metabolite, and a prostate phantom. Acquired DICOM images were exported to planning software to register the robot coordinates in the imager’s frame, contour and verify target locations, create dose plans, and export needle and seed positions to the robot. The coordination of each system element (imaging device, brachytherapy planning system, robot control, robot) was validated with a seed delivery accuracy of within 2 mm in both a phantom and soft tissue. An adaptive workflow was demonstrated by acquiring images after needle insertion and prior to seed deposition. This allows for adjustment if the needle is in the wrong position. Inverse planning (IPSA) was used to generate a seed placement plan and coordinates for ten needles and 29 seeds were transferred to the robot. After every two needles placed, an image was acquired. The placed seeds were identified and validated prior to placing the seeds in the next two needles. The ability to robotically deliver seeds to locations determined by IPSA and the ability of the system to incorporate novel needle patterns were demonstrated. Shown here is the ability to overcome this critical step. An adaptive brachytherapy workflow is demonstrated which integrates a clinical anatomy-based seed location optimization engine and a robotic brachytherapy device. Demonstration of this workflow is a key element of a successful translation to the clinic of the MRI stealth robotic delivery system, MRBot. PMID:20642386

  4. Needle bar for warp knitting machines

    DOEpatents

    Hagel, Adolf; Thumling, Manfred

    1979-01-01

    Needle bar for warp knitting machines with a number of needles individually set into slits of the bar and having shafts cranked to such an extent that the head section of each needle is in alignment with the shaft section accommodated by the slit. Slackening of the needles will thus not influence the needle spacing.

  5. Fine needle aspiration cytology.

    PubMed Central

    Lever, J V; Trott, P A; Webb, A J

    1985-01-01

    Fine needle aspiration cytology is an inexpensive, atraumatic technique for the diagnosis of disease sites. This paper describes the technique and illustrates how it may be applied to the management of tumours throughout the body. The limitations of the method, the dangers of false positive reports, and the inevitability of false negative diagnoses are emphasised. In a clinical context the method has much to offer by saving patients from inappropriate operations and investigations and allowing surgeons to plan quickly and more rationally. It is an economically valuable technique and deserves greater recognition. Images PMID:2578481

  6. Needling the early universe

    NASA Technical Reports Server (NTRS)

    Hawkins, Isabel; Wright, Edward L.

    1988-01-01

    The possibility that the whole microwave background can be produced by a bright population of pregalactic stars at a redshift of a few hundred is explored. The radiation is thermalized by a combination of amorphous silicate, amorphous carbon, graphite, and needle-shaped conducting grains which give rise to the opacity needed at wavelengths greater than 3 cm. The occurrence of distortion in a primordial microwave background spectrum due to its interaction with Population III stars and dust is investigated. The possibility of producing deviations small enough to be consistent with the best available observations, but still detectable by COBE, is considered.

  7. Ban on needle swaps.

    PubMed

    1999-10-01

    A District of Columbia appropriations bill banning spending for needle-exchange programs will be going to President Clinton for signature. The House voted to approve the bill, and the Senate voted to accept it. Politicians from both parties are lobbying the President about the bill. Clinton's budget director, Jacob J. Lew, and D.C. Del. Eleanor Holmes Norton, argue against signing the bill. Rep. Thomas M. Davis warns a veto would scuttle legislation that funds education reforms and cleanup of the Anacostia River.

  8. Teaching Driver Education Technology to Novice Drivers.

    ERIC Educational Resources Information Center

    Young, Anthony

    A cybernetic unit in driver education was developed to help grade 10 students develop the skills needed to acquire and process driver education information and prepare for the driving phase of driver education in grade 11. Students used a simulator to engage in a series of scenarios designed to promote development of social, behavioral, and mental…

  9. An automated optimization tool for high-dose-rate (HDR) prostate brachytherapy with divergent needle pattern

    NASA Astrophysics Data System (ADS)

    Borot de Battisti, M.; Maenhout, M.; de Senneville, B. Denis; Hautvast, G.; Binnekamp, D.; Lagendijk, J. J. W.; van Vulpen, M.; Moerland, M. A.

    2015-10-01

    Focal high-dose-rate (HDR) for prostate cancer has gained increasing interest as an alternative to whole gland therapy as it may contribute to the reduction of treatment related toxicity. For focal treatment, optimal needle guidance and placement is warranted. This can be achieved under MR guidance. However, MR-guided needle placement is currently not possible due to space restrictions in the closed MR bore. To overcome this problem, a MR-compatible, single-divergent needle-implant robotic device is under development at the University Medical Centre, Utrecht: placed between the legs of the patient inside the MR bore, this robot will tap the needle in a divergent pattern from a single rotation point into the tissue. This rotation point is just beneath the perineal skin to have access to the focal prostate tumor lesion. Currently, there is no treatment planning system commercially available which allows optimization of the dose distribution with such needle arrangement. The aim of this work is to develop an automatic inverse dose planning optimization tool for focal HDR prostate brachytherapy with needle insertions in a divergent configuration. A complete optimizer workflow is proposed which includes the determination of (1) the position of the center of rotation, (2) the needle angulations and (3) the dwell times. Unlike most currently used optimizers, no prior selection or adjustment of input parameters such as minimum or maximum dose or weight coefficients for treatment region and organs at risk is required. To test this optimizer, a planning study was performed on ten patients (treatment volumes ranged from 8.5 cm3to 23.3 cm3) by using 2-14 needle insertions. The total computation time of the optimizer workflow was below 20 min and a clinically acceptable plan was reached on average using only four needle insertions.

  10. Needle puncture in rabbit functional spinal units alters rotational biomechanics

    PubMed Central

    Hartman, Robert A.; Bell, Kevin M.; Quan, Bichun; Nuzhao, Yao; Sowa, Gwendolyn A.; Kang, James D.

    2014-01-01

    Study Design An in vitro biomechanical study for rabbit lumbar functional spinal units (FSUs) using a robot-based spine testing system. Objective To elucidate the effect of annular puncture with a 16G needle on mechanical properties in flexion/extension, axial rotation, and lateral bending. Summary of Background Data Needle puncture of the intervertebral disc has been shown to alter mechanical properties of the disc in compression, torsion, and bending. The effect of needle puncture in FSUs, where intact spinal ligaments and facet joints may mitigate or amplify these changes in the disc, on spinal motion segment stability subject to physiological rotations remains unknown. Methods Rabbit FSUs were tested using a robot testing system whose force/moment and position precision were assessed to demonstrate system capability. Flexibility testing methods were developed by load-to-failure testing in flexion/extension, axial rotation, and lateral bending. Subsequent testing methods were used to examine a 16G needle disc puncture and No. 11 blade disc stab (positive control for mechanical disruption). Flexibility testing was used to assess segmental range-of-motion (°), neutral zone stiffness (Nm/°) and width (° and Nm), and elastic zone stiffness before and after annular injury. Results The robot-based system was capable of performing flexibility testing on FSUs—mean precision of force/moment measurements and robot system movements were less than 3% and 1%, respectively, of moment-rotation target values. Flexibility moment targets were 0.3 Nm for flexion and axial rotation and 0.15 Nm for extension and lateral bending. Needle puncture caused significant (p<0.05) changes only in flexion/extension range-of-motion and neutral zone stiffness and width (Nm) compared to pre-intervention. No.11 blade-stab significantly increased range-of-motion in all motions, decreased neutral zone stiffness and width (Nm) in flexion/extension, and increased elastic zone stiffness in

  11. Simulator/planner for CT-directed needle biopsy of the spine

    NASA Astrophysics Data System (ADS)

    Cleary, Kevin R.; Lathan, Corinna E.; Carignan, Craig R.

    1998-06-01

    Minimally invasive spine procedures can spare the patient the trauma associated with open surgery. However, these procedures can be difficult to learn and require extensive training for proficiency. At Georgetown University Medical Center, spine biopsies are often done under computed tomography (CT) guidance. While this technique is effective, it is time consuming since the biopsy needle must be advanced slowly and its position checked several times to ensure vital organs are not damaged. A research project is being conducted to develop a computer-guided, image-based minimally invasive system for therapy and surgical techniques. As an initial step, a needle biopsy simulator for training is being developed. In the next phase, this simulator could also be used for preoperative planning. The simulator consists of two major modules: a visual module to display the medical images and biopsy tools and a haptic module to provide force feedback based on the needle position. The haptic module incorporates a robotic device that provides force feedback in three translational directions. In the future, it is anticipated that semi- autonomous robotic systems, in which the human controls some degrees of freedom and the robot the other degrees of freedom, will be developed for interventional tasks such as needle spine biopsy. The simulator described here can then be used as a 'master arm' to control the robotic system that actually performs the intervention.

  12. Robot-Assisted Antegrade In-Situ Fenestrated Stent Grafting

    SciTech Connect

    Riga, Celia V. Bicknell, Colin D.; Wallace, Daniel; Hamady, Mohamad; Cheshire, Nicholas

    2009-05-15

    To determine the technical feasibility of a novel approach of in-situ fenestration of aortic stent grafts by using a remotely controlled robotic steerable catheter system in the porcine model. A 65-kg pig underwent robot-assisted bilateral antegrade in-situ renal fenestration of an abdominal aortic stent graft with subsequent successful deployment of a bare metal stent into the right renal artery. A 16-mm iliac extension covered stent served as the porcine aortic endograft. Under fluoroscopic guidance, the graft was punctured with a 20-G customized diathermy needle that was introduced and kept in place by the robotic arm. The needle was exchanged for a 4 x 20 mm cutting balloon before successful deployment of the renal stent. Robot-assisted antegrade in-situ fenestration is technically feasible in a large mammalian model. The robotic system enables precise manipulation, stable positioning, and minimum instrumentation of the aorta and its branches while minimizing radiation exposure.

  13. Autonomous surgical robotics using 3-D ultrasound guidance: feasibility study.

    PubMed

    Whitman, John; Fronheiser, Matthew P; Ivancevich, Nikolas M; Smith, Stephen W

    2007-10-01

    The goal of this study was to test the feasibility of using a real-time 3D (RT3D) ultrasound scanner with a transthoracic matrix array transducer probe to guide an autonomous surgical robot. Employing a fiducial alignment mark on the transducer to orient the robot's frame of reference and using simple thresholding algorithms to segment the 3D images, we tested the accuracy of using the scanner to automatically direct a robot arm that touched two needle tips together within a water tank. RMS measurement error was 3.8% or 1.58 mm for an average path length of 41 mm. Using these same techniques, the autonomous robot also performed simulated needle biopsies of a cyst-like lesion in a tissue phantom. This feasibility study shows the potential for 3D ultrasound guidance of an autonomous surgical robot for simple interventional tasks, including lesion biopsy and foreign body removal.

  14. Future robotic platforms in urologic surgery: Recent Developments

    PubMed Central

    Herrell, S. Duke; Webster, Robert; Simaan, Nabil

    2014-01-01

    Purpose of review To review recent developments at Vanderbilt University of new robotic technologies and platforms designed for minimally invasive urologic surgery and their design rationale and potential roles in advancing current urologic surgical practice. Recent findings Emerging robotic platforms are being developed to improve performance of a wider variety of urologic interventions beyond the standard minimally invasive robotic urologic surgeries conducted presently with the da Vinci platform. These newer platforms are designed to incorporate significant advantages of robotics to improve the safety and outcomes of transurethral bladder surgery and surveillance, further decrease the invasiveness of interventions by advancing LESS surgery, and allow for previously impossible needle access and ablation delivery. Summary Three new robotic surgical technologies that have been developed at Vanderbilt University are reviewed, including a robotic transurethral system to enhance bladder surveillance and TURBT, a purpose-specific robotic system for LESS, and a needle sized robot that can be used as either a steerable needle or small surgeon-controlled micro-laparoscopic manipulator. PMID:24253803

  15. NASA Robotic Neurosurgery Testbed

    NASA Technical Reports Server (NTRS)

    Mah, Robert

    1997-01-01

    The detection of tissue interface (e.g., normal tissue, cancer, tumor) has been limited clinically to tactile feedback, temperature monitoring, and the use of a miniature ultrasound probe for tissue differentiation during surgical operations, In neurosurgery, the needle used in the standard stereotactic CT or MRI guided brain biopsy provides no information about the tissue being sampled. The tissue sampled depends entirely upon the accuracy with which the localization provided by the preoperative CT or MRI scan is translated to the intracranial biopsy site. In addition, no information about the tissue being traversed by the needle (e.g., a blood vessel) is provided. Hemorrhage due to the biopsy needle tearing a blood vessel within the brain is the most devastating complication of stereotactic CT/MRI guided brain biopsy. A robotic neurosurgery testbed has been developed at NASA Ames Research Center as a spin-off of technologies from space, aeronautics and medical programs. The invention entitled "Robotic Neurosurgery Leading to Multimodality Devices for Tissue Identification" is nearing a state ready for commercialization. The devices will: 1) improve diagnostic accuracy and precision of general surgery, with near term emphasis on stereotactic brain biopsy, 2) automate tissue identification, with near term emphasis on stereotactic brain biopsy, to permit remote control of the procedure, and 3) reduce morbidity for stereotactic brain biopsy. The commercial impact from this work is the potential development of a whole new generation of smart surgical tools to increase the safety, accuracy and efficiency of surgical procedures. Other potential markets include smart surgical tools for tumor ablation in neurosurgery, general exploratory surgery, prostate cancer surgery, and breast cancer surgery.

  16. NASA Robotic Neurosurgery Testbed

    NASA Technical Reports Server (NTRS)

    Mah, Robert

    1997-01-01

    The detection of tissue interface (e.g., normal tissue, cancer, tumor) has been limited clinically to tactile feedback, temperature monitoring, and the use of a miniature ultrasound probe for tissue differentiation during surgical operations. In neurosurgery, the needle used in the standard stereotactic CT (Computational Tomography) or MRI (Magnetic Resonance Imaging) guided brain biopsy provides no information about the tissue being sampled. The tissue sampled depends entirely upon the accuracy with which the localization provided by the preoperative CT or MRI scan is translated to the intracranial biopsy site. In addition, no information about the tissue being traversed by the needle (e.g., a blood vessel) is provided. Hemorrhage due to the biopsy needle tearing a blood vessel within the brain is the most devastating complication of stereotactic CT/MRI guided brain biopsy. A robotic neurosurgery testbed has been developed at NASA Ames Research Center as a spin-off of technologies from space, aeronautics and medical programs. The invention entitled 'Robotic Neurosurgery Leading to Multimodality Devices for Tissue Identification' is nearing a state ready for commercialization. The devices will: 1) improve diagnostic accuracy and precision of general surgery, with near term emphasis on stereotactic brain biopsy, 2) automate tissue identification, with near term emphasis on stereotactic brain biopsy, to permit remote control of the procedure, and 3) reduce morbidity for stereotactic brain biopsy. The commercial impact from this work is the potential development of a whole new generation of smart surgical tools to increase the safety, accuracy and efficiency of surgical procedures. Other potential markets include smart surgical tools for tumor ablation in neurosurgery, general exploratory surgery, prostate cancer surgery, and breast cancer surgery.

  17. Driver Education Saves Gas.

    ERIC Educational Resources Information Center

    American Automobile Association, Falls Church, VA. Traffic Engineering and Safety Dept.

    The argument that driver education should be dropped because driver education cars use gas is shortsighted. High school driver education is an excellent vehicle for teaching concepts of energy conservation. A small investment in fuel now can result in major savings of gasoline over a student's lifetime. In addition good driver education courses…

  18. Robotic Assistance for Ultrasound-Guided Prostate Brachytherapy

    PubMed Central

    Fichtinger, Gabor; Fiene, Jonathan P.; Kennedy, Christopher W.; Kronreif, Gernot; Iordachita, Iulian; Song, Danny Y.; Burdette, Everette C.; Kazanzides, Peter

    2016-01-01

    We present a robotically assisted prostate brachytherapy system and test results in training phantoms and Phase-I clinical trials. The system consists of a transrectal ultrasound (TRUS) and a spatially co-registered robot, fully integrated with an FDA-approved commercial treatment planning system. The salient feature of the system is a small parallel robot affixed to the mounting posts of the template. The robot replaces the template interchangeably, using the same coordinate system. Established clinical hardware, workflow and calibration remain intact. In all phantom experiments, we recorded the first insertion attempt without adjustment. All clinically relevant locations in the prostate were reached. Non-parallel needle trajectories were achieved. The pre-insertion transverse and rotational errors (measured with a Polaris optical tracker relative to the template’s coordinate frame) were 0.25mm (STD=0.17mm) and 0.75° (STD=0.37°). In phantoms, needle tip placement errors measured in TRUS were 1.04mm (STD=0.50mm). A Phase-I clinical feasibility and safety trial has been successfully completed with the system. We encountered needle tip positioning errors of a magnitude greater than 4mm in only 2 out of 179 robotically guided needles, in contrast to manual template guidance where errors of this magnitude are much more common. Further clinical trials are necessary to determine whether the apparent benefits of the robotic assistant will lead to improvements in clinical efficacy and outcomes. PMID:18650122

  19. CASSY Robot

    NASA Astrophysics Data System (ADS)

    Pittman, Anna; Wright, Ann; Rice, Aaron; Shyaka, Claude

    2014-03-01

    The CASSY Robot project involved two square robots coded in RobotC. The goal was to code a robot to do a certain set of tasks autonomously. To begin with, our task was to code the robot so that it would roam a certain area, marked off by black tape. When the robot hit the black tape, it knew to back up and turn around. It was able to do this thanks to the light sensor that was attached to the bottom of the robot. Also, whenever the robot hit an obstacle, it knew to stop, back up, and turn around. This was primarily to prevent the robot from hurting itself if it hit an obstacle. This was accomplished by using touch sensors set up as bumpers. Once that was accomplished, we attached sonar sensors and created code so that one robot was able to find and track the other robot in a sort of intruder/police scenario. The overall goal of this project was to code the robot so that we can test it against a robot coded exactly the same, but using Layered Mode Selection Logic. Professor.

  20. Hand gesture guided robot-assisted surgery based on a direct augmented reality interface.

    PubMed

    Wen, Rong; Tay, Wei-Liang; Nguyen, Binh P; Chng, Chin-Boon; Chui, Chee-Kong

    2014-09-01

    Radiofrequency (RF) ablation is a good alternative to hepatic resection for treatment of liver tumors. However, accurate needle insertion requires precise hand-eye coordination and is also affected by the difficulty of RF needle navigation. This paper proposes a cooperative surgical robot system, guided by hand gestures and supported by an augmented reality (AR)-based surgical field, for robot-assisted percutaneous treatment. It establishes a robot-assisted natural AR guidance mechanism that incorporates the advantages of the following three aspects: AR visual guidance information, surgeon's experiences and accuracy of robotic surgery. A projector-based AR environment is directly overlaid on a patient to display preoperative and intraoperative information, while a mobile surgical robot system implements specified RF needle insertion plans. Natural hand gestures are used as an intuitive and robust method to interact with both the AR system and surgical robot. The proposed system was evaluated on a mannequin model. Experimental results demonstrated that hand gesture guidance was able to effectively guide the surgical robot, and the robot-assisted implementation was found to improve the accuracy of needle insertion. This human-robot cooperative mechanism is a promising approach for precise transcutaneous ablation therapy.

  1. 21 CFR 880.5580 - Acupuncture needle.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 21 Food and Drugs 8 2013-04-01 2013-04-01 false Acupuncture needle. 880.5580 Section 880.5580 Food... § 880.5580 Acupuncture needle. (a) Identification. An acupuncture needle is a device intended to pierce the skin in the practice of acupuncture. The device consists of a solid, stainless steel needle....

  2. 21 CFR 880.5580 - Acupuncture needle.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 21 Food and Drugs 8 2014-04-01 2014-04-01 false Acupuncture needle. 880.5580 Section 880.5580 Food... § 880.5580 Acupuncture needle. (a) Identification. An acupuncture needle is a device intended to pierce the skin in the practice of acupuncture. The device consists of a solid, stainless steel needle....

  3. 21 CFR 880.5580 - Acupuncture needle.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Acupuncture needle. 880.5580 Section 880.5580 Food... § 880.5580 Acupuncture needle. (a) Identification. An acupuncture needle is a device intended to pierce the skin in the practice of acupuncture. The device consists of a solid, stainless steel needle....

  4. 21 CFR 880.5580 - Acupuncture needle.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 21 Food and Drugs 8 2012-04-01 2012-04-01 false Acupuncture needle. 880.5580 Section 880.5580 Food... § 880.5580 Acupuncture needle. (a) Identification. An acupuncture needle is a device intended to pierce the skin in the practice of acupuncture. The device consists of a solid, stainless steel needle....

  5. 21 CFR 880.5580 - Acupuncture needle.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Acupuncture needle. 880.5580 Section 880.5580 Food... § 880.5580 Acupuncture needle. (a) Identification. An acupuncture needle is a device intended to pierce the skin in the practice of acupuncture. The device consists of a solid, stainless steel needle....

  6. Army Robotics

    DTIC Science & Technology

    2009-10-07

    Army Robotics 07 October 2009 Dr. Grant Gerhart, Senior Research Scientist Bernard Theisen, Joint Center for Robotics DISTRIBUTION STATEMENT A... Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Grant Gerhart; Bernard Theisen 5d. PROJECT NUMBER 5e. TASK...CBRNE • IED Defeat Systems • Disarm / Disrupt • Reconnaissance • Investigation • Explosive Sniffer • Common Robotic Kit • EOD • Convoy • Log

  7. Space Robotics

    DTIC Science & Technology

    1982-08-01

    ACCESSION NO 3. RECIPIENTS CATALOG NUIA3.R CMU-RI-TR-82-10 I4 1 (. 4. ;,;-LL (and Sublitle) S. TYPE OF REPORT & PERIOD CovEREO SPACE ROBOTICS Interim... Robotics Institute Pittsburgh, PA. 15213 It. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE Office of Naval Research -August 1982 Arlington, VA 22217...SXnet.eE . Space Robotics Richard E. Korf Department of Computer Science and The Robotics Institute Carnegie-Mellon University Pittsburgh, Oetusylvania

  8. TARDEC Robotics

    DTIC Science & Technology

    2010-01-12

    unclassified TARDEC Robotics Dr. James L. Overholt Director, Joint Center for Robotics US Army TARDEC Report Documentation Page Form ApprovedOMB No...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) James L. Overholt... Robotics , Network and Control Components with a Focus on Customer Driven Requirements to Provide Full System Solutions to the War Fighter Technology

  9. [History of robotics: from archytas of tarentum until Da Vinci robot. (Part II)].

    PubMed

    Sánchez-Martín, F M; Jiménez Schlegl, P; Millán Rodríguez, F; Salvador-Bayarri, J; Monllau Font, V; Palou Redorta, J; Villavicencio Mavrich, H

    2007-03-01

    Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued for more than 4000 years. Archytas of Tarentum (at around 400 a.C.), Heron of Alexandria, Hsieh-Fec, Al-Jazari, Bacon, Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors. At 1942 Asimov published the three robotics laws. Mechanics, electronics and informatics advances at XXth century developed robots to be able to do very complex self governing works. At 1985 the robot PUMA 560 was employed to introduce a needle inside the brain. Later on, they were designed surgical robots like World First, Robodoc, Gaspar o Acrobot, Zeus, AESOP, Probot o PAKI-RCP. At 2000 the FDA approved the da Vinci Surgical System (Intuitive Surgical Inc, Sunnyvale, CA, USA), a very sophisticated robot to assist surgeons. Currently urological procedures like prostatectomy, cystectomy and nephrectomy are performed with the da Vinci, so urology has become a very suitable speciality to robotic surgery.

  10. Embedded mobile farm robot for identification of diseased plants

    NASA Astrophysics Data System (ADS)

    Sadistap, S. S.; Botre, B. A.; Pandit, Harshavardhan; Chandrasekhar; Rao, Adesh

    2013-07-01

    This paper presents the development of a mobile robot used in farms for identification of diseased plants. It puts forth two of the major aspects of robotics namely automated navigation and image processing. The robot navigates on the basis of the GPS (Global Positioning System) location and data obtained from IR (Infrared) sensors to avoid any obstacles in its path. It uses an image processing algorithm to differentiate between diseased and non-diseased plants. A robotic platform consisting of an ARM9 processor, motor drivers, robot mechanical assembly, camera and infrared sensors has been used. Mini2440 microcontroller has been used wherein Embedded linux OS (Operating System) is implemented.

  11. Robotics Offer Newfound Surgical Capabilities

    NASA Technical Reports Server (NTRS)

    2008-01-01

    Barrett Technology Inc., of Cambridge, Massachusetts, completed three Phase II Small Business Innovation Research (SBIR) contracts with Johnson Space Center, during which the company developed and commercialized three core technologies: a robotic arm, a hand that functions atop the arm, and a motor driver to operate the robotics. Among many industry uses, recently, an adaptation of the arm has been cleared by the U.S. Food and Drug Administration (FDA) for use in a minimally invasive knee surgery procedure, where its precision control makes it ideal for inserting a very small implant.

  12. (Robotic hands)

    SciTech Connect

    Mann, R.C.

    1988-09-23

    The traveler attended the International Workshop on Robot Hands at the Palace Hotel in Dubrovnik, Yugoslavia. The traveler presented a lecture on An integrated sensor system for the ORNL mobile robot.'' The traveler obtained important information on current R D efforts in multi-fingered robot hands and object recognition using touch sensing.

  13. Basic Robotics.

    ERIC Educational Resources Information Center

    Mullen, Frank

    This curriculum outline consists of instructional materials and information concerning resources for use in teaching a course in robotics. Addressed in the individual sections of the outline are the following topics: the nature of an industrial robot; the parts of an industrial robot (the manipulator, the power structure, and the control system);…

  14. Industrial Robots.

    ERIC Educational Resources Information Center

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  15. MRI-Safe Robot for Endorectal Prostate Biopsy

    PubMed Central

    Stoianovici, Dan; Kim, Chunwoo; Srimathveeravalli, Govindarajan; Sebrecht, Peter; Petrisor, Doru; Coleman, Jonathan; Solomon, Stephen B.; Hricak, Hedvig

    2014-01-01

    This paper reports the development of an MRI-Safe robot for direct (interventional) MRI-guided endorectal prostate biopsy. The robot is constructed of nonmagnetic and electrically nonconductive materials, and is electricity free, using pneumatic actuation and optical sensors. Targeting biopsy lesions of MRI abnormality presents substantial clinical potential for the management of prostate cancer. The paper describes MRI-Safe requirements, presents the kinematic architecture, design and construction of the robot, and a comprehensive set of preclinical tests for MRI compatibility and needle targeting accuracy. The robot has a compact and simple 3 degree-of-freedom (DoF) structure, two for orienting a needle-guide and one to preset the depth of needle insertion. The actual insertion is performed manually through the guide and up to the preset depth. To reduce the complexity and size of the robot next to the patient, the depth setting DoF is remote. Experimental results show that the robot is safe to use in any MRI environment (MRI-Safe). Comprehensive MRI tests show that the presence and motion of the robot in the MRI scanner cause virtually no image deterioration or signal to noise ratio (SNR) change. Robot’s accuracy in bench test, CT-guided in-vitro, MRI-guided in-vitro and animal tests are 0.37mm, 1.10mm, 2.09mm, and 2.58mm respectively. These values are acceptable for clinical use. PMID:25378897

  16. Iron needles in supernova remnants?

    NASA Astrophysics Data System (ADS)

    Gomez (née Morgan), Haley L.; Dunne, Loretta; Eales, Stephen A.; Gomez, Edward L.; Edmunds, Michael G.

    2005-08-01

    It has been suggested by Dwek that iron needles could explain the submillimetre emission from the Cas A supernova remnant (SNR) with only a very small total mass. We investigate whether a similar model holds for the Kepler SNR, and find that its emission could indeed be explained by a dust mass of less than 10-2Msolar, dependent on the axial ratio l/a of the needles - which we constrain to be less than 700. But the implied needle model for Kepler is inconsistent with that suggested for Cas A since either the needles would have to have a resistivity one or two orders of magnitude greater than those in Cas A or the electron density in Kepler's shocked plasma must be 40 times greater than suggested by X-ray observations. An additional problem with the needle model is that the implied thickness of the needles seems to be implausibly small, if the emission properties are calculated under the usual approximations.

  17. Fabrication of tungsten wire needles

    SciTech Connect

    Roder, A.

    1983-02-01

    Fine point needles for field emissoin are conventionally produced by electrolytically or chemically etching tungsten wire. Points formed in this manner have a typical tip radius of about 0.5 microns and a cone angle of some 30 degrees. The construction of needle matrix detector chambers has created a need for tungsten needles whose specifications are: 20 mil tungsten wire, 1.5 inch total length, 3 mm-long taper (resulting in a cone angle of about 5 degrees), and 25 micron-radius point (similar to that found on sewing needles). In the process described here for producing such needles, tungsten wire, immersed in a NaOH solution and in the presence of an electrode, is connected first to an ac voltage and then to a dc supply, to form a taper and a point on the end of the wire immersed in the solution. The process parameters described here are for needles that will meet the above specifications. Possible variations will be discussed under each approprite heading.

  18. Interactive simulation of needle insertion models.

    PubMed

    DiMaio, Simon P; Salcudean, Septimiu E

    2005-07-01

    A novel interactive virtual needle insertion simulation is presented. The simulation models are based on measured planar tissue deformations and needle insertion forces. Since the force-displacement relationship is only of interest along the needle shaft, a condensation technique is shown to reduce the computational complexity of linear simulation models significantly. As the needle penetrates or is withdrawn from the tissue model, the boundary conditions that determine the tissue and needle motion change. Boundary condition and local material coordinate changes are facilitated by fast low-rank matrix updates. A large-strain elastic needle model is coupled to the tissue models to account for needle deflection and bending during simulated insertion. A haptic environment, based on these novel interactive simulation techniques, allows users to manipulate a three-degree-of-freedom virtual needle as it penetrates virtual tissue models, while experiencing steering torques and lateral needle forces through a planar haptic interface.

  19. Driver Behavior and Motivation.

    ERIC Educational Resources Information Center

    Thomas, Patricia

    School bus driver behavior and motivation are continuing concerns for leaders/administrators in the field of transportation. Motivation begins with selection of a potential new driver. Drivers must like children and be patient, loyal, and punctual. The applicant's background must be verified, in view of the national concern for child safety.…

  20. Superficial versus deep dry needling.

    PubMed

    Baldry, Peter

    2002-08-01

    Ninety percent of my patients with myofascial trigger point (MTrP) pain have this alone and are treated with superficial dry needling. Approximately 10% have concomitant MTrP pain and nerve root compression pain. These are treated with deep dry needling. SUPERFICIAL DRY NEEDLING (SDN): The activated and sensitised nociceptors of a MTrP cause it to be so exquisitely tender that firm pressure applied to it gives rise to a flexion withdrawal reflex (jump sign) and in some cases the utterance of an expletive (shout sign). The optimum strength of SDN at a MTrP site is the minimum necessary to abolish these two reactions. With respect to this patients are divided into strong, average and weak responders. The responsiveness of each individual is determined by trial and error. It is my practice to insert a needle (0.3mm x 30mm) into the tissues immediately overlying the MTrP to a depth of 5-10 mm and to leave it in situ long enough for the two reactions to be abolished. For an average reactor this is about 30secs. For a weak reactor it is several minutes. And for a strong reactor the insertion of the needle and its immediate withdrawal is all that is required. Following treatment muscle stretching exercises should be carried out, and any steps taken to eliminate factors that might lead to the reactivation of the MTrPs. DEEP DRY NEEDLING (DDN): This in my practice is only used either when primary MTrP activity causes shortening of muscle sufficient enough to bring about compression of nerve roots. Or when there is nerve compression pain usually from spondylosis or disc prolapse and the secondary development of MTrP activity. Unlike SDN, DDN is a painful procedure and one which gives rise to much post-treatment soreness.

  1. Humanoid robotics in health care: An exploration of children's and parents' emotional reactions.

    PubMed

    Beran, Tanya N; Ramirez-Serrano, Alex; Vanderkooi, Otto G; Kuhn, Susan

    2015-07-01

    A new non-pharmacological method of distraction was tested with 57 children during their annual flu vaccination. Given children's growing enthusiasm for technological devices, a humanoid robot was programmed to interact with them while a nurse administered the vaccination. Children smiled more often with the robot, as compared to the control condition, but they did not cry less. Parents indicated that their children held stronger memories for the robot than for the needle, wanted the robot in the future, and felt empowered to cope. We conclude that children and their parents respond positively to a humanoid robot at the bedside.

  2. Magnetic needles and superparamagnetic cells

    PubMed Central

    Bryant, H C; Sergatskov, D A; Lovato, Debbie; Adolphi, Natalie L; Larson, Richard S; Flynn, Edward R

    2007-01-01

    Superparamagnetic nanoparticles can be attached in great numbers to pathogenic cells using specific antibodies so that the magnetically-labeled cells themselves become superparamagnets. The cells can then be manipulated and drawn out of biological fluids, as in a biopsy, very selectively using a magnetic needle. We examine the origins and uncertainties in the forces exerted on magnetic nanoparticles by static magnetic fields, leading to a model for trajectories and collection times of dilute superparamagnetic cells in biological fluids. We discuss the design and application of such magnetic needles and the theory of collection times. We compare the mathematical model to measurements in a variety of media including blood. PMID:17664592

  3. TARDEC Robotics

    DTIC Science & Technology

    2011-03-01

    TARDEC Robotics Dr. Greg Hudas Greg.hudas@us.army.mil UNCLASSIFIED: Dist A. Approved for public release Report Documentation Page Form ApprovedOMB...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Dr. Greg Hudas...ANSI Std Z39-18 Excellence in Robotics Outreach & University Shaping Requirements Building Modeling & Simulation Component Development International

  4. ROBOT WRITING,

    DTIC Science & Technology

    Technical writers who are hypnotized by the mechanical metaphor inevitably produce robot writing - a separate language, distantly related to the...prose of Darwin, Huxley, Jeans, and Einstein. Where they were clear, fresh, and graceful, the robot writer is hard, dull, and clumsy. Where they were...merely human, the robot writer is infallible, prefabricated, impersonal, and irresponsible. These four characteristics are interlinked. An example of one usually illustrates the other three.

  5. Robot Programming.

    DTIC Science & Technology

    1982-12-01

    8217AD-A127 233 ROBOT PROGRRMMING(U) MASSACHUSETTS INST OFGTECHi/ CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB T LOZANO-PEREZ UNCLASSIFIED DC8 AI-9 N884...CATALOG NUMBER * a ~AIM 698 R a is 4. TITLE (and Subtitle) S. TYPE OF REPORT & PERIOD COVERED Robot Programming Memorandum 6. PERFORMING ORG. REPORT...34R Distribution is Unlimted .. SUPPLEMENTARY NOTES None 1. KEY WORDS (Continue on r verea aide ii neeaortm and Identify by block number) *Q. Robotics

  6. Robotics research

    SciTech Connect

    Brady, M.; Paul, R.

    1984-01-01

    Organized around a view of robotics as ''the intelligent connection of perception to action,'' the fifty-three contributions collected in this book present leading current research in one of the fastest moving fields of artificial intelligence. Readings Include: Hand-Eye Coordination in Rope Handling; 3-D Balance Using 2-D algorithms. A Model Driven Visual Inspection Module: Stereo Vision: Complexity and Constraints; Interpretation of Contact Geometers from Force Measurement; The Utah MIT Dextrous Hand: Work in Progress; Hierarchical Nonlinear Control for Robots; VAL-11; A Robot Programming Language and Control System; Technological Barriers in Robotics: A Perspective from Industry.

  7. Hopping robot

    DOEpatents

    Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

    2001-01-01

    The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

  8. Toward effective needle steering in brain tissue.

    PubMed

    Engh, J A; Podnar, G; Kondziolka, D; Riviere, C N

    2006-01-01

    Recent research has exploited the inherent bending of a bevel-tipped needle during insertion, accomplishing steering of the needle by rotating the needle shaft. Combining this technique with the observation that a straight trajectory can be accomplished by spinning the needle at a constant rate during insertion, this paper presents a novel technique for proportional control of the curvature of the trajectory via duty-cycled spinning of the needle. In order to accommodate this technique to very soft tissues such as the brain, several custom needle prototypes have also been designed in order to increase the steering versatility of the system by maximizing the attainable curvature. The paper describes the needle-steering system and the needle prototypes, and presents preliminary results from tests in an artificial brain tissue substitute.

  9. A fully actuated robotic assistant for MRI-guided prostate biopsy and brachytherapy

    NASA Astrophysics Data System (ADS)

    Li, Gang; Su, Hao; Shang, Weijian; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Fischer, Gregory S.

    2013-03-01

    Intra-operative medical imaging enables incorporation of human experience and intelligence in a controlled, closed-loop fashion. Magnetic resonance imaging (MRI) is an ideal modality for surgical guidance of diagnostic and therapeutic procedures, with its ability to perform high resolution, real-time, high soft tissue contrast imaging without ionizing radiation. However, for most current image-guided approaches only static pre-operative images are accessible for guidance, which are unable to provide updated information during a surgical procedure. The high magnetic field, electrical interference, and limited access of closed-bore MRI render great challenges to developing robotic systems that can perform inside a diagnostic high-field MRI while obtaining interactively updated MR images. To overcome these limitations, we are developing a piezoelectrically actuated robotic assistant for actuated percutaneous prostate interventions under real-time MRI guidance. Utilizing a modular design, the system enables coherent and straight forward workflow for various percutaneous interventions, including prostate biopsy sampling and brachytherapy seed placement, using various needle driver configurations. The unified workflow compromises: 1) system hardware and software initialization, 2) fiducial frame registration, 3) target selection and motion planning, 4) moving to the target and performing the intervention (e.g. taking a biopsy sample) under live imaging, and 5) visualization and verification. Phantom experiments of prostate biopsy and brachytherapy were executed under MRI-guidance to evaluate the feasibility of the workflow. The robot successfully performed fully actuated biopsy sampling and delivery of simulated brachytherapy seeds under live MR imaging, as well as precise delivery of a prostate brachytherapy seed distribution with an RMS accuracy of 0.98mm.

  10. A Fully Actuated Robotic Assistant for MRI-Guided Prostate Biopsy and Brachytherapy.

    PubMed

    Li, Gang; Su, Hao; Shang, Weijian; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M; Fischer, Gregory S

    2013-03-12

    Intra-operative medical imaging enables incorporation of human experience and intelligence in a controlled, closed-loop fashion. Magnetic resonance imaging (MRI) is an ideal modality for surgical guidance of diagnostic and therapeutic procedures, with its ability to perform high resolution, real-time, high soft tissue contrast imaging without ionizing radiation. However, for most current image-guided approaches only static pre-operative images are accessible for guidance, which are unable to provide updated information during a surgical procedure. The high magnetic field, electrical interference, and limited access of closed-bore MRI render great challenges to developing robotic systems that can perform inside a diagnostic high-field MRI while obtaining interactively updated MR images. To overcome these limitations, we are developing a piezoelectrically actuated robotic assistant for actuated percutaneous prostate interventions under real-time MRI guidance. Utilizing a modular design, the system enables coherent and straight forward workflow for various percutaneous interventions, including prostate biopsy sampling and brachytherapy seed placement, using various needle driver configurations. The unified workflow compromises: 1) system hardware and software initialization, 2) fiducial frame registration, 3) target selection and motion planning, 4) moving to the target and performing the intervention (e.g. taking a biopsy sample) under live imaging, and 5) visualization and verification. Phantom experiments of prostate biopsy and brachytherapy were executed under MRI-guidance to evaluate the feasibility of the workflow. The robot successfully performed fully actuated biopsy sampling and delivery of simulated brachytherapy seeds under live MR imaging, as well as precise delivery of a prostate brachytherapy seed distribution with an RMS accuracy of 0.98mm.

  11. The Baker Observatory Robotic Autonomous Telescope

    NASA Astrophysics Data System (ADS)

    Hicks, L. L.; Reed, M. D.; Thompson, M. A.; Gilker, J. T.

    We describe the Baker Observatory Robotic Autonomous Telescope project. The hardware includes a 16 inch Meade LX-200 telescope, an AstroHaven 7 feet dome, an Apogee U47 CCD camera and filter wheel, a Boltwood Cloud Sensor II, and various other minor hardware. We are implementing RTS2 for the Telescope Control System and incorporating custom drivers for ancillary systems.

  12. Beyond needle sharing: meta-analyses of social context risk behaviors of injection drug users attending needle exchange programs.

    PubMed

    Ksobiech, Kate

    2006-01-01

    This study gathered data from U.S. and international needle exchange programs (NEPs). Of particular interest were outcome measures of dependent variables related to behaviors within social contexts of injection drug users (IDUs), an area not well understood. Thirty-one studies, with a total of 86 separate measures of 36 dependent variables were included. Because combining all results into a single meta-analysis would be inappropriate, dependent variables were placed into five categories for five separate meta-analyses: risky contexts, injection frequency, sharing drug paraphernalia, drug preparation, and syringe use. NEP attendance was inversely related to declines in all categorical behaviors except for "risky context." NEP attenders are slightly more likely to be in a risky circumstance when injecting drugs than non-attenders. While injection frequency declined only slightly among NEP attenders, that result may be interpreted as a positive outcome, given the often-stated criticism that providing clean needles encourages increased drug use. NEP use was weakly associated with a decrease in the sharing of drug paraphernalia. Clean needles alone do not appear to be sufficient motivation to motivate major changes in contextual risk behaviors analyzed herein. Research is needed to assess the impact of interpersonal IDU relationships with other stakeholders (clinic employees, van drivers, medical personnel, nutritionists, sexual partners, etc.) on IDU drug-using behaviors at many levels.

  13. Robotic Prostate Biopsy in Closed MRI Scanner

    DTIC Science & Technology

    2009-02-01

    and robot control. The functions of the device will be tested in phantom studies at the Brigham and Women’s Hospital.  Demonstrated integrated...system in 3T MRI at the Brigham and Women’s Hospital. See Reference [3].  Demonstrated needle placement in phantoms under real-time MR image guidance...workflow has been evaluated in phantom studies with accurate visualization and targeting of five out of five 1 cm targets. The paper explains the

  14. MRI-powered Actuators for Robotic Interventions

    PubMed Central

    Vartholomeos, Panagiotis; Qin, Lei; Dupont, Pierre E.

    2012-01-01

    This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the analysis and to demonstrate the capability of the approach for needle biopsies. The concepts of actuator locking mechanisms and multi-axis control are also introduced. PMID:22287082

  15. Biomechanics of a new atraumatic surgical needle holder.

    PubMed

    Towler, M A; Chen, N C; Moody, F P; McGregor, W; Thacker, J G; Rodeheaver, G T; Edlich, R F

    1991-01-01

    It is the purpose of this report to design, develop, and evaluate a needle holder whose jaws improve needle-holding security without altering the geometry of the curved surgical needle. The configuration of the jaws of this new needle holder is curved, conforming to the curvature of the surgical needle. A biomechanical study of this curved surgical needle holder demonstrates that it holds the curved needle securely without needle deformation.

  16. Biologically-inspired hexapod robot design and simulation

    NASA Technical Reports Server (NTRS)

    Espenschied, Kenneth S.; Quinn, Roger D.

    1994-01-01

    The design and construction of a biologically-inspired hexapod robot is presented. A previously developed simulation is modified to include models of the DC drive motors, the motor driver circuits and their transmissions. The application of this simulation to the design and development of the robot is discussed. The mechanisms thought to be responsible for the leg coordination of the walking stick insect were previously applied to control the straight-line locomotion of a robot. We generalized these rules for a robot walking on a plane. This biologically-inspired control strategy is used to control the robot in simulation. Numerical results show that the general body motion and performance of the simulated robot is similar to that of the robot based on our preliminary experimental results.

  17. Robotics 101

    ERIC Educational Resources Information Center

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  18. Thermally Activated Driver

    NASA Technical Reports Server (NTRS)

    Kinard, William H.; Murray, Robert C.; Walsh, Robert F.

    1987-01-01

    Space-qualified, precise, large-force, thermally activated driver (TAD) developed for use in space on astro-physics experiment to measure abundance of rare actinide-group elements in cosmic rays. Actinide cosmic rays detected using thermally activated driver as heart of event-thermometer (ET) system. Thermal expansion and contraction of silicone oil activates driver. Potential applications in fluid-control systems where precise valve controls are needed.

  19. Robotic Surgery

    NASA Technical Reports Server (NTRS)

    2000-01-01

    The Automated Endoscopic System for Optimal Positioning, or AESOP, was developed by Computer Motion, Inc. under a SBIR contract from the Jet Propulsion Lab. AESOP is a robotic endoscopic positioning system used to control the motion of a camera during endoscopic surgery. The camera, which is mounted at the end of a robotic arm, previously had to be held in place by the surgical staff. With AESOP the robotic arm can make more precise and consistent movements. AESOP is also voice controlled by the surgeon. It is hoped that this technology can be used in space repair missions which require precision beyond human dexterity. A new generation of the same technology entitled the ZEUS Robotic Surgical System can make endoscopic procedures even more successful. ZEUS allows the surgeon control various instruments in its robotic arms, allowing for the precision the procedure requires.

  20. Robot Design

    NASA Technical Reports Server (NTRS)

    1988-01-01

    Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

  1. Development of a new microsurgical robot for stereotactic neurosurgery.

    PubMed

    Koyama, H; Uchida, T; Funakubo, H; Takakura, K; Fankhauser, H

    1990-01-01

    The robot technology was introduced into a new stereotactic neurosurgery system for applications to biopsy, blind surgery, and functional neurosurgery. The authors have developed a newly designed prototype microsurgical robot, designed to allow a biopsy needle to reach the target such as a cerebral tumor within a brain automatically on the basis of the X, Y, and Z coordinates obtained by CT scanner. This robot is so small that it can be driven in a CT scanner gantry. It consists mainly of the link mechanism and the insertion mechanism. We constructed the link mechanism and investigated its working space.

  2. Compensating for Torsion Windup in Steerable Needles

    PubMed Central

    Reed, Kyle B.

    2010-01-01

    Long, flexible, bevel-tip needles curve during insertion into tissue, and rotations of the needle base reorient the tip to steer subsequent insertions. Friction between the tissue and the needle shaft, however, can cause a severe discrepancy between the needle base and tip angles. In this paper, I demonstrate an algorithm to properly align the entire length of the needle using torque measured at the base. My algorithm uses several intermediate base rotations to align the orientation of points along the shaft with the desired angle, with minimal remaining torque exerted by the base. I performed an experimental validation with four angle sensors attached to the needle throughout the tissue. My compensation algorithm decreased the lag throughout the needle by up to 88%. PMID:20640198

  3. Genetic Based Plant Resistance and Susceptibility Traits to Herbivory Influence Needle and Root Litter Nutrient Dynamics

    SciTech Connect

    Classen, Aimee T; Chapman, Samantha K.; Whitham, Thomas G; Hart, Stephen C; Koch, George W

    2007-01-01

    It is generally assumed that leaf and root litter decomposition have similar drivers and that nutrient release from these substrates is synchronized. Few studies have examined these assumptions, and none has examined how plant genetics (i.e., plant susceptibility to herbivory) could affect these relationships. Here we examine the effects of herbivore susceptibility and resistance on needle and fine root litter decomposition of pi on pine, Pinus edulis. The study population consists of individual trees that are either susceptible or resistant to herbivory by the pi on needle scale, Matsucoccus acalyptus, or the stem-boring moth, Dioryctria albovittella. Genetic analyses and experimental removals and additions of these insects have identified trees that are naturally resistant and susceptible to these insects. These herbivores increase the chemical quality of litter inputs and alter soil microclimate, both of which are important decomposition drivers. Our research leads to four major conclusions: Herbivore susceptibility and resistance effects on 1) needle litter mass loss and phosphorus (P) retention in moth susceptible and resistant litter are governed by microclimate, 2) root litter nitrogen (N) and P retention, and needle litter N retention are governed by litter chemical quality, 3) net nutrient release from litter can reverse over time, 4) root and needle litter mass loss and nutrient release are determined by location (above- vs. belowground), suggesting that the regulators of needle and root decomposition differ at the local scale. Understanding of decomposition and nutrient retention in ecosystems requires consideration of herbivore effects on above- and belowground processes and how these effects may be governed by plant genotype. Because an underlying genetic component to herbivory is common to most ecosystems of the world and herbivory may increase in climatic change scenarios, it is important to evaluate the role of plant genetics in affecting carbon and

  4. Robotic transportation.

    PubMed

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions.

  5. On-line monitoring of multi-component strain development in a tufting needle using optical fibre Bragg grating sensors

    NASA Astrophysics Data System (ADS)

    Chehura, Edmon; Dell'Anno, Giuseppe; Huet, Tristan; Staines, Stephen; James, Stephen W.; Partridge, Ivana K.; Tatam, Ralph P.

    2014-07-01

    Dynamic loadings induced on a tufting needle during the tufting of dry carbon fibre preform via a commercial robot-controlled tufting head were investigated in situ and in real-time using optical fibre Bragg grating (FBG) sensors bonded to the needle shaft. The sensors were configured such that the axial strain and bending moments experienced by the needle could be measured. A study of the influence of thread and thread type on the strain imparted to the needle revealed axial strain profiles which had equivalent trends but different magnitudes. The mean of the maximum axial compression strains measured during the tufting of a 4-ply quasi-isotropic carbon fibre dry preform were - 499 ± 79 μɛ, - 463 ± 51 μɛ and - 431 ± 59 μɛ for a needle without thread, with metal wire and with Kevlar® thread, respectively. The needle similarly exhibited bending moments of different magnitude when the different needle feeding configurations were used.

  6. A Simple Wave Driver

    ERIC Educational Resources Information Center

    Temiz, Burak Kagan; Yavuz, Ahmet

    2015-01-01

    This study was done to develop a simple and inexpensive wave driver that can be used in experiments on string waves. The wave driver was made using a battery-operated toy car, and the apparatus can be used to produce string waves at a fixed frequency. The working principle of the apparatus is as follows: shortly after the car is turned on, the…

  7. Help Wanted: Drivers.

    ERIC Educational Resources Information Center

    Hoober, Scott

    1999-01-01

    A booming economy and low unemployment make it harder than ever before to lure and retain good school-bus drivers. Lack of money for good wages has prompted some innovative recruitment and retention tactics. Chicago has turned to the rolls of people going off welfare as a source of bus-driver candidates. The Trans Group, headquartered in Chestnut…

  8. Ultrasound guided spine needle insertion

    NASA Astrophysics Data System (ADS)

    Chen, Elvis C. S.; Mousavi, Parvin; Gill, Sean; Fichtinger, Gabor; Abolmaesumi, Purang

    2010-02-01

    An ultrasound (US) guided, CT augmented, spine needle insertion navigational system is introduced. The system consists of an electromagnetic (EM) sensor, an US machine, and a preoperative CT volume of the patient anatomy. Three-dimensional (3D) US volume is reconstructed intraoperatively from a set of two-dimensional (2D) freehand US slices, and is coregistered with the preoperative CT. This allows the preoperative CT volume to be used in the intraoperative clinical coordinate. The spatial relationship between the patient anatomy, surgical tools, and the US transducer are tracked using the EM sensor, and are displayed with respect to the CT volume. The pose of the US transducer is used to interpolate the CT volume, providing the physician with a 2D "x-ray vision" to guide the needle insertion. Many of the system software components are GPU-accelerated, allowing real-time performance of the guidance system in a clinical setting.

  9. [Robotic surgery].

    PubMed

    Sándor, József; Haidegger, Tamás; Kormos, Katalin; Ferencz, Andrea; Csukás, Domokos; Bráth, Endre; Szabó, Györgyi; Wéber, György

    2013-10-01

    Due to the fast spread of laparoscopic cholecystectomy, surgical procedures have been changed essentially. The new techniques applied for both abdominal and thoracic procedures provided the possibility for minimally invasive access with all its advantages. Robots - originally developed for industrial applications - were retrofitted for laparoscopic procedures. The currently prevailing robot-assisted surgery is ergonomically more advantageous for the surgeon, as well as for the patient through the more precise preparative activity thanks to the regained 3D vision. The gradual decrease of costs of robotic surgical systems and development of new generations of minimally invasive devices may lead to substantial changes in routine surgical procedures.

  10. Subsumption Robotics

    DTIC Science & Technology

    1998-01-01

    Subsumption Robotics Christopher K. DeBolt Naval EOD Technology Division 2008 Stump Neck Road Indian Head, MD 20640-5070 phone: (301) 744-6850, Ext...eodmgate.navsea.navy.mil; nguyent.eodtc@eodmgate.navsea.navy.mil Helen Greiner and Polly K. Pook I.S. Robotics phone: (617) 629-0055 e-mail: helen@isr.com , pook...408) 656-3462 e-mail: healey@me.nps.navy.mil LONG-TERM GOALS Through the use of subsumption architectures, low cost, simple robots can be developed

  11. Mortality among professional drivers.

    PubMed

    Rafnsson, V; Gunnarsdóttir, H

    1991-10-01

    The mortality of truck drivers and taxi drivers was studied in Reykjavík. The national mortality rate was used for comparison, and the follow-up lasted until 1 December 1988. The 868 truck drivers (28,788.0 person-years) had an excess of lung cancer deaths [24 observed, 11.2 expected, standardized mortality ratio (SMR) 2.14], but fewer deaths than expected from respiratory diseases (15 observed versus 30.1 expected). The SMR from lung cancer did not steadily increase as the duration of employment increased, nor did it change with the length of follow-up. The SMR values did not deviate substantially from unity for the taxi drivers. Since the high mortality from lung cancer among the truck drivers did not seem to be due to their smoking habits, it might have been caused by one or more occupational factors, especially in light of this group's exposure to engine exhaust gases.

  12. Estimation of Model Parameters for Steerable Needles

    PubMed Central

    Park, Wooram; Reed, Kyle B.; Okamura, Allison M.; Chirikjian, Gregory S.

    2010-01-01

    Flexible needles with bevel tips are being developed as useful tools for minimally invasive surgery and percutaneous therapy. When such a needle is inserted into soft tissue, it bends due to the asymmetric geometry of the bevel tip. This insertion with bending is not completely repeatable. We characterize the deviations in needle tip pose (position and orientation) by performing repeated needle insertions into artificial tissue. The base of the needle is pushed at a constant speed without rotating, and the covariance of the distribution of the needle tip pose is computed from experimental data. We develop the closed-form equations to describe how the covariance varies with different model parameters. We estimate the model parameters by matching the closed-form covariance and the experimentally obtained covariance. In this work, we use a needle model modified from a previously developed model with two noise parameters. The modified needle model uses three noise parameters to better capture the stochastic behavior of the needle insertion. The modified needle model provides an improvement of the covariance error from 26.1% to 6.55%. PMID:21643451

  13. Robotic arm

    DOEpatents

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  14. Robotic vehicle

    DOEpatents

    Box, W.D.

    1998-08-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendible appendages, each of which is radially extendible relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendible members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  15. Robotic vehicle

    DOEpatents

    Box, W.D.

    1997-02-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  16. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1998-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  17. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1997-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  18. Adaptive Kinematic Control of a Robotic Venipuncture Device Based on Stereo Vision, Ultrasound, and Force Guidance.

    PubMed

    Balter, Max L; Chen, Alvin I; Maguire, Timothy J; Yarmush, Martin L

    2017-02-01

    Robotic systems have slowly entered the realm of modern medicine; however, outside the operating room, medical robotics has yet to be translated to more routine interventions such as blood sampling or intravenous fluid delivery. In this paper, we present a medical robot that safely and rapidly cannulates peripheral blood vessels-a procedure commonly known as venipuncture. The device uses near-infrared and ultrasound imaging to scan and select suitable injection sites, and a 9-DOF robot to insert the needle into the center of the vessel based on image and force guidance. We first present the system design and visual servoing scheme of the latest generation robot, and then evaluate the performance of the device through workspace simulations and free-space positioning tests. Finally, we perform a series of motion tracking experiments using stereo vision, ultrasound, and force sensing to guide the position and orientation of the needle tip. Positioning experiments indicate sub-millimeter accuracy and repeatability over the operating workspace of the system, while tracking studies demonstrate real-time needle servoing in response to moving targets. Lastly, robotic phantom cannulations demonstrate the use of multiple system states to confirm that the needle has reached the center of the vessel.

  19. Robot Rescue

    NASA Technical Reports Server (NTRS)

    Morring, Frank, Jr.

    2004-01-01

    Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.

  20. Handbook of industrial robotics

    SciTech Connect

    Nof, S.Y.

    1985-01-01

    This book presents papers on the application of artificial intelligence to robots used in industrial plants. Topics considered include vision systems, elements of industrial robot software, robot teaching, the off-line programming of robots, a structured programming robot language, task-level manipulator programming, expert systems, and the role of the computer in robot intelligence.

  1. Tutorial on robotics

    SciTech Connect

    Lee, C.S.G.; Gonzalez, R.C.; Fu, K.S.

    1986-01-01

    Basic fundamentals in robotics are presented in this tutorial. Topics covered are as follows: robot arm kinematics; robot arm dynamics; planning or manipulator trajectories; servo control for manipulators; force sensing and control; robot vision systems; robot programming languages; and machine intelligence and robot planning.

  2. Dimensions of stabident intraosseous perforators and needles.

    PubMed

    Ramlee, R A; Whitworth, J

    2001-09-01

    Problems can be encountered inserting intraosseous injection needles through perforation sites. This in vitro study examined the variability and size compatibility of Stabident intraosseous injection components. The diameters of 40 needles and perforators from a single Stabident kit were measured in triplicate with a toolmakers microscope. One-way ANOVA revealed that mean needle diameter (0.411 mm) was significantly narrower than mean perforator diameter (0.427 mm) (p < 0.001). A frequency distribution plot revealed that needle diameter followed a normal distribution, indicating tight quality control during manufacture. The diameter of perforators was haphazardly distributed, with a clustering of 15% at the lower limit of the size range. However on no occasion was the diameter of a perforator smaller than that of an injection needle. We conclude that components of the Stabident intraosseous anaesthetic system are size-compatible, but there is greater and more haphazard variability in the diameter of perforators than injection needles.

  3. Synchrotron based proton drivers

    SciTech Connect

    Weiren Chou

    2002-09-19

    Proton drivers are the proton sources that produce intense short proton bunches. They have a wide range of applications. This paper discusses the proton drivers based on high-intensity proton synchrotrons. It gives a review of the high-intensity proton sources over the world and a brief report on recent developments in this field in the U.S. high-energy physics (HEP) community. The Fermilab Proton Driver is used as a case study for a number of challenging technical design issues.

  4. Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.

    PubMed

    Gilbert, Hunter B; Hendrick, Richard J; Webster, Robert J

    2016-02-01

    Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot's workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures.

  5. Metallurgically bonded needle holder jaws. A technique to enhance needle holding security without sutural damage.

    PubMed

    Abidin, M R; Dunlapp, J A; Towler, M A; Becker, D G; Thacker, J G; McGregor, W; Edlich, R F

    1990-10-01

    A new needle holder jaw face has been specifically designed and developed to increase needle holding security without sutural damage. Tungsten carbide particles have been metallurgically bonded into the stainless steel jaw to create a fine granular surface. This bonded jaw enhances needle holding security by limiting either twisting or rotation of the clamped needle. In addition, compression of the monofilament synthetic sutures by the bonded jaws does not reduce suture breaking strength.

  6. Mass drivers. 3: Engineering

    NASA Technical Reports Server (NTRS)

    Arnold, W.; Bowen, S.; Cohen, S.; Fine, K.; Kaplan, D.; Kolm, M.; Kolm, H.; Newman, J.; Oneill, G. K.; Snow, W.

    1979-01-01

    The last of a series of three papers by the Mass-Driver Group of the 1977 Ames Summer Study is presented. It develops the engineering principles required to implement the basic mass-driver. Optimum component mass trade-offs are derived from a set of four input parameters, and the program used to design a lunar launcher. The mass optimization procedures is then incorporated into a more comprehensive mission optimization program called OPT-4, which evaluates an optimized mass-driver reaction engine and its performance in a range of specified missions. Finally, this paper discusses, to the extent that time permitted, certain peripheral problems: heating effects in buckets due to magnetic field ripple; an approximate derivation of guide force profiles; the mechanics of inserting and releasing payloads; the reaction mass orbits; and a proposed research and development plan for implementing mass drivers.

  7. Electronic Driver Education Simulator.

    ERIC Educational Resources Information Center

    Spence, Keith R.

    1980-01-01

    Describes the collision avoidance simulator, which provides both a hands-on prolect for digital electronics students and a motivation device for driver education students. Gives details of the electrical construction and operation of the simulator. (JOW)

  8. SU-F-BRA-04: Prostate HDR Brachytherapy with Multichannel Robotic System

    SciTech Connect

    Joseph, F Maria; Podder, T; Yu, Y

    2015-06-15

    Purpose: High-dose-rate (HDR) brachytherapy is gradually becoming popular in treating patients with prostate cancers. However, placement of the HDR needles at desired locations into the patient is challenging. Application of robotic system may improve the accuracy of the clinical procedure. This experimental study is to evaluate the feasibility of using a multichannel robotic system for prostate HDR brachytherapy. Methods: In this experimental study, the robotic system employed was a 6-DOF Multichannel Image-guided Robotic Assistant for Brachytherapy (MIRAB), which was designed and fabricated for prostate seed implantation. The MIRAB has the provision of rotating 16 needles while inserting them. Ten prostate HDR brachytherapy needles were simultaneously inserted using MIRAB into a commercially available prostate phantom. After inserting the needles into the prostate phantom at desired locations, 2mm thick CT slices were obtained for dosimetric planning. HDR plan was generated using Oncetra planning system with a total prescription dose of 34Gy in 4 fractions. Plan quality was evaluated considering dose coverage to prostate and planning target volume (PTV), with 3mm margin around prostate, as well as the dose limit to the organs at risk (OARs) following the American Brachytherapy Society (ABS) guidelines. Results: From the CT scan, it is observed that the needles were inserted straight into the desired locations and they were adequately spaced and distributed for a clinically acceptable HDR plan. Coverage to PTV and prostate were about 91% (V100= 91%) and 96% (V100=96%), respectively. Dose to 1cc of urethra, rectum, and bladder were within the ABS specified limits. Conclusion: The MIRAB was able to insert multiple needles simultaneously into the prostate precisely. By controlling the MIRAB to insert all the ten utilized needles into the prostate phantom, we could achieve the robotic HDR brachytherapy successfully. Further study for assessing the system

  9. Evaluating Driver Drowsiness Countermeasures.

    PubMed

    Gaspar, John G; Brown, Timothy L; Schwarz, Chris W; Lee, John D; Kang, Julie; Higgins, James S

    2017-03-21

    Objective Driver drowsiness contributes to a substantial number of fatal and non-fatal crashes, with recent estimates attributing up to 21% of fatal crashes to drowsiness. This paper describes recent NHTSA research on in-vehicle drowsiness countermeasures. Recent advances in technology and state detection algorithms have shown success in detecting drowsiness using a variety of data sources, including camera-based eye tracking, steering wheel position, yaw rate, and vehicle lane position. However, detection is just the first step in reducing drowsy driving crashes. Countermeasures are also needed to provide feedback to the driver, modify driver behavior, and prevent crashes. The goal of this study was to evaluate the effectiveness of in-vehicle drowsiness countermeasures in reducing drowsy lane departures. The tested countermeasures included different warning modalities in either a discrete or staged interface. Methods Data were collected from 72 young adult drivers (age 21-32) in the high-fidelity full-motion National Advanced Driving Simulator. Drivers completed a 45-minute simulated nighttime drive at two time points, late night and early morning, where drowsiness was manipulated by continuous hours awake. 48 drivers were exposed to one of six countermeasures that varied along two dimensions, type and modality. The countermeasures relied on a steering-based drowsiness detection algorithm developed in prior NHTSA research. 24 drivers received no countermeasure and were used as a baseline comparison. System effectiveness was measured by lane departures and standard deviation in lateral position (SDLP). Results There was a reduction in drowsy lane departure frequency and lane position variability for drivers with countermeasures compared to the baseline no-countermeasure group. Importantly, the data suggest that multi-stage alerts, which provide an indication of increasing urgency, were more effective in reducing drowsy lane departures than single-stage discrete

  10. Modular Robotic Vehicle

    NASA Technical Reports Server (NTRS)

    Borroni-Bird, Christopher E. (Inventor); Vitale, Robert L. (Inventor); Lee, Chunhao J. (Inventor); Ambrose, Robert O. (Inventor); Bluethmann, William J. (Inventor); Junkin, Lucien Q. (Inventor); Lutz, Jonathan J. (Inventor); Guo, Raymond (Inventor); Lapp, Anthony Joseph (Inventor); Ridley, Justin S. (Inventor)

    2015-01-01

    A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.

  11. NOTE: MRI-guided robotic system for transperineal prostate interventions: proof of principle

    NASA Astrophysics Data System (ADS)

    van den Bosch, Michiel R.; Moman, Maaike R.; van Vulpen, Marco; Battermann, Jan J.; Duiveman, Ed; van Schelven, Leonard J.; de Leeuw, Hendrik; Lagendijk, Jan J. W.; Moerland, Marinus A.

    2010-03-01

    In this study, we demonstrate the proof of principle of the University Medical Center Utrecht (UMCU) robot dedicated to magnetic resonance imaging (MRI)-guided interventions in patients. The UMCU robot consists of polymers and non-ferromagnetic materials. For transperineal prostate interventions, it can be placed between the patient's legs inside a closed bore 1.5T MR scanner. The robot can manually be translated and rotated resulting in five degrees of freedom. It contains a pneumatically driven tapping device to automatically insert a needle stepwise into the prostate using a controller unit outside the scanning room. To define the target positions and to verify the needle insertion point and the needle trajectory, a high-resolution 3D balanced steady state free precession (bSSFP) scan that provides a T2/T1-weighted contrast is acquired. During the needle insertion fast 2D bSSFP images are generated to track the needle on-line. When the target position is reached, the radiation oncologist manually places a fiducial gold marker (small seed) at this location. In total two needle trajectories are used to place all markers. Afterwards, a high-resolution 3D bSSFP scan is acquired to visualize the fiducial gold markers. Four fiducial gold markers were placed transperineally into the prostate of a patient with a clinical stage T3 prostate cancer. In the generated scans, it was possible to discriminate the patient's anatomy, the needle and the markers. All markers were delivered inside the prostate. The procedure time was 1.5 h. This study proves that MRI-guided needle placement and seed delivery in the prostate with the UMCU robot are feasible.

  12. Drunk Driver Testing

    NASA Technical Reports Server (NTRS)

    1984-01-01

    Systems Technology, Inc. developed a technique to study/measure behavioral changes brought on by long term isolation is now being used in a system for determining whether a driver is too drunk to drive. Device is intended to discourage intoxicated drivers from taking to the road by advising them they are in no condition to operate a vehicle. System is being tested experimentally in California.

  13. [Pulmonary needle biopsy in children].

    PubMed

    Gerbeaux, J

    1975-01-01

    Pulmonary biopsy done with a needle of circular bore, can be performed on very young children. A sample of tissue, big enough to establish a precise diagnosis in 2/3 of cases, can be obtained. The main complication is pneumothorax occuring about once in five. Hemoptysia or hemorrhage has never been observed. A proposed indication of premortem biopsy accelerated the death of a child with congenital pulmonary fibrosis. The search of a diagnosis in diffuse pulmonary diseases is the major indication for pulmonary biopsy in the child.

  14. Graduated Driver Licensing

    PubMed Central

    Bates, Lyndel J.; Allen, Siobhan; Armstrong, Kerry; Watson, Barry; King, Mark J.; Davey, Jeremy

    2014-01-01

    Graduated driver licensing (GDL) aims to gradually increase the exposure of new drivers to more complex driving situations and typically consists of learner, provisional and open licence phases. The first phase, the learner licence, is designed to allow novice drivers to obtain practical driving experience in lower risk situations. The learner licence can delay licensure, encourage novice drivers to learn under supervision, mandate the number of hours of practice required to progress to the next phase and encourage parental involvement. The second phase, the provisional licence, establishes various driving restrictions and thereby reduces exposure to situations of higher risk, such as driving at night, with passengers or after drinking alcohol. Parental involvement with a GDL system appears essential in helping novices obtain sufficient practice and in enforcing compliance with restrictions once the new driver obtains a provisional licence. Given the significant number of young drivers involved in crashes within Oman, GDL is one countermeasure that may be beneficial in reducing crash risk and involvement for this group. PMID:25364543

  15. Driver Improvement Training and Evaluation.

    ERIC Educational Resources Information Center

    Whittenburg, John A.; And Others

    The last phase of the NHTSA-U.S. Coast Guard Driver Improvement Training and Evaluation Project is described. Begun in July 1970, the project had two basic objectives. The first was to determine whether or not driver training programs do, in fact, significantly reduce driver errors and accidents and improve overall driver efficiency. The second…

  16. Medical robotics.

    PubMed

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  17. Rehabilitation robotics.

    PubMed

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost.

  18. Rehabilitation robotics

    PubMed Central

    KREBS, H.I.; VOLPE, B.T.

    2015-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician’s toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual’s functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We will provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we will then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We will present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. PMID:23312648

  19. Geographical and climatic limits of needle types of one- and two-needled pinyon pines

    PubMed Central

    Cole, Kenneth L; Fisher, Jessica; Arundel, Samantha T; Cannella, John; Swift, Sandra

    2008-01-01

    Aim The geographical extent and climatic tolerances of one- and two-needled pinyon pines (Pinus subsect. Cembroides) are the focus of questions in taxonomy, palaeoclimatology and modelling of future distributions. The identification of these pines, traditionally classified by one- versus two-needled fascicles, is complicated by populations with both one- and two-needled fascicles on the same tree, and the description of two more recently described one-needled varieties: the fallax-type and californiarum-type. Because previous studies have suggested correlations between needle anatomy and climate, including anatomical plasticity reflecting annual precipitation, we approached this study at the level of the anatomy of individual pine needles rather than species. Location Western North America. Methods We synthesized available and new data from field and herbarium collections of needles to compile maps of their current distributions across western North America. Annual frequencies of needle types were compared with local precipitation histories for some stands. Historical North American climates were modelled on a c. 1-km grid using monthly temperature and precipitation values. A geospatial model (ClimLim), which analyses the effect of climate-modulated physiological and ecosystem processes, was used to rank the importance of seasonal climate variables in limiting the distributions of anatomical needle types. Results The pinyon needles were classified into four distinct types based upon the number of needles per fascicle, needle thickness and the number of stomatal rows and resin canals. The individual needles fit well into four categories of needle types, whereas some trees exhibit a mixture of two needle types. Trees from central Arizona containing a mixture of Pinus edulis and fallax-type needles increased their percentage of fallax-type needles following dry years. All four needle types occupy broader geographical regions with distinctive precipitation regimes

  20. Geographical and climatic limits of needle types of one- and two-needled pinyon pines.

    PubMed

    Cole, Kenneth L; Fisher, Jessica; Arundel, Samantha T; Cannella, John; Swift, Sandra

    2008-02-01

    AIM: The geographical extent and climatic tolerances of one- and two-needled pinyon pines (Pinus subsect. Cembroides) are the focus of questions in taxonomy, palaeoclimatology and modelling of future distributions. The identification of these pines, traditionally classified by one- versus two-needled fascicles, is complicated by populations with both one- and two-needled fascicles on the same tree, and the description of two more recently described one-needled varieties: the fallax-type and californiarum-type. Because previous studies have suggested correlations between needle anatomy and climate, including anatomical plasticity reflecting annual precipitation, we approached this study at the level of the anatomy of individual pine needles rather than species. LOCATION: Western North America. METHODS: We synthesized available and new data from field and herbarium collections of needles to compile maps of their current distributions across western North America. Annual frequencies of needle types were compared with local precipitation histories for some stands. Historical North American climates were modelled on a c. 1-km grid using monthly temperature and precipitation values. A geospatial model (ClimLim), which analyses the effect of climate-modulated physiological and ecosystem processes, was used to rank the importance of seasonal climate variables in limiting the distributions of anatomical needle types. RESULTS: The pinyon needles were classified into four distinct types based upon the number of needles per fascicle, needle thickness and the number of stomatal rows and resin canals. The individual needles fit well into four categories of needle types, whereas some trees exhibit a mixture of two needle types. Trees from central Arizona containing a mixture of Pinus edulis and fallax-type needles increased their percentage of fallax-type needles following dry years. All four needle types occupy broader geographical regions with distinctive precipitation regimes

  1. Geographical and climatic limits of needle types of one- and two-needled pinyon pines

    USGS Publications Warehouse

    Cole, K.L.; Fisher, J.; Arundel, S.T.; Cannella, J.; Swift, S.

    2008-01-01

    Aim: The geographical extent and climatic tolerances of one- and two-needled pinyon pines (Pinus subsect. Cembroides) are the focus of questions in taxonomy, palaeoclimatology and modelling of future distributions. The identification of these pines, traditionally classified by one- versus two-needled fascicles, is complicated by populations with both one- and two-needled fascicles on the same tree, and the description of two more recently described one-needled varieties: the fallax-type and californiarum-type. Because previous studies have suggested correlations between needle anatomy and climate, including anatomical plasticity reflecting annual precipitation, we approached this study at the level of the anatomy of individual pine needles rather than species. Location: Western North America. Methods: We synthesized available and new data from field and herbarium collections of needles to compile maps of their current distributions across western North America. Annual frequencies of needle types were compared with local precipitation histories for some stands. Historical North American climates were modelled on a c. 1-km grid using monthly temperature and precipitation values. A geospatial model (ClimLim), which analyses the effect of climate-modulated physiological and ecosystem processes, was used to rank the importance of seasonal climate variables in limiting the distributions of anatomical needle types. Results: The pinyon needles were classified into four distinct types based upon the number of needles per fascicle, needle thickness and the number of stomatal rows and resin canals. The individual needles fit well into four categories of needle types, whereas some trees exhibit a mixture of two needle types. Trees from central Arizona containing a mixture of Pinus edulis and fallax-type needles increased their percentage of fallax-type needles following dry years. All four needle types occupy broader geographical regions with distinctive precipitation regimes

  2. Generic robot architecture

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  3. Characterization of needle-assisted jet injections.

    PubMed

    Li, Xinxin; Ruddy, Bryan; Taberner, Andrew

    2016-12-10

    Hypodermic injections have been the standard for transcutaneous drug delivery for many years. However, needle phobia, pain, and risks of needle-stick injuries have manifested in poor patient compliance. Needle-free jet injections (NFJI) have been developed to address these drawbacks but the reliability of dose and depth of delivery have been limited by a lack of control over jet parameters, and by variability in the skin's mechanical properties among individuals. Moreover, the device size and cost have been restrained by the high pressure (>20MPa) required to penetrate the skin. Needle-assisted jet injections have been proposed to improve delivery reliability of conventional jet injectors by penetrating the skin with a short needle (<5mm) and thereby allowing jet delivery to a desired injection depth at a reduced pressure. This study characterized needle-assisted jet injections performed after first penetrating the skin with a 1.5mm needle, examining the effect of needle size on jet parameters, and evaluating injection performance in porcine skin. A voice-coil actuated jet injector was modified to incorporate needles of 30G, 31G and 32G. A series of pulse tests was performed to compare jet velocity and injection volume across the needle sizes, where it was found that the jet velocity and injection volume achieved with 32G needles were 13% and 16% lower, respectively, than with 30G. In contrast, there was no significant difference in jet velocity and injection volume between 30G and 31G needles, suggesting that a reduction of 10μm in the mean inner diameter of the 31G needle has minimal impact on jet velocity and injection volume. Injection studies performed in porcine skin revealed that injections driven by fluid pressures ranging between 0.8MPa and 1.4MPa were able to achieve substantial injectate penetration (~10mm) and delivery (~100μL) into subcutaneous fat regardless of needle size, in a period of 40ms. The required pressures are an order of magnitude lower

  4. Cooperating mobile robots

    DOEpatents

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  5. Ultrasound-Guided Fine Needle Aspiration Biopsy of the Thyroid

    MedlinePlus

    ... Index A-Z Ultrasound-Guided Fine Needle Aspiration Biopsy of the Thyroid An ultrasound-guided thyroid biopsy ... Thyroid? What is Ultrasound-Guided Fine Needle Aspiration Biopsy of the Thyroid? During a fine needle aspiration ...

  6. Robotic Vehicle

    NASA Technical Reports Server (NTRS)

    1994-01-01

    A commercially available ANDROS Mark V-A robot was used by Jet Propulsion Laboratory (JPL) as the departure point in the development of the HAZBOT III, a prototype teleoperated mobile robot designed for response to emergencies. Teleoperated robots contribute significantly to reducing human injury levels by performing tasks too hazardous for humans. ANDROS' manufacturer, REMOTEC, Inc., in turn, adopted some of the JPL concepts, particularly the control panel. HAZBOT III has exceptional mobility, employs solid state electronics and brushless DC motors for safer operation, and is designed so combustible gases cannot penetrate areas containing electronics and motors. Other features include the six-degree-of-freedom manipulator, the 30-pound squeeze force parallel jaw gripper and two video cameras, one for general viewing and navigation and the other for manipulation/grasping.

  7. Robot Swarms

    NASA Technical Reports Server (NTRS)

    Morring, Frank, Jr.

    2005-01-01

    Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

  8. Robot Manipulators

    NASA Technical Reports Server (NTRS)

    1988-01-01

    Space Shuttle's Remote Manipulator System (Canadarm) is a 50 foot robot arm used to deploy, retrieve or repair satellites in orbit. Initial spinoff version is designed to remove, inspect and replace large components of Ontario Hydro's CANDU nuclear reactors, which supply 50 percent of Ontario Hydro's total power reduction. CANDU robot is the first of SPAR's Remote Manipulator Systems intended for remote materials handling operations in nuclear servicing, chemical processing, smelting and manufacturing. Inco Limited used remote manipulator for remote control mining equipment to enhance safety and productivity of Inco's hardrock mining operations. System not only improves safety in a hazardous operation that costs more than a score of lives annually, it also increases productivity fourfold. Remote Manipulator System Division is also manufacturing a line of industrial robots and developing additional system for nuclear servicing, mining, defense and space operations.

  9. Robot Hand

    NASA Technical Reports Server (NTRS)

    1986-01-01

    Robots are limited only by the dexterity of the hand. Dr. Salisbury, in conjunction with Stanford, Caltech and Jet Propulsion Laboratory, developed the Salisbury Hand which has three, three-jointed human-like fingers. The tips are covered with a resilient, high friction material for gripping. The robot hand can manipulate objects by finger motion, and adapts to different aims. Advanced software allows the hand to interpret information from fingertip sensors. Further development is expected. A company has been formed to reproduce the device; copies have been delivered to several laboratories.

  10. Robot Tools

    NASA Technical Reports Server (NTRS)

    1996-01-01

    Mecanotron, now division of Robotics and Automation Corporation, developed a quick-change welding method called the Automatic Robotics Tool-change System (ARTS) under Marshall Space Flight Center and Rockwell International contracts. The ARTS system has six tool positions ranging from coarse sanding disks and abrasive wheels to cloth polishing wheels with motors of various horsepower. The system is used by fabricators of plastic body parts for the auto industry, by Texas Instruments for making radar domes, and for advanced composites at Aerospatiale in France.

  11. Robot gripper

    NASA Technical Reports Server (NTRS)

    Webb, Winston S. (Inventor)

    1987-01-01

    An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.

  12. [Academic origin of round magnetic needle and standardization operation].

    PubMed

    Cheng, Yan-Ting; Zhang, Tian-Sheng; Meng, Li-Qiang; Shi, Rui-Qi; Ji, Lai-Xi

    2014-07-01

    The origin and development of round magnetic needle was explored, and the structure of round magnetic needle was introduced in detail, including the handle, the body and the tip of the needle. The clinical opera tion of round magnetic needle were standardized from the aspects of the methods of holding needle, manipulation skill, tapping position, strength of manipulation, application scope and matters needing attention, which laid foundation for the popularization and application of round magnetic needle.

  13. 21 CFR 882.1350 - Needle electrode.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 21 Food and Drugs 8 2013-04-01 2013-04-01 false Needle electrode. 882.1350 Section 882.1350 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES NEUROLOGICAL DEVICES Neurological Diagnostic Devices § 882.1350 Needle electrode....

  14. 21 CFR 882.1350 - Needle electrode.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 21 Food and Drugs 8 2012-04-01 2012-04-01 false Needle electrode. 882.1350 Section 882.1350 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES NEUROLOGICAL DEVICES Neurological Diagnostic Devices § 882.1350 Needle electrode....

  15. 21 CFR 882.1350 - Needle electrode.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Needle electrode. 882.1350 Section 882.1350 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES NEUROLOGICAL DEVICES Neurological Diagnostic Devices § 882.1350 Needle electrode....

  16. 21 CFR 882.1350 - Needle electrode.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Needle electrode. 882.1350 Section 882.1350 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES NEUROLOGICAL DEVICES Neurological Diagnostic Devices § 882.1350 Needle electrode....

  17. 21 CFR 882.1350 - Needle electrode.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 21 Food and Drugs 8 2014-04-01 2014-04-01 false Needle electrode. 882.1350 Section 882.1350 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES NEUROLOGICAL DEVICES Neurological Diagnostic Devices § 882.1350 Needle electrode....

  18. Needle Exchange Programs and Drug Injection Behavior

    ERIC Educational Resources Information Center

    DeSimone, Jeff

    2005-01-01

    This study examines how drug injection and needle sharing propensities respond when a needle exchange program (NEP) is introduced into a city. I analyze 1989-1995 Drug Use Forecasting data on adult male arrestees from 24 large U.S. cities, in nine of which NEPs opened during the sample period. After controlling for cocaine and heroin prices, AIDS…

  19. Robotics Challenge: Cognitive Robot for General Missions

    DTIC Science & Technology

    2015-01-01

    ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS UNIVERSITY OF KANSAS JANUARY 2015 FINAL TECHNICAL REPORT... ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS 5a. CONTRACT NUMBER FA8750-12-1-0302 5b. GRANT NUMBER N/A 5c. PROGRAM ELEMENT NUMBER 62702E...a complicated environment, a robotic system requires both high-level command facilities and low- level sensing/control mechanisms. This report

  20. A Fabry-Perot Interferometry Based MRI-Compatible Miniature Uniaxial Force Sensor for Percutaneous Needle Placement.

    PubMed

    Shang, Weijian; Su, Hao; Li, Gang; Furlong, Cosme; Fischer, Gregory S

    2013-01-01

    Robot-assisted surgical procedures, taking advantage of the high soft tissue contrast and real-time imaging of magnetic resonance imaging (MRI), are developing rapidly. However, it is crucial to maintain tactile force feedback in MRI-guided needle-based procedures. This paper presents a Fabry-Perot interference (FPI) based system of an MRI-compatible fiber optic sensor which has been integrated into a piezoelectrically actuated robot for prostate cancer biopsy and brachytherapy in 3T MRI scanner. The opto-electronic sensing system design was minimized to fit inside an MRI-compatible robot controller enclosure. A flexure mechanism was designed that integrates the FPI sensor fiber for measuring needle insertion force, and finite element analysis was performed for optimizing the correct force-deformation relationship. The compact, low-cost FPI sensing system was integrated into the robot and calibration was conducted. The root mean square (RMS) error of the calibration among the range of 0-10 Newton was 0.318 Newton comparing to the theoretical model which has been proven sufficient for robot control and teleoperation.

  1. A Fabry-Perot Interferometry Based MRI-Compatible Miniature Uniaxial Force Sensor for Percutaneous Needle Placement

    PubMed Central

    Shang, Weijian; Su, Hao; Li, Gang; Furlong, Cosme; Fischer, Gregory S.

    2014-01-01

    Robot-assisted surgical procedures, taking advantage of the high soft tissue contrast and real-time imaging of magnetic resonance imaging (MRI), are developing rapidly. However, it is crucial to maintain tactile force feedback in MRI-guided needle-based procedures. This paper presents a Fabry-Perot interference (FPI) based system of an MRI-compatible fiber optic sensor which has been integrated into a piezoelectrically actuated robot for prostate cancer biopsy and brachytherapy in 3T MRI scanner. The opto-electronic sensing system design was minimized to fit inside an MRI-compatible robot controller enclosure. A flexure mechanism was designed that integrates the FPI sensor fiber for measuring needle insertion force, and finite element analysis was performed for optimizing the correct force-deformation relationship. The compact, low-cost FPI sensing system was integrated into the robot and calibration was conducted. The root mean square (RMS) error of the calibration among the range of 0–10 Newton was 0.318 Newton comparing to the theoretical model which has been proven sufficient for robot control and teleoperation. PMID:25126153

  2. Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention

    PubMed Central

    Krieger, Axel; Song, Sang-Eun; Cho, Nathan B.; Iordachita, Iulian; Guion, Peter; Fichtinger, Gabor; Whitcomb, Louis L.

    2012-01-01

    This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided needle intervention in the prostate. The robot performs actuated needle MRI-guidance with the goals of providing (i) MRI compatibility, (ii) MRI-guided needle placement with accuracy sufficient for targeting clinically significant prostate cancer foci, (iii) reducing interventional procedure times (thus increasing patient comfort and reducing opportunity for needle targeting error due to patient motion), (iv) enabling real-time MRI monitoring of interventional procedures, and (v) reducing the opportunities for error that arise in manually actuated needle placement. The design of the robot, employing piezo-ceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of a MRI compatibility study show no reduction of MRI signal-to-noise-ratio (SNR) with the motors disabled. Enabling the motors reduces the SNR by 80% without RF shielding, but SNR is only reduced by 40% to 60% with RF shielding. The addition of radio-frequency shielding is shown to significantly reduce image SNR degradation caused by the presence of the robotic device. An accuracy study of MRI-guided biopsy needle placements in a prostate phantom is reported. The study shows an average in-plane targeting error of 2.4 mm with a maximum error of 3.7 mm. These data indicate the system’s needle targeting accuracy is similar to that obtained with a previously reported manually actuated system, and is sufficient to reliably sample clinically significant prostate cancer foci under MRI-guidance. PMID:23326181

  3. 3D Ultrasound Guidance of Autonomous Robotic Breast Biopsy: Feasibility Study

    PubMed Central

    Liang, Kaicheng; Rogers, Albert J.; Light, Edward D.; von Allmen, Daniel; Smith, Stephen W.

    2009-01-01

    Feasibility studies of autonomous robot biopsies in tissue have been conducted using real time 3D ultrasound combined with simple thresholding algorithms. The robot first autonomously processed 3D image volumes received from the ultrasound scanner to locate a metal rod target embedded in turkey breast tissue simulating a calcification, and in a separate experiment, the center of a water-filled void in the breast tissue simulating a cyst. In both experiments the robot then directed a needle to the desired target, with no user input required. Separate needle-touch experiments performed by the image-guided robot in a water tank yielded an rms error of 1.15 mm. PMID:19900753

  4. Three-dimensional ultrasound guidance of autonomous robotic breast biopsy: feasibility study.

    PubMed

    Liang, Kaicheng; Rogers, Albert J; Light, Edward D; von Allmen, Daniel; Smith, Stephen W

    2010-01-01

    Feasibility studies of autonomous robot biopsies in tissue have been conducted using real-time three-dimensional (3-D) ultrasound combined with simple thresholding algorithms. The robot first autonomously processed 3-D image volumes received from the ultrasound scanner to locate a metal rod target embedded in turkey breast tissue simulating a calcification, and in a separate experiment, the center of a water-filled void in the breast tissue simulating a cyst. In both experiments the robot then directed a needle to the desired target, with no user input required. Separate needle-touch experiments performed by the image-guided robot in a water tank yielded an rms error of 1.15 mm. (E-mail: kaicheng.liang@duke.edu).

  5. Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions.

    PubMed

    Song, Sang-Eun; Cho, Nathan; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2010-09-26

    Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional procedure. For system evaluation, a series of experiments have been conducted and this paper reports a needle insertion experiment using prostate phantom and patient mockup trials. The needle insertion experiment resulted in noticeable consistent error in one direction, which we will investigate further. Nonetheless, patient mockup experiences suggest that the modular robotic system and its interventional procedure are well integrated and implemented in clinical environment.

  6. Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions

    PubMed Central

    Song, Sang-Eun; Cho, Nathan; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2010-01-01

    Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional procedure. For system evaluation, a series of experiments have been conducted and this paper reports a needle insertion experiment using prostate phantom and patient mockup trials. The needle insertion experiment resulted in noticeable consistent error in one direction, which we will investigate further. Nonetheless, patient mockup experiences suggest that the modular robotic system and its interventional procedure are well integrated and implemented in clinical environment. PMID:21132087

  7. Robotics in Construction.

    DTIC Science & Technology

    1986-01-01

    MICROCOPY RESOLUTION TEST CHART NATIONAL BUREAU OF STANDARDS 1963 A 0 ROBOTICS IN CONSTRUCTIONt 10 BY MICHAEL R. BROZZO A REPORT PRESENTED TO THE GRADUATE... ROBOTS AND ROBOTICS ---------------------------- 3 2.1 HISTORY ------------------------------------------- 3 CHAPTER THREE - BASIC ROBOT MOVEMENTS...CHAPTER FOUR - BASIC ROBOT COMPONENTS ------------------------ 8 4.1 GENERAL ------------------------------------------- 8 4.1.1 Manipulator

  8. Beyond Robotics

    ERIC Educational Resources Information Center

    Tally, Beth; Laverdure, Nate

    2006-01-01

    Chantilly High School Academy Robotics Team Number 612 from Chantilly, Virginia, is an award-winning team of high school students actively involved with FIRST (For Inspiration and Recognition of Science and Technology), a multinational nonprofit organization that inspires students to transform culture--making science, math, engineering and…

  9. Robotic Surgery

    ERIC Educational Resources Information Center

    Childress, Vincent W.

    2007-01-01

    The medical field has many uses for automated and remote-controlled technology. For example, if a tissue sample is only handled in the laboratory by a robotic handling system, then it will never come into contact with a human. Such a system not only helps to automate the medical testing process, but it also helps to reduce the chances of…

  10. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    PubMed Central

    Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

    2012-01-01

    In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

  11. Identification of driver model parameters.

    PubMed

    Reński, A

    2001-01-01

    The paper presents a driver model, which can be used in a computer simulation of a curved ride of a car. The identification of the driver parameters consisted in a comparison of the results of computer calculations obtained for the driver-vehicle-environment model with different driver data sets with test results of the double lane-change manoeuvre (Standard No. ISO/TR 3888:1975, International Organization for Standardization [ISO], 1975) and the wind gust manoeuvre. The optimisation method allows to choose for each real driver a set of driver model parameters for which the differences between test and calculation results are smallest. The presented driver model can be used in investigating the driver-vehicle control system, which allows to adapt the car construction to the psychophysical characteristics of a driver.

  12. Improved Spline Coupling For Robotic Docking

    NASA Technical Reports Server (NTRS)

    Vranish, John M.

    1995-01-01

    Robotic docking mechanism like one described in "Self-Aligning Mechanical and Electrical Coupling" (GSC-13430) improved. Spline coupling redesigned to reduce stresses, enchancing performance and safety of mechanism. Does not involve significant increase in size. Convex spherical surfaces on spline driver mate with concave spherical surfaces on undersides on splines in receptacle. Spherical surfaces distribute load stresses better and tolerate misalignments better than flat and otherwise shaped surfaces.

  13. Discrete Driver Assistance

    NASA Astrophysics Data System (ADS)

    Klette, Reinhard; Jiang, Ruyi; Morales, Sandino; Vaudrey, Tobi

    Applying computer technology, such as computer vision in driver assistance, implies that processes and data are modeled as being discretized rather than being continuous. The area of stereo vision provides various examples how concepts known in discrete mathematics (e.g., pixel adjacency graphs, belief propagation, dynamic programming, max-flow/min-cut, or digital straight lines) are applied when aiming for efficient and accurate pixel correspondence solutions. The paper reviews such developments for a reader in discrete mathematics who is interested in applied research (in particular, in vision-based driver assistance). As a second subject, the paper also discusses lane detection and tracking, which is a particular task in driver assistance; recently the Euclidean distance transform proved to be a very appropriate tool for obtaining a fairly robust solution.

  14. Traffic Safety Facts, 2001: Young Drivers.

    ERIC Educational Resources Information Center

    National Highway Traffic Safety Administration (DOT), Washington, DC.

    This document provides statistical information on U.S. traffic accidents involving young drivers. Data tables include: (1) driver fatalities and drivers involved in fatal crashes among drivers 15 to 20 years old, 1991-2001; (2) drivers involved in fatal crashes and driver involvement rates by age group, 2001; (3) drivers 15 to 20 years old…

  15. Young Drivers. Traffic Safety Facts, 2000.

    ERIC Educational Resources Information Center

    National Highway Traffic Safety Administration (DOT), Washington, DC.

    This document provides statistical information on U.S. traffic accidents involving young drivers. Data tables include: (1) driver fatalities and drivers involved in fatal crashes among drivers 15 to 20 years old, 1990-2000; (2) drivers involved in fatal crashes and driver involvement rates by age group, 2000; (3) drivers 15 to 20 years old…

  16. [Comparative investigation of the discharge characteristics of a single needle jet and needle-plate jet].

    PubMed

    Li, Xue-Chen; Chang, Yuan-Yuan; Jia, Peng-Ying; Zhao, Huan-Huan; Liu, Run-Fu; Di, Cong

    2013-04-01

    In the present paper, discharge characteristics were studied in atmospheric pressure argon by a single needle jet and needle-plate jet through combination of optical measurement and electrical one. Results show that the length and cross-sectional area of the plasmas generated in the two jets increase with increasing the peak value of the applied voltage. The cross-sectional area generated by needle-plate jet is bigger than that of the single needle jet at the same voltage. A lower inception voltage is needed for the needle-plate jet compared with the single needle jet at the same U(p). Through the spectra emitted from the two jets, electron temperature and vibration temperature wee compared for the plasmas generated by the single needle jet and needle-plate jet, respectively. It can be found that the electron temperature and the vibrational temperature of the two jets increase with increasing U(p). The needle-plate jet has higher values of electron temperature and vibrational temperature than the single needle jet at the same U(p). These results have significant values for the industrial application of the atmospheric pressure plasma jet.

  17. The Biological Safety of Stainless Steel Needles Used in Warm-needling.

    PubMed

    Lim, Sabina; Lee, Seunghun; Yi, Seung-Ho; Son, Yang-Sun; Choi, Sung-Min; Kim, Young-Kon

    2010-06-01

    Warm-needling (also called thermo-acupuncture) is a combination of acupuncture and moxibustion. Due to the intense heat involved, there have been concerns over the biological safety of the acuneedles used in the treatment. This paper reports two phases of a safety test. For a preliminary test, we compared the temperature change patterns of stainless steel (SS304) needles and traditional gold alloy needles, which have been increasingly replaced by the former. To verify the effects of the presence of coating materials, the main test involved three different kinds of SS304: silicone-coated, salicylic acid-coated and non-coated needles. Each group of needles was tested for pH level, heavy metals and UV absorbance spectrum along with biological tests on the cytotoxicity and hemolysis of the needle. All the tests on the extractants from the needles were negative. In the biological tests, each test result showed a significant difference from the positive control samples, while no significant difference was observed compared with the negative control samples. In the hemolysis tests, all samples satisfied the Korean Government Standards. All the results suggest that SS304 needles are biologically safe to be used in warm-needling, though they can be improved to perform as well as the gold alloy needles in terms of temperature fluctuations.

  18. Tandem mobile robot system

    DOEpatents

    Buttz, James H.; Shirey, David L.; Hayward, David R.

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  19. Validation system of MR image overlay and other needle insertion techniques.

    PubMed

    Fischer, Gregory S; Dyer, Eva; Csoma, Csaba; Deguet, Anton; Fichtinger, Gabor

    2007-01-01

    In order to develop accurate and effective augmented reality (AR) systems used in MR and CT guided needle placement procedures, a comparative validation environment is necessary. Clinical equipment is prohibitively expensive and often inadequate for precise measurement. Therefore, we have developed a laboratory validation system for measuring operator performance using different assistance techniques. Electromagnetically tracked needles are registered with the preoperative plan to measure placement accuracy and the insertion path. The validation system provides an independent measure of accuracy that can be applied to varying methods of assistance ranging from augmented reality guidance methods to tracked navigation systems and autonomous robots. In preliminary studies, this validation system is used to evaluate the performance of the image overlay, bi-plane laser guide, and traditional freehand techniques.

  20. Improving Driver Performance. A Curriculum for Licensed Drivers.

    ERIC Educational Resources Information Center

    Highway Users Federation for Safety and Mobility, Washington, DC.

    Curriculum material presented in this manual is for use in the development of an instructional program for drivers who either want or need to improve their driving performance. Three principal units are included: man and highway transportation, driver performance, and factors influencing driver behavior. Each unit is further divided into episodes…

  1. The Bicycle Driver's Guide.

    ERIC Educational Resources Information Center

    Pennsylvania State Dept. of Education, Harrisburg. Bureau of Curriculum Services.

    Designed to emphasize the concept of the bicycle driver vs. the popular term, bicycle rider, this manual contains guidelines on bicycle safety, addressing itself both to parents and children. The main section topics are: (1) parent responsibility; (2) choosing a bicycle, fitting it to the child, and learning to drive; (3) bicycle equipment,…

  2. Florida Driver Education Handbook.

    ERIC Educational Resources Information Center

    Mick, Susan H.

    This student edition contains the same basic information as the official Florida Driver Handbook, but the reading difficulty of the material has been sharply reduced. It also provides activity-oriented exercises and review tests on this material. Introductory materials include a complete listing of all activities given, some vocabulary exercises…

  3. Seven Performance Drivers.

    ERIC Educational Resources Information Center

    Ross, Linda

    2003-01-01

    Recent work with automotive e-commerce clients led to the development of a performance analysis methodology called the Seven Performance Drivers, including: standards, incentives, capacity, knowledge and skill, measurement, feedback, and analysis. This methodology has been highly effective in introducing and implementing performance improvement.…

  4. [Approach to teaching methods of the needling skill of filiform needle].

    PubMed

    Wang, Cai-Hong; Xu, Jian-Min; Wang, Yin-Ping; Li, Yi

    2008-08-01

    The present paper is armed at approach to a set of teaching method about the needling skill of filiform needle, so as to increase teaching quality. After review and analysis on present situation of teaching methods about the needling skill of filiform needle, it is raised that traditional teaching methods are unable to objectively and comprehensively reflect characteristics and requirement of manipulation, so try to adopt acupuncture manipulation detection instrument, on the basis of traditional teaching methods about the needling skill of filiform needle. And the parameters and figures of manipulation examine of real-time collection in 131 students and information of 120 copies of questionnaire are analyzed and summarized. It is indicated that combined teaching method of traditional model and the manipulation instrument is more reasonable, and basic manipulation training most he strengthened in manipulation skill training, particularly, pay attention to training of twirling manipulation.

  5. Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles

    PubMed Central

    Misra, Sarthak; Reed, Kyle B.; Douglas, Andrew S.; Ramesh, K. T.; Okamura, Allison M.

    2010-01-01

    The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. As a first step toward modeling the mechanics of deflection of the needle, we determine the forces at the bevel tip. In order to find the forces acting at the needle tip, we measure rupture toughness and nonlinear material elasticity parameters of several soft tissue simulant gels and chicken tissue. We incorporate these physical parameters into a finite element model that includes both contact and cohesive zone models to simulate tissue cleavage. We investigate the sensitivity of the tip forces to tissue rupture toughness, linear and nonlinear tissue elasticity, and needle tip bevel angle. The model shows that the tip forces are sensitive to the rupture toughness. The results from these studies contribute to a mechanics-based model of bevel-tip needle steering, extending previous work on kinematic models. PMID:22020139

  6. Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles.

    PubMed

    Misra, Sarthak; Reed, Kyle B; Douglas, Andrew S; Ramesh, K T; Okamura, Allison M

    2008-10-19

    The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. As a first step toward modeling the mechanics of deflection of the needle, we determine the forces at the bevel tip. In order to find the forces acting at the needle tip, we measure rupture toughness and nonlinear material elasticity parameters of several soft tissue simulant gels and chicken tissue. We incorporate these physical parameters into a finite element model that includes both contact and cohesive zone models to simulate tissue cleavage. We investigate the sensitivity of the tip forces to tissue rupture toughness, linear and nonlinear tissue elasticity, and needle tip bevel angle. The model shows that the tip forces are sensitive to the rupture toughness. The results from these studies contribute to a mechanics-based model of bevel-tip needle steering, extending previous work on kinematic models.

  7. [Discussion on needling sensation, arrival of qi and needling response (Deqi)].

    PubMed

    Zhang, Fang; Wang, Hong-Du

    2012-12-01

    The current appointed teaching material of Science of Acupuncture and Moxibustion holds that there is no difference among the needling sensation, arrival of qi and needling response. However, the author has a different understanding. Therefore, Neijing (Internal Classic), its annotation, exposition and understandings of ancient and modern famous experts are cited to analyze their meanings. And the result indicates that the needling sensation is subjective feelings and perceived responses of doctors and patients. Arrival of qi is the healing process of the organ through activating the anti-pathogenic qi to expel the pathogens. The needling response is the final aim of acupuncture therapy. Thus, the meaning of needling sensation, arrival of qi, and needling response are different. And an accurate understanding can better guide acupuncture treatment.

  8. Robotic System

    NASA Technical Reports Server (NTRS)

    1984-01-01

    A complicated design project, successfully carried out by New York manufacturing consultant with help from NERAC, Inc., resulted in new type robotic system being marketed for industrial use. Consultant Robert Price, operating at E.S.I, Inc. in Albany, NY, sought help from NERAC to develop an automated tool for deburring the inside of 8 inch breech ring assemblies for howitzers produced by Watervliet Arsenal. NERAC conducted a search of the NASA data base and six others. From information supplied, Price designed a system consisting of a standard industrial robot arm, with a specially engineered six-axis deburring tool fitted to it. A microcomputer and computer program direct the tool on its path through the breech ring. E.S.I. markets the system to aerospace and metal cutting industries for deburring, drilling, routing and refining machined parts.

  9. Climbing robot

    NASA Astrophysics Data System (ADS)

    Kerley, James J.; May, Edward L.; Ecklund, Wayne D.

    1993-11-01

    A mobile robot for traversing any surface consisting of a number of interconnected segments, each interconnected segment having an upper 'U' frame member, a lower 'U' frame member, a compliant joint between the upper 'U' frame member and the lower 'U' frame member, a number of linear actuators between the two frame members acting to provide relative displacement between the frame members, a foot attached to the lower 'U' frame member for adherence of the segment to the surface, an inter-segment attachment attached to the upper 'U' frame member for interconnecting the segments, a power source connected to the linear actuator, and a computer/controller for independently controlling each linear actuator in each interconnected segment such that the mobile robot moves in a caterpillar like fashion.

  10. Pine needle abortion biomarker detected in bovine fetal fluids

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Pine needle abortion is a naturally occurring condition in free-range cattle caused by the consumption of pine needles from select species of cypress, juniper, pine, and spruce trees. Confirmatory diagnosis of pine needle abortion has previously relied on a combined case history of pine needle cons...

  11. Fiber-Optic Fabry-Pérot Interferometers for Axial Force Sensing on the Tip of a Needle

    PubMed Central

    Beekmans, Steven; Lembrechts, Thomas; van den Dobbelsteen, John; van Gerwen, Dennis

    2016-01-01

    A range of complex percutaneous procedures, such as biopsy or regional anesthesia, rely heavily on accurate needle insertion. Small variations in the mechanical properties of the pierced tissue can however cause deviations from the projected needle path and can thus result in inaccurate placement of the needle. Navigation of a rigid needle towards the target tissue is traditionally based on the surgeons capacity to interpret small variations in the needle insertion force. A more accurate measurement of these small force variations enables improvement in needle targeting, can potentially aid in enhancing force feedback in robotic needle placement and can provide valuable information on tissue-tool interaction. In this study we investigated several concepts for the design of a force sensor based on a fiber-optic Fabry-Pérot interferometer to measure needle-tissue interaction forces on the tip of a 18 G needle, where special attention was given to concepts for a sensor with (1), an intrinsic low cross-sensitivity to temperature and (2), elementary design and fabrication. Three concepts, using either a quartz capillary, an Invar capillary or a thin polyimide film as the force sensitive element were prototyped and subjected to both static and dynamic testing. The force transducer based on a quartz capillary presented the lowest cross-sensitivity to temperature (12 mN/∘C) and good accuracy (maximum measurement error of 65 mN/10 N) in a measurement of static forces. However, limited strength of the sensor is expected to prevent usage of the quartz capillary in small diameter needles. The concepts for a sensor based on an Invar capillary or a thin polyimide film proved a higher cross-sensitivity to temperature (50 mN/∘C and 220 mN/∘C, respectively) and higher maximum measurement error (350 mN/10 N, 800 mN/10 N), comparable to those of FBG-based sensors reported in literature, but are likely to be more suitable for integration in very small biopsy needles. PMID

  12. Fiber-Optic Fabry-Pérot Interferometers for Axial Force Sensing on the Tip of a Needle.

    PubMed

    Beekmans, Steven; Lembrechts, Thomas; van den Dobbelsteen, John; van Gerwen, Dennis

    2016-12-26

    A range of complex percutaneous procedures, such as biopsy or regional anesthesia, rely heavily on accurate needle insertion. Small variations in the mechanical properties of the pierced tissue can however cause deviations from the projected needle path and can thus result in inaccurate placement of the needle. Navigation of a rigid needle towards the target tissue is traditionally based on the surgeons capacity to interpret small variations in the needle insertion force. A more accurate measurement of these small force variations enables improvement in needle targeting, can potentially aid in enhancing force feedback in robotic needle placement and can provide valuable information on tissue-tool interaction. In this study we investigated several concepts for the design of a force sensor based on a fiber-optic Fabry-Pérot interferometer to measure needle-tissue interaction forces on the tip of a 18 G needle, where special attention was given to concepts for a sensor with (1), an intrinsic low cross-sensitivity to temperature and (2), elementary design and fabrication. Three concepts, using either a quartz capillary, an Invar capillary or a thin polyimide film as the force sensitive element were prototyped and subjected to both static and dynamic testing. The force transducer based on a quartz capillary presented the lowest cross-sensitivity to temperature ( 12 m N / ∘ C) and good accuracy (maximum measurement error of 65 m N /10 N ) in a measurement of static forces. However, limited strength of the sensor is expected to prevent usage of the quartz capillary in small diameter needles. The concepts for a sensor based on an Invar capillary or a thin polyimide film proved a higher cross-sensitivity to temperature ( 50 m N / ∘ C and 220 m N / ∘ C, respectively) and higher maximum measurement error (350 m N /10 N , 800 m N /10 N ), comparable to those of FBG-based sensors reported in literature, but are likely to be more suitable for integration in very small

  13. Driver irritation and aggressive behaviour.

    PubMed

    Björklund, Gunilla M

    2008-05-01

    A sample of 98 drivers responded to a Swedish version of the UK Driving Anger Scale [UK DAS; [Lajunen, T., Parker, D., Stradling, S.G., 1998. Dimensions of driver anger, aggressive and highway code violations and their mediation by safety orientation in UK drivers. Transport. Res. Part F 1, 107-121]. The results indicated that the Swedish version, like the British original, measures three sources of driver irritation: "progress impeded", "reckless driving", and "direct hostility". Structural equation modelling was used to investigate the relationships between the three sources of self-reported driver irritation, aggressive actions, speed, sex, age, and annual mileage. The models suggested a positive relationship between the amount of driver irritation and frequency of aggressive actions for all three sources of irritation. Female drivers tended to become more irritated than male drivers, while the male drivers tended to act aggressively more often. Surprisingly, drivers who reported that they enjoy fast speeds did not become more irritated than slower drivers when obstructed. The important conclusions are that experienced irritation often leads to openly aggressively actions, and that expression of aggressive behaviours may be a cause of other drivers' feeling of irritation.

  14. MR guided FUS therapy with a Robotic Assistance System

    NASA Astrophysics Data System (ADS)

    Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

    2009-04-01

    Magnetic Resonance imaging guided Focus Ultrasound Surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. To date, there is only one commercial MRgFUS system available and only a few are in a prototype stage. The objective of this ongoing project is to establish an MRgFUS therapy unit as add-on for a commercially available robotic assistance system originally designed for percutaneous needle interventions in whole-body MR scanners.

  15. Science off the Sphere: Knitting Needles

    NASA Video Gallery

    International Space Station Expedition 30 astronaut Don Pettit uses knitting needles and water droplets to demonstrate physics in space for 'Science off the Sphere.' Through a partnership between N...

  16. Sliding Mode Control of Steerable Needles

    PubMed Central

    Rucker, D. Caleb; Das, Jadav; Gilbert, Hunter B.; Swaney, Philip J.; Miga, Michael I.; Sarkar, Nilanjan; Webster, Robert J.

    2014-01-01

    Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy requires no a priori knowledge of model parameters, has bounded input speeds, and requires little computational resources. We show that if the standard nonholonomic model for tip-steered needles holds, then the control law will converge to desired targets in a reachable workspace, within a tolerance that can be defined by the control parameters. Experimental results validate the control law for target points and trajectory following in phantom tissue and ex vivo liver. Experiments with targets that move during insertion illustrate robustness to disturbances caused by tissue deformation. PMID:25400527

  17. Sliding Mode Control of Steerable Needles.

    PubMed

    Rucker, D Caleb; Das, Jadav; Gilbert, Hunter B; Swaney, Philip J; Miga, Michael I; Sarkar, Nilanjan; Webster, Robert J

    2013-10-01

    Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy requires no a priori knowledge of model parameters, has bounded input speeds, and requires little computational resources. We show that if the standard nonholonomic model for tip-steered needles holds, then the control law will converge to desired targets in a reachable workspace, within a tolerance that can be defined by the control parameters. Experimental results validate the control law for target points and trajectory following in phantom tissue and ex vivo liver. Experiments with targets that move during insertion illustrate robustness to disturbances caused by tissue deformation.

  18. Inverse Kinematics of Concentric Tube Steerable Needles

    PubMed Central

    Sears, Patrick; Dupont, Pierre E.

    2013-01-01

    Prior papers have introduced steerable needles composed of precurved concentric tubes. The curvature and extent of these needles can be controlled by the relative rotation and translation of the individual tubes. Under certain assumptions on the geometry and design of these needles, the forward kinematics problem can be solved in closed form by means of algebraic equations. The inverse kinematics problem, however, is not as straightforward owing to the nonlinear map between relative tube displacements and needle tip configuration as well as to the multiplicity of solutions as the number of tubes increases. This paper presents a general approach to solving the inverse kinematics problem using a pseudoinverse solution together with gradients of nullspace potential functions to enforce geometric and mechanical constraints. PMID:23685532

  19. An illuminated flute needle for vitreoretinal surgery.

    PubMed

    Davison, C N; Rosen, P H

    1994-06-01

    We have developed a simple self-illuminated flute needle for internal drainage of subretinal fluid during three-port vitrectomy. This instrument facilitates visualization and drainage through peripheral retinal breaks.

  20. A Multi-Layered Needle Injection Simulator.

    PubMed

    Laufer, Shlomi; Kempton, Steve J; Maciolek, Kimberly; Terry, Aliyya; Ray, Rebeca D; Pugh, Carla M; Afifi, Ahmed M

    2016-01-01

    Insuring correct needle location is crucial in many medical procedures. This can be even more challenging for physicians injecting in a new location for the first time. Since they do not necessarily know how the tissue is supposed to feel, finding the correct location and correct depth can be difficult. In this study we designed a simulator for training needle injection. The simulator was fabricated to give a realistic feeling of injecting Botox® in the temporalis and the semispinalis muscles as part of migraine treatment. In addition the simulator provided real-time feedback of correct needle location. Nine residents and medical students evaluated the simulator. They made several errors that were corrected real time using the real time feedback provided. They found the simulator to be very useful and that the training significantly improved their confidence. The methods described in this study can easily be implemented for developing needle injection simulators for other anatomical locations.

  1. Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments.

    PubMed

    Swaney, Philip J; York, Peter A; Gilbert, Hunter B; Burgner-Kahrs, Jessica; Webster, Robert J

    2017-03-01

    This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a single tendon to provide high distal curvature. We derive and experimentally validate kinematic and static models for the wrist and describe several prototype wrists, illustrating the straightforward fabrication and scalability of the design. We experimentally investigate fatigue life, the concept of tip-first bending, and practical use of the wrist with a concentric tube robot in an endonasal surgical scenario.

  2. Ultrasound-Guided Needle Technique Accuracy

    PubMed Central

    Johnson, Angela N.; Peiffer, Jeffery S.; Halmann, Nahi; Delaney, Luke; Owen, Cindy A.; Hersh, Jeff

    2017-01-01

    Background and Objectives Ultrasound-guided regional anesthesia facilitates an approach to sensitive targets such as nerve clusters without contact or inadvertent puncture. We compared accuracy of needle placement with a novel passive magnetic ultrasound needle guidance technology (NGT) versus conventional ultrasound (CU) with echogenic needles. Methods Sixteen anesthesiologists and 19 residents performed a series of 16 needle insertion tasks each, 8 using NGT (n = 280) and 8 using CU (n = 280), in high-fidelity porcine phantoms. Tasks were stratified based on aiming to contact (target-contact) or place in close proximity with (target-proximity) targets, needle gauge (no. 18/no. 22), and in-plane (IP) or out-of-plane (OOP) approach. Distance to the target, task completion by aim, number of passes, and number of tasks completed on the first pass were reported. Results Needle guidance technology significantly improved distance, task completion, number of passes, and completion on the first pass compared with CU for both IP and OOP approaches (P ≤ 0.001). Average NGT distance to target was lower by 57.1% overall (n = 560, 1.5 ± 2.4 vs 3.5 ± 3.7 mm), 38.5% IP (n = 140, 1.6 ± 2.6 vs 2.6 ± 2.8 mm), and 68.2% OOP (n = 140, 1.4 ± 2.2 vs 4.4 ± 4.3 mm) (all P ≤ 0.01). Subgroup analyses revealed accuracy gains were largest among target-proximity tasks performed by residents and for OOP approaches. Needle guidance technology improved first-pass completion from 214 (76.4%) per 280 to 249 (88.9%) per 280, a significant improvement of 16.4% (P = 0.001). Conclusions Passive magnetic NGT can improve accuracy of needle procedures, particularly among OOP procedures requiring close approach to sensitive targets, such as nerve blocks in anesthesiology practice. PMID:28079754

  3. The improvement on the falling needle viscometer

    NASA Astrophysics Data System (ADS)

    Sha, Zhen-Shun

    1997-04-01

    To overcome the shortcomings of the conventional falling needle viscometer, many improvements have been made, e.g., adopting new design of needle structure, collector, and launcher. Furthermore, Hall magnetic sensors and single-board computer are used in the system, which makes the measurement automatic and intelligent. It is proved in the experiment that the instrument is accurate enough and has excellent performance. The technique can also be applied in falling ball viscometers.

  4. Negativity Bias in Dangerous Drivers

    PubMed Central

    Chai, Jing; Qu, Weina; Sun, Xianghong; Zhang, Kan; Ge, Yan

    2016-01-01

    The behavioral and cognitive characteristics of dangerous drivers differ significantly from those of safe drivers. However, differences in emotional information processing have seldom been investigated. Previous studies have revealed that drivers with higher anger/anxiety trait scores are more likely to be involved in crashes and that individuals with higher anger traits exhibit stronger negativity biases when processing emotions compared with control groups. However, researchers have not explored the relationship between emotional information processing and driving behavior. In this study, we examined the emotional information processing differences between dangerous drivers and safe drivers. Thirty-eight non-professional drivers were divided into two groups according to the penalty points that they had accrued for traffic violations: 15 drivers with 6 or more points were included in the dangerous driver group, and 23 drivers with 3 or fewer points were included in the safe driver group. The emotional Stroop task was used to measure negativity biases, and both behavioral and electroencephalograph data were recorded. The behavioral results revealed stronger negativity biases in the dangerous drivers than in the safe drivers. The bias score was correlated with self-reported dangerous driving behavior. Drivers with strong negativity biases reported having been involved in mores crashes compared with the less-biased drivers. The event-related potentials (ERPs) revealed that the dangerous drivers exhibited reduced P3 components when responding to negative stimuli, suggesting decreased inhibitory control of information that is task-irrelevant but emotionally salient. The influence of negativity bias provides one possible explanation of the effects of individual differences on dangerous driving behavior and traffic crashes. PMID:26765225

  5. Dry needling versus acupuncture: the ongoing debate.

    PubMed

    Zhou, Kehua; Ma, Yan; Brogan, Michael S

    2015-12-01

    Although Western medical acupuncture (WMA) is commonly practised in the UK, a particular approach called dry needling (DN) is becoming increasingly popular in other countries. The legitimacy of the use of DN by conventional non-physician healthcare professionals is questioned by acupuncturists. This article describes the ongoing debate over the practice of DN between physical therapists and acupuncturists, with a particular emphasis on the USA. DN and acupuncture share many similarities but may differ in certain aspects. Currently, little information is available from the literature regarding the relationship between the two needling techniques. Through reviewing their origins, theory, and practice, we found that DN and acupuncture overlap in terms of needling technique with solid filiform needles as well as some fundamental theories. Both WMA and DN are based on modern biomedical understandings of the human body, although DN arguably represents only one subcategory of WMA. The increasing volume of research into needling therapy explains its growing popularity in the musculoskeletal field including sports medicine. To resolve the debate over DN practice, we call for the establishment of a regulatory body to accredit DN courses and a formal, comprehensive educational component and training for healthcare professionals who are not physicians or acupuncturists. Because of the close relationship between DN and acupuncture, collaboration rather than dispute between acupuncturists and other healthcare professionals should be encouraged with respect to education, research, and practice for the benefit of patients with musculoskeletal conditions who require needling therapy.

  6. Dominant hand operating probe vs needle: a comparison study of ultrasound-guided needle placement in phantom models.

    PubMed

    Johnston, D F; Stafford, M

    2015-08-01

    We conducted a replicated crossover design study to assess if using one's dominant hand for operating a probe vs directing a needle would affect the time taken, the number of needle passes and the accuracy of an ultrasound-guided procedure in phantom models. Twenty ultrasound-novice participants completed the task 10 times for each hand arrangement (alternating between attempts). The time taken and number of needle passes required for both dominant hand-probe and hand-needle decreased over time (p = 0.001). Dominant hand-needle had a lower mean time used (p = 0.001) and fewer needle passes (p = 0.02) compared with hand-probe. Sixty-five per cent of participants preferred using their dominant hand to direct the needle. When learning ultrasound-guided needle procedures on phantom models, use of the dominant hand to operate the needle is associated with a shorter procedure time and fewer needle passes.

  7. Robotic tentacles with three-dimensional mobility based on flexible elastomers.

    PubMed

    Martinez, Ramses V; Branch, Jamie L; Fish, Carina R; Jin, Lihua; Shepherd, Robert F; Nunes, Rui M D; Suo, Zhigang; Whitesides, George M

    2013-01-11

    Soft robotic tentacles that move in three dimensions upon pressurization are fabricated by composing flexible elastomers with different tensile strengths using soft lithographic molding. These actuators are able to grip complex shapes and manipulate delicate objects. Embedding functional components into these actuators (for example, a needle for delivering fluid, a video camera, and a suction cup) extends their capabilities.

  8. 3-D Ultrasound Guidance of Autonomous Robot for Location of Ferrous Shrapnel

    PubMed Central

    Rogers, Albert J.; Light, Edward D.

    2010-01-01

    Vibrations can be induced in ferromagnetic shrapnel by a variable electromagnet. Real time 3-D color Doppler ultrasound located the induced motion in a needle fragment and determined its 3-D position in the scanner coordinates. This information was used to guide a robot which moved a probe to touch the shrapnel fragment. PMID:19574140

  9. 3-D ultrasound guidance of autonomous robot for location of ferrous shrapnel.

    PubMed

    Rogers, Albert J; Light, Edward D; Smith, Stephen W

    2009-07-01

    Vibrations can be induced in ferromagnetic shrapnel by a variable electromagnet. Real time 3-D color Doppler ultrasound located the induced motion in a needle fragment and determined its 3-D position in the scanner coordinates. This information was used to guide a robot which moved a probe to touch the shrapnel fragment.

  10. Earning a driver's license.

    PubMed Central

    Williams, A F

    1997-01-01

    Teenage drivers in the United States have greatly elevated crash rates, primarily a result of qualities associated with immaturity and lack of driving experience. State licensing systems vary substantially, but most have allowed quick and easy access to driving with full privileges at a young age, contributing to the crash problem. Formal driver education has not been an effective crash prevention measure. Following the introduction of graduated licensing in New Zealand, Australia, and Canada, this system has been considered in many states and has been implemented in some. Graduated systems phase in full privilege driving, requiring initial experience to be gained under conditions of lower risk. The author describes the first five multistage graduated systems enacted in the United States in 1996 and 1997. Factors that will influence the acceptability and effectiveness of these new licensing systems are discussed. Images p[452]-a p454-a p456-a p457-a p460-a PMID:10822470

  11. Drivers, Trends and Mitigation

    SciTech Connect

    Blanco, Arthur S.; Gerlagh, Reyer; Suh, Sangwon; Barrett, John A.; de Coninck, Heleen; Diaz Morejon, Cristobal Felix; Mathur, Ritu; Nakicenovic, Nebojsa; Ahenkorah, Alfred Ofosu; Pan, Jiahua; Pathak, Himanshu; Rice, Jake; Richels, Richard G.; Smith, Steven J.; Stern, David; Toth, Ferenc L.; Zhou, Peter

    2014-12-01

    Chapter 5 analyzes the anthropogenic greenhouse gas (GHG) emission trends until the present and the main drivers that explain those trends. The chapter uses different perspectives to analyze past GHG-emissions trends, including aggregate emissions flows and per capita emissions, cumulative emissions, sectoral emissions, and territory-based vs. consumption-based emissions. In all cases, global and regional trends are analyzed. Where appropriate, the emission trends are contextualized with long-term historic developments in GHG emissions extending back to 1750.

  12. Operational cost drivers

    NASA Technical Reports Server (NTRS)

    Scholz, Arthur L.; Dickinson, William J.

    1988-01-01

    To be economically viable, the operations cost of launch vehicles must be reduced by an order of magnitude as compared to the Space Transportation System (STS). A summary of propulsion-related operations cost drivers derived from a two-year study of Shuttle ground operations is presented. Examples are given of the inordinate time and cost of launch operations caused by propulsion systems designs that did not adequately consider impacts on prelaunching processing. Typical of these cost drivers are those caused by central hydraulic systems, storable propellants, gimballed engines, multiple propellants, He and N2 systems and purges, hard starts, high maintenance turbopumps, accessibility problems, and most significantly, the use of multiple, nonintegrated RCS, OMS, and main propulsion systems. Recovery and refurbishment of SRBs have resulted in expensive crash and salvage operations. Vehicle system designers are encouraged to be acutely aware of these cost drivers and to incorporate solutions (beginning with the design concepts) to avoid business as usual and costs as usual.

  13. Robot environment expert system

    NASA Technical Reports Server (NTRS)

    Potter, J. L.

    1985-01-01

    The Robot Environment Expert System uses a hexidecimal tree data structure to model a complex robot environment where not only the robot arm moves, but also the robot itself and other objects may move. The hextree model allows dynamic updating, collision avoidance and path planning over time, to avoid moving objects.

  14. Comparison of Spinal Needle Deflection in a Ballistic Gel Model

    PubMed Central

    Rand, Ethan; Christolias, George; Visco, Christopher; R. Singh, Jaspal

    2016-01-01

    Background Percutaneous diagnostic and therapeutic procedures are commonly used in the treatment of spinal pain. The success of these procedures depends on the accuracy of needle placement, which is influenced by needle size and shape. Objectives The purpose of this study is to examine and quantify the deviation of commonly used spinal needles based on needle tip design and gauge, using a ballistic gel tissue simulant. Materials and Methods Six needles commonly used in spinal procedures (Quincke, Short Bevel, Chiba, Tuohy, Hustead, Whitacre) were selected for use in this study. Ballistic gel samples were made in molds of two depths, 40mm and 80 mm. Each needle was mounted in a drill press to ensure an accurate needle trajectory. Distance of deflection was recorded for each needle. Results In comparing the mean deflection of 22 gauge needles of all types at 80 mm of depth, deflection was greatest among beveled needles [Short Bevel (9.96 ± 0.77 mm), Quincke (8.89 ± 0.17 mm), Chiba (7.71 ± 1.16 mm)], moderate among epidural needles [Tuohy (7.64 ± 0.16 mm) and least among the pencil-point needles [Whitacre (0.73 ± 0.34 mm)]. Increased gauge (25 g) led to a significant increase in deflection among beveled needles. The direction of deflection was away from the bevel with Quincke, Chiba and Short Beveled needles and toward the bevel of the Tuohy and Hustead needles. Deflection of the Whitacre pencil-point needle was minimal. Conclusions There is clinical utility in knowing the relative deflection of various needle tips. When a procedure requires a needle to be steered around obstacles, or along non-collinear targets, the predictable and large amount of deflection obtained through use of a beveled spinal needle may prove beneficial. PMID:27847693

  15. Robots and manipulators

    NASA Technical Reports Server (NTRS)

    Heer, E.

    1981-01-01

    Robots are defined and described for various applications. The key feature of robots is programmability, which allows teleoperation, repair work in hazardous situations, and unsupervised operation in industrial functions. Two types of robots now exist: special purpose, with equipment for a specific task; and general purpose, which include nonservo-controlled robots, servo-controlled robots, and sensory control robots. Sensory robots are the most sophisticated, and are equipped with both internal control sensors and external sensors such as TV cameras, pressure detectors, laser range finders, etc. Sensory feedback to a central computer enables the robots to make appropriate modifications to the control program to adapt to new situations. Pattern recognition and scans for size are features of the TV sensors, and programs to develop a universal effector (hand) are outlined. Finally, robot programming in terms of manual, walkthrough, and textual methods are described, and the potential uses of robots for space and undersea construction and repair are discussed.

  16. Transbronchial needle aspiration with a new electromagnetically-tracked TBNA needle

    NASA Astrophysics Data System (ADS)

    Choi, Jae; Popa, Teo; Gruionu, Lucian

    2009-02-01

    Transbronchial needle aspiration (TBNA) is a common method used to collect tissue for diagnosis of different chest diseases and for staging lung cancer, but the procedure has technical limitations. These limitations are mostly related to the difficulty of accurately placing the biopsy needles into the target mass. Currently, pulmonologists plan TBNA by examining a number of Computed Tomography (CT) scan slices before the operation. Then, they manipulate the bronchoscope down the respiratory track and blindly direct the biopsy. Thus, the biopsy success rate is low. The diagnostic yield of TBNA is approximately 70 percent. To enhance the accuracy of TBNA, we developed a TBNA needle with a tip position that can be electromagnetically tracked. The needle was used to estimate the bronchoscope's tip position and enable the creation of corresponding virtual bronchoscopic images from a preoperative CT scan. The TBNA needle was made with a flexible catheter embedding Wang Transbronchial Histology Needle and a sensor tracked by electromagnetic field generator. We used Aurora system for electromagnetic tracking. We also constructed an image-guided research prototype system incorporating the needle and providing a user-friendly interface to assist the pulmonologist in targeting lesions. To test the feasibility of the accuracy of the newly developed electromagnetically-tracked needle, a phantom study was conducted in the interventional suite at Georgetown University Hospital. Five TBNA simulations with a custom-made phantom with a bronchial tree were performed. The experimental results show that our device has potential to enhance the accuracy of TBNA.

  17. Robotic Telesurgery Research

    DTIC Science & Technology

    2010-03-01

    dexterous workspace, as in the NB2.1 [5]. This robotic platform is designed specifically for Laparoendoscopic Single - Site Surgery (LESS), and consists...Laparoendoscopic Single - Site Surgery using a Multi-Functional Miniature In Vivo Robot,” The International Journal of Medical Robotics and Computer Assisted...Farritor, S.M., Oleynikov, D. “Laparoendoscopic Single - Site Surgery using a Multi-Functional Miniature In Vivo Robot,” Minimally Invasive Robotic

  18. Collaborative Robotics Design Considerations

    DTIC Science & Technology

    2004-05-06

    I~D~·L Paper Number Collaborative Robotics Design Considerations ABSTRACT As research advances individual robot capabilities, a logical...progression is the use of multiple robots to complete a task more effectively. Mission performance can be improved by the ability to allocate robots with...diverse capabilities to perform different parts of a complex task. To paraphrase [[10], there are many advantages to enabling robotic collaborative

  19. Robotic Vision for Welding

    NASA Technical Reports Server (NTRS)

    Richardson, R. W.

    1986-01-01

    Vision system for robotic welder looks at weld along axis of welding electrode. Gives robot view of most of weld area, including yet-unwelded joint, weld pool, and completed weld bead. Protected within welding-torch body, lens and fiber bundle give robot closeup view of weld in progress. Relayed to video camera on robot manipulator frame, weld image provides data for automatic control of robot motion and welding parameters.

  20. Modeling of Needle-Tissue Interaction Forces During Surgical Suturing

    PubMed Central

    Jackson, Russell C.; Çavuşoğlu, M. Cenk

    2013-01-01

    This paper presents a model of needle tissue interaction forces that a rigid suture needle experiences during surgical suturing. The needle-tissue interaction forces are modeled as the sum of lumped parameters. The model has three main components; friction, tissue compression, and cutting forces. The tissue compression force uses the area that the needle sweeps out during a suture to estimate both the force magnitude and force direction. The area that the needle sweeps out is a direct result of driving the needle in a way that does not follow the natural curve of the needle. The friction force is approximated as a static friction force along the shaft of the needle. The cutting force acts only on the needle tip. The resulting force and torque model is experimentally validated using a tissue phantom. These results indicate that the proposed lumped parameter model is capable of accurately modeling the forces experienced during a suture. PMID:24683499

  1. Characterization of Pre-Curved Needles for Steering in Tissue

    PubMed Central

    Wedlick, Thomas R.; Okamura, Allison M.

    2010-01-01

    Needles with tip asymmetry deflect upon insertion into soft tissue, an effect that can be used to steer needles within the body. This paper presents a phenomenological characterization of the steering behavior of pre-curved needles, which have tip asymmetry due to curvature of the needle near the tip. We describe needle construction methods and a needle shaft triangulation algorithm to compute the shape of the needle based on images. Experimental results show that pre-curved needles possess greater dexterity than bevel-tipped needles and achieve radii of curvature similar to pre-bent needles. For long pre-curve arc lengths, the radius of curvature of the needle was found to approach the radius of curvature of the pre-curve. Pre-curved needles were found to display behaviors not seen with bevel-tipped needles, such as the insertion velocity influencing the path of the tip within the tissue and the ability to plastically deform the needle during steering. PMID:19963994

  2. Model-based Robotic Dynamic Motion Control for the Robonaut 2 Humanoid Robot

    NASA Technical Reports Server (NTRS)

    Badger, Julia M.; Hulse, Aaron M.; Taylor, Ross C.; Curtis, Andrew W.; Gooding, Dustin R.; Thackston, Allison

    2013-01-01

    Robonaut 2 (R2), an upper-body dexterous humanoid robot, has been undergoing experimental trials on board the International Space Station (ISS) for more than a year. R2 will soon be upgraded with two climbing appendages, or legs, as well as a new integrated model-based control system. This control system satisfies two important requirements; first, that the robot can allow humans to enter its workspace during operation and second, that the robot can move its large inertia with enough precision to attach to handrails and seat track while climbing around the ISS. This is achieved by a novel control architecture that features an embedded impedance control law on the motor drivers called Multi-Loop control which is tightly interfaced with a kinematic and dynamic coordinated control system nicknamed RoboDyn that resides on centralized processors. This paper presents the integrated control algorithm as well as several test results that illustrate R2's safety features and performance.

  3. Robotic vehicle

    DOEpatents

    Box, W.D.

    1994-03-15

    A robotic vehicle is described for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle comprises forward and rear housings each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings are selectively held in a stationary position within the conduit. The vehicle also includes at least three selectively extendable members, each of which defines a cavity therein. The forward end portion of each extendable member is secured to the forward housing and the rear end portion of each housing is secured to the rear housing. Each of the extendable members is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively increased. Further, each of the extendable members is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively decreased. 11 figures.

  4. Robotic vehicle

    DOEpatents

    Box, W.D.

    1996-03-12

    A robotic vehicle is described for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle comprises forward and rear housings each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings are selectively held in a stationary position within the conduit. The vehicle also includes at least three selectively extendable members, each of which defines a cavity therein. The forward end portion of each extendable member is secured to the forward housing and the rear end portion of each housing is secured to the rear housing. Each of the extendable members is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively increased. Further, each of the extendable members is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively decreased. 14 figs.

  5. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1996-01-01

    A robotic vehicle (10) for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle (10) comprises forward and rear housings (32 and 12) each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings (32 and 12) are selectively held in a stationary position within the conduit. The vehicle (10) also includes at least three selectively extendable members (46), each of which defines a cavity (56) therein. The forward end portion (50) of each extendable member (46) is secured to the forward housing (32) and the rear end portion (48) of each housing is secured to the rear housing (12). Each of the extendable members (46) is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity (56) of the extendable member such that the distance between the forward housing (32 ) and the rear housing (12) can be selectively increased. Further, each of the extendable members (46) is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity (56) of the extendable member (46) such that the distance between the forward housing (32) and the rear housing (12) can be selectively decreased.

  6. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1994-01-01

    A robotic vehicle (10) for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle (10) comprises forward and rear housings (32 and 12) each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings (32 and 12) are selectively held in a stationary position within the conduit. The vehicle (10) also includes at least three selectively extendable members (46), each of which defines a cavity (56) therein. The forward end portion (50) of each extendable member (46) is secured to the forward housing (32) and the rear end portion (48) of each housing is secured to the rear housing (12). Each of the extendable members (46) is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity (56) of the extendable member such that the distance between the forward housing (32 ) and the rear housing (12) can be selectively increased. Further, each of the extendable members (46) is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity (56) of the extendable member (46) such that the distance between the forward housing (32) and the rear housing (12) can be selectively decreased.

  7. Hexapod Robot

    NASA Technical Reports Server (NTRS)

    Begody, Ericka

    2016-01-01

    The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to

  8. Stingray: High-Speed Teleoperation of UGVs in Urban Terrain Using Driver-Assist Behaviors and Immersive Telepresence

    DTIC Science & Technology

    2008-12-01

    STINGRAY : HIGH-SPEED TELEOPERATION OF UGVS IN URBAN TERRAIN USING DRIVER-ASSIST BEHAVIORS AND IMMERSIVE TELEPRESENCE Brian Yamauchi* iRobot...into the air. Figure 1: iRobot Warrior UGV with Chatten Head-Aimed Remote Viewer (HARV) For the Stingray Project, funded by the US Army Tank...through software that interprets the pilot’s control inputs. In Phase I of the Stingray Project, we mounted a Chatten Head-Aimed Remote Viewer

  9. Cosmic Needles versus Cosmic Microwave Background Radiation

    NASA Astrophysics Data System (ADS)

    Li, Aigen

    2003-02-01

    It has been suggested by a number of authors that the 2.7 K cosmic microwave background (CMB) radiation might have arisen from the radiation of ``Population III'' objects thermalized by conducting cosmic graphite/iron needle-shaped dust. Due to a lack of an accurate solution to the absorption properties of exceedingly elongated grains, in existing literature which studies the CMB thermalizing process they are generally modeled as (1) needle-like spheroids in terms of the Rayleigh approximation, (2) infinite cylinders, and (3) antennae. We show here that the Rayleigh approximation is not valid since the Rayleigh criterion is not satisfied for highly conducting needles. We also show that the available intergalactic iron dust, if modeled as infinite cylinders, is not sufficient to supply the required opacity at long wavelengths to obtain the observed isotropy and Planckian nature of the CMB. If appealing to the antenna theory, conducting iron needles with exceedingly large elongations ( >104) appear able to provide sufficient opacity to thermalize the CMB within the iron density limit. But the applicability of the antenna theory to exceedingly thin needles of nanometer/micrometer thickness has not yet been verified.

  10. Medically relevant ElectroNeedle technology development.

    SciTech Connect

    Schmidt, Carrie Frances; Thomas, Michael Loren; McClain, Jaime L.; Harper, Jason C.; Achyuthan, Komandoor E.; Ten Eyck, Gregory A.

    2008-11-01

    ElectroNeedles technology was developed as part of an earlier Grand Challenge effort on Bio-Micro Fuel Cell project. During this earlier work, the fabrication of the ElectroNeedles was accomplished along with proof-of-concept work on several electrochemically active analytes such as glucose, quinone and ferricyanide. Additionally, earlier work demonstrated technology potential in the field of immunosensors by specifically detecting Troponin, a cardiac biomarker. The current work focused upon fabrication process reproducibility of the ElectroNeedles and then using the devices to sensitively detect p-cresol, a biomarker for kidney failure or nephrotoxicity. Valuable lessons were learned regarding fabrication assurance and quality. The detection of p-cresol was accomplished by electrochemistry as well as using fluorescence to benchmark ElectroNeedles performance. Results from these studies will serve as a guide for the future fabrication processes involving ElectroNeedles as well as provide the groundwork necessary to expand technology applications. One paper has been accepted for publication acknowledging LDRD funding (K. E. Achyuthan et al, Comb. Chem. & HTS, 2008). We are exploring the scope for a second paper describing the applications potential of this technology.

  11. Optical Coherence Tomography in a Needle Format

    NASA Astrophysics Data System (ADS)

    Lorenser, Dirk; McLaughlin, Robert A.; Sampson, David D.

    In this chapter, we review the technology and applications of needle probes for optical coherence tomography (OCT). Needle probes are miniaturized fiber-optic probes that can be mounted inside hypodermic needles, allowing them to be inserted deep into the body during OCT imaging. This overcomes the very limited imaging depth of OCT of only 2-3 mm in biological tissue, enabling access to deep-tissue locations that are beyond the reach of free-space optical scan heads or catheters. This chapter provides an in-depth review of the current state-of-the art in needle probe technology, including optical design and fabrication, scan mechanisms (including three-dimensional scanning), and integration into OCT systems. It also provides an overview of emerging applications of this fascinating new imaging tool in areas such as cancer diagnosis, pulmonary imaging, imaging of the eye and imaging of the brain. Finally, two case studies are presented, illustrating needle-based OCT imaging in breast cancer and lungs.

  12. Heavy ion driver technology

    SciTech Connect

    Keefe, D.

    1988-09-01

    Major differences between fusion drivers and traditional accelerators include the following. The final beam current needed (/approximately/20 kA in a short pulse) is very much larger for a driver; such beams are dominated by repulsive space-charge effects since, even at 10 GeV, the ions are non-relativistic (v/c = 0.3). Also, the optical quality of the beams (called emittance by accelerator people) must be extremely good to ensure a suitably small focal spot at the pellet. Two schemes, one with a rf linac and storage rings, the other with a single-pass current-amplifying induction linac, are under study, the latter exclusively in the US. The induction linac approach lends itself to an examination in a sequence of scaled-down laboratory experiments since the most difficulties are expected to occur at the low energy end. Experiments and simulation have centered on a study of the transverse and longitudinal control of space-charge-dominated beams which are best described in terms of a non-neutral plasma rather than the traditional single-particle dynamics picture. An understanding of the high-current instability limits is required for arriving at a safe driver design. The final on-target beam current is so high that it must be carried in 16 separate focusing channels leading into the combustion chamber. While the energy deposition of the ions is expected to be entirely classical, there is a wealth of plasma physics phenomena to be explored (by theory and simulation) in the final propagation of these beams through the low-density gas in the chamber and in the environment of the hot target; it is important that none of these could result in a significant portion of the beam missing the focal spot. 13 refs., 9 figs., 1 tab.

  13. The RIA driver linac.

    SciTech Connect

    Shepard, K. W.

    2002-09-23

    The driver linac for the U.S. RIA project will be a 1.4 GV superconducting linac capable of accelerating the full mass range of ions from 900 MeV protons to 400 MeV/u uranium, and delivering a cw beam of 400 kW shared by at least two targets simultaneously. Elements of the linac are being developed at several U.S. laboratories. The current status of linac design and development is reviewed with emphasis on changes in the baseline design since the last linac conference.

  14. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches.

    PubMed

    Song, Sang-Eun; Cho, Nathan B; Fischer, Gregory; Hata, Nobuhito; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2010-07-15

    Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained.

  15. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

    PubMed Central

    Song, Sang-Eun; Cho, Nathan B.; Fischer, Gregory; Hata, Nobuhito; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2011-01-01

    Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained. PMID:21399734

  16. Robotic intelligence kernel

    DOEpatents

    Bruemmer, David J.

    2009-11-17

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

  17. Perception and Action in Teleoperated Needle Insertion

    PubMed Central

    Nisky, Ilana; Pressman, Assaf; Pugh, Carla M.; Mussa-Ivaldi, Ferdinando A.; Karniel, Amir

    2015-01-01

    We studied the effect of delay on perception and action in contact with a force field that emulates elastic soft tissue with a rigid nonlinear boundary. Such field is similar to forces exerted on a needle during teleoperated needle insertion. We found that delay causes motor underestimation of the stiffness of this nonlinear soft tissue, without perceptual change. These experimental results are supported by simulation of a simplified mechanical model of the arm and neural controller, and a model for perception of stiffness, which is based on regression in the force-position space. In addition, we show that changing the gain of the teleoperation channel cancels the motor effect of delay without adding perceptual distortion. We conclude that it is possible to achieve perceptual and motor transparency in virtual one-dimensional remote needle insertion task. PMID:26379813

  18. Intelligent robots and computer vision

    SciTech Connect

    Casasent, D.P.

    1985-01-01

    This book presents the papers given at a conference which examined artificial intelligence and image processing in relation to robotics. Topics considered at the conference included feature extraction and pattern recognition for computer vision, image processing for intelligent robotics, robot sensors, image understanding and artificial intelligence, optical processing techniques in robotic applications, robot languages and programming, processor architectures for computer vision, mobile robots, multisensor fusion, three-dimensional modeling and recognition, intelligent robots applications, and intelligent robot systems.

  19. Needle free injection technology: A complete insight

    PubMed Central

    Ravi, Ansh Dev; Sadhna, D; Nagpaal, D; Chawla, L

    2015-01-01

    Needle free injection technology (NFIT)is an extremely broad concept which include a wide range of drug delivery systems that drive drugs through the skin using any of the forces as Lorentz, Shock waves, pressure by gas or electrophoresis which propels the drug through the skin, virtually nullifying the use of hypodermic needle. This technology is not only touted to be beneficial for the pharma industry but developing world too find it highly useful in mass immunization programmes, bypassing the chances of needle stick injuries and avoiding other complications including those arising due to multiple use of single needle. The NFIT devices can be classified based on their working, type of load, mechanism of drug delivery and site of delivery. To administer a stable, safe and an effective dose through NFIT, the sterility, shelf life and viscosity of drug are the main components which should be taken care of. Technically superior needle-free injection systems are able to administer highly viscous drug products which cannot be administered by traditional needle and syringe systems, further adding to the usefulness of the technology. NFIT devices can be manufactured in a variety of ways; however the widely employed procedure to manufacture it is by injection molding technique. There are many variants of this technology which are being marketed, such as Bioject® ZetaJetTM, Vitajet 3, Tev-Tropin® and so on. Larger investment has been made in developing this technology with several devices already being available in the market post FDA clearance and a great market worldwide. PMID:26682189

  20. New needle-crystalline CR detector

    NASA Astrophysics Data System (ADS)

    Leblans, Paul J. R.; Struye, Luc; Willems, Peter

    2001-06-01

    The storage phosphor RbBr:Tl+ can be grown in needles via vacuum deposition. Thanks to reduced lateral light diffusion thick needle screens still offer acceptable resolution. Due to its low intrinsic X-ray absorption, however, a RbBr:Tl+ needle screen does not lead to a better absorption/resolution compromise than a BaFBr1-xIx:Eu2+ powder screen. CsBr:Eu2+ does combine high specific X-ray absorption and the possibility of needle growth. Its blue emission, peaking at 440 nm and near IR stimulation band, with maximum at 685 nm, make it well suited for use in CR systems. Sensitivity and sharpness of a 500 (mu) thick CsBr:Eu2+ needle screen were measured in a flying-spot scanner. The number of photostimulated light quanta per absorbed X-ray quantum is higher than for BaFBr1-xIx:Eu2+. At 70 kVp and 0.5 mm Cu filtration, equal sharpness is obtained for 85% vs. 46% X-ray absorption in BaFBr1-xIx:Eu2+ screens. DQE was measured at 2.5 (mu) Gy, 70 kVp, and 0.5 mm Cu filtration for a CsBr:Eu2+ needle screen in a flying-spot scanner. Up to 3 lp/mm, DQE was 2 times higher than for state-of-the-art CR systems and equal to the DQE claimed for flat panel DR systems, based on a-Si photodiodes combined with a CsI:Tl scintillator layer.

  1. Humanoid Robot

    NASA Technical Reports Server (NTRS)

    Linn, Douglas M. (Inventor); Ambrose, Robert O. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Platt, Robert (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Strawser, Phillip A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor); Ihrke, Chris A. (Inventor); Reiland, Matthew J. (Inventor); Sanders, Adam M. (Inventor); Reich, David M. (Inventor); Hargrave, Brian (Inventor); Parsons, Adam H. (Inventor); Permenter, Frank N. (Inventor); Davis, Donald R. (Inventor)

    2013-01-01

    A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

  2. Fast SCR Thyratron Driver

    SciTech Connect

    Nguyen, M.N.; /SLAC

    2007-06-18

    As part of an improvement project on the linear accelerator at SLAC, it was necessary to replace the original thyratron trigger generator, which consisted of two chassis, two vacuum tubes, and a small thyratron. All solid-state, fast rise, and high voltage thyratron drivers, therefore, have been developed and built for the 244 klystron modulators. The rack mounted, single chassis driver employs a unique way to control and generate pulses through the use of an asymmetric SCR, a PFN, a fast pulse transformer, and a saturable reactor. The resulting output pulse is 2 kV peak into 50 {Omega} load with pulse duration of 1.5 {mu}s FWHM at 180 Hz. The pulse risetime is less than 40 ns with less than 1 ns jitter. Various techniques are used to protect the SCR from being damaged by high voltage and current transients due to thyratron breakdowns. The end-of-line clipper (EOLC) detection circuit is also integrated into this chassis to interrupt the modulator triggering in the event a high percentage of line reflections occurred.

  3. Driver behaviour at roadworks.

    PubMed

    Walker, Guy; Calvert, Malcolm

    2015-11-01

    There is an incompatibility between how transport engineers think drivers behave in roadworks and how they actually behave. As a result of this incompatibility we are losing approximately a lane's worth of capacity in addition to those closed by the roadworks themselves. The problem would have little significance were it not for the fact a lane of motorway costs approx. £30 m per mile to construct and £43 k a year to maintain, and that many more roadworks are planned as infrastructure constructed 40 or 50 years previously reaches a critical stage in its lifecycle. Given current traffic volumes, and the sensitivity of road networks to congestion, the effects of roadworks need to be accurately assessed. To do this requires a new ergonomic approach. A large-scale observational study of real traffic conditions was used to identify the issues and impacts, which were then mapped to the ergonomic knowledge-base on driver behaviour, and combined to developed practical guidelines to help in modelling future roadworks scenarios with greater behavioural accuracy. Also stemming from the work are novel directions for the future ergonomic design of roadworks themselves.

  4. A simple wave driver

    NASA Astrophysics Data System (ADS)

    Kağan Temiz, Burak; Yavuz, Ahmet

    2015-08-01

    This study was done to develop a simple and inexpensive wave driver that can be used in experiments on string waves. The wave driver was made using a battery-operated toy car, and the apparatus can be used to produce string waves at a fixed frequency. The working principle of the apparatus is as follows: shortly after the car is turned on, the wheel starts to turn at a constant angular speed. A rod that is fixed on the wheel turns at the same constant angular speed, too. A tight string that the wave will be created on is placed at a distance where the rod can touch the string. During each rotation of the wheel, the rod vibrates the string up and down. The vibration frequency of this rod equals the wheel’s rotation frequency, and this frequency value can be measured easily with a small magnet and a bicycle speedometer. In this way, the frequency of the waves formed in the rope can also be measured.

  5. Shape sensing for torsionally compliant concentric-tube robots

    NASA Astrophysics Data System (ADS)

    Xu, Ran; Yurkewich, Aaron; Patel, Rajni V.

    2016-03-01

    Concentric-tube robots (CTR) consist of a series of pre-curved flexible tubes that make up the robot structure and provide the high dexterity required for performing surgical tasks in constrained environments. This special design introduces new challenges in shape sensing as large twisting is experienced by the torsionally compliant structure. In the literature, fiber Bragg grating (FBG) sensors are attached to needle-sized continuum robots for curvature sensing, but they are limited to obtaining bending curvatures since a straight sensor layout is utilized. For a CTR, in addition to bending curvatures, the torsion along the robots shaft should be determined to calculate the shape and pose of the robot accurately. To solve this problem, in our earlier work, we proposed embedding FBG sensors in a helical pattern into the tube wall. The strain readings are converted to bending curvatures and torsion by a strain-curvature model. In this paper, a modified strain-curvature model is proposed that can be used in conjunction with standard shape reconstruction algorithms for shape and pose calculation. This sensing technology is evaluated for its accuracy and resolution using three FBG sensors with 1 mm sensing segments that are bonded into the helical grooves of a pre-curved Nitinol tube. The results show that this sensorized robot can obtain accurate measurements: resolutions of 0.02 rad/m with a 100 Hz sampling rate. Further, the repeatability of the obtained measurements during loading and unloading conditions are presented and analyzed.

  6. Syringe and Needle Size, Syringe Type, Vacuum Generation, and Needle Control in Aspiration Procedures

    SciTech Connect

    Haseler, Luke J.; Sibbitt, Randy R.; Sibbitt, Wilmer L.; Michael, Adrian A.; Gasparovic, Charles M.; Bankhurst, Arthur D.

    2011-06-15

    Purpose: Syringes are used for diagnostic fluid aspiration and fine-needle aspiration biopsy in interventional procedures. We determined the benefits, disadvantages, and patient safety implications of syringe and needle size on vacuum generation, hand force requirements, biopsy/fluid yield, and needle control during aspiration procedures. Materials and Methods: Different sizes (1, 3, 5, 10, and 20 ml) of the conventional syringe and aspirating mechanical safety syringe, the reciprocating procedure device, were studied. Twenty operators performed aspiration procedures with the following outcomes measured: (1) vacuum (torr), (2) time to vacuum (s), (3) hand force to generate vacuum (torr-cm{sup 2}), (4) operator difficulty during aspiration, (5) biopsy yield (mg), and (6) operator control of the needle tip position (mm). Results: Vacuum increased tissue biopsy yield at all needle diameters (P < 0.002). Twenty-milliliter syringes achieved a vacuum of -517 torr but required far more strength to aspirate, and resulted in significant loss of needle control (P < 0.002). The 10-ml syringe generated only 15% less vacuum (-435 torr) than the 20-ml device and required much less hand strength. The mechanical syringe generated identical vacuum at all syringe sizes with less hand force (P < 0.002) and provided significantly enhanced needle control (P < 0.002). Conclusions: To optimize patient safety and control of the needle, and to maximize fluid and tissue yield during aspiration procedures, a two-handed technique and the smallest syringe size adequate for the procedure should be used. If precise needle control or one-handed operation is required, a mechanical safety syringe should be considered.

  7. Robotics for Human Exploration

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

    Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

  8. Competencies Identification for Robotics Training.

    ERIC Educational Resources Information Center

    Tang, Le D.

    A study focused on the task of identifying competencies for robotics training. The level of robotics training was limited to that of robot technicians. Study objectives were to obtain a list of occupational competencies; to rank their order of importance; and to compare opinions from robot manufacturers, robot users, and robotics educators…

  9. Robot strings: Long, thin continuum robots

    NASA Astrophysics Data System (ADS)

    Walker, I. D.

    We describe and discuss the development of long, thin, continuous “ string-like” robots aimed at Space exploration missions. These continuous backbone “ continuum” robots are inspired by numerous biological structures, particularly vines, worms, and the tongues of animals such as the anteater. The key novelty is the high length-to-diameter ratio of the robots. This morphology offers penetration into, and exploration of, significantly narrower and deeper environments than accessible using current robot technology. In this paper, we introduce new design alternatives for long thin continuum robots, based on an analysis and extension of three core existing continuum robot design types. The designs are evaluated based on their mechanical feasibility, structural properties, kinematic simplicity, and degrees of freedom.

  10. Idaho Driver Education Instructional Guide. Revised.

    ERIC Educational Resources Information Center

    Idaho State Dept. of Education, Boise.

    This driver education instructional safety guide is organized in three sections: Driver Education; Motorcycle Education; and Driver Education for the Handicapped. The driver education section contains 10 units dealing with the following topics: parent orientation; student orientation; basic control skills; driver performance; driving regulations;…

  11. 49 CFR 380.109 - Driver testing.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 5 2011-10-01 2011-10-01 false Driver testing. 380.109 Section 380.109... REQUIREMENTS Longer Combination Vehicle (LCV) Driver-Training and Driver-Instructor Requirements-General § 380.109 Driver testing. (a) Testing methods. The driver-student must pass knowledge and skills tests...

  12. 49 CFR 380.109 - Driver testing.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 5 2012-10-01 2012-10-01 false Driver testing. 380.109 Section 380.109... REQUIREMENTS Longer Combination Vehicle (LCV) Driver-Training and Driver-Instructor Requirements-General § 380.109 Driver testing. (a) Testing methods. The driver-student must pass knowledge and skills tests...

  13. 49 CFR 380.109 - Driver testing.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 5 2014-10-01 2014-10-01 false Driver testing. 380.109 Section 380.109... REQUIREMENTS Longer Combination Vehicle (LCV) Driver-Training and Driver-Instructor Requirements-General § 380.109 Driver testing. (a) Testing methods. The driver-student must pass knowledge and skills tests...

  14. 49 CFR 380.109 - Driver testing.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 5 2013-10-01 2013-10-01 false Driver testing. 380.109 Section 380.109... REQUIREMENTS Longer Combination Vehicle (LCV) Driver-Training and Driver-Instructor Requirements-General § 380.109 Driver testing. (a) Testing methods. The driver-student must pass knowledge and skills tests...

  15. Improvements to the Processing and Characterization of Needled Composite Laminates

    DTIC Science & Technology

    2014-01-01

    that mode I fracture toughness improves up to 270% compared to non- needled baseline material. In-plane compressive strength of needled material... fracture toughness improves up to 270% compared to non-needled baseline material. In-plane compressive strength of needled material improves by up to 475...shear (DLS) tests are performed to assess improvements in mode-I fracture toughness and shear strength. Tension and compression tests are

  16. Idaho Driver Education Administrative Guide.

    ERIC Educational Resources Information Center

    Idaho State Dept. of Education, Boise.

    This guide provides information for school administrators and directors of commercial driver training schools about conducting driver education courses in Idaho. The first part of the guide, which applies to both public schools and commercial schools, covers the following areas: administration, sample letters and forms, instructional time…

  17. Fast thyratron driver

    SciTech Connect

    Nguyen, M.N.; Cassel, R.L.

    1991-04-01

    A fast solid-state pulse generator used as a thyratron grid driver for kicker pulsers, has been developed and built with power MOSFETs and a transmission line transformer. The MOSFET, pulsed on and off by a pair of P-N channel HEXFETs, switches charged capacitors into the transformer connected in parallel on one end and in series on the other end to step up the voltage. The resulting output pulse parameters are 2 kilovolts peak (into 50 Ohms), 13 nanoseconds risetime (10--90%), 250 nanoseconds duration, and less than 50 picoseconds pulse-to-pulse jitter. Various methods are employed to protect the MOSFETs from thyratron arc back, including the use of TransZorbs and a magnetic diode. 3 refs., 3 figs.

  18. The Double-Needle Felling Machine. Module 17.

    ERIC Educational Resources Information Center

    South Carolina State Dept. of Education, Columbia. Office of Vocational Education.

    This module on the double-needle felling machine, one in a series dealing with industrial sewing machines, their attachments, and operation, covers two topics: performing special operations on the double-needle felling machine (straight seams) and performing special operations on the double-needle felling machine (curved flat-felled seams). For…

  19. 21 CFR 868.5150 - Anesthesia conduction needle.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Anesthesia conduction needle. 868.5150 Section 868...) MEDICAL DEVICES ANESTHESIOLOGY DEVICES Therapeutic Devices § 868.5150 Anesthesia conduction needle. (a) Identification. An anesthesia conduction needle is a device used to inject local anesthetics into a patient...

  20. 21 CFR 868.5150 - Anesthesia conduction needle.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Anesthesia conduction needle. 868.5150 Section 868...) MEDICAL DEVICES ANESTHESIOLOGY DEVICES Therapeutic Devices § 868.5150 Anesthesia conduction needle. (a) Identification. An anesthesia conduction needle is a device used to inject local anesthetics into a patient...

  1. 21 CFR 884.6100 - Assisted reproduction needles.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 21 Food and Drugs 8 2013-04-01 2013-04-01 false Assisted reproduction needles. 884.6100 Section... (CONTINUED) MEDICAL DEVICES OBSTETRICAL AND GYNECOLOGICAL DEVICES Assisted Reproduction Devices § 884.6100 Assisted reproduction needles. (a) Identification. Assisted reproduction needles are devices used in...

  2. 21 CFR 884.6100 - Assisted reproduction needles.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 21 Food and Drugs 8 2014-04-01 2014-04-01 false Assisted reproduction needles. 884.6100 Section... (CONTINUED) MEDICAL DEVICES OBSTETRICAL AND GYNECOLOGICAL DEVICES Assisted Reproduction Devices § 884.6100 Assisted reproduction needles. (a) Identification. Assisted reproduction needles are devices used in...

  3. 21 CFR 884.6100 - Assisted reproduction needles.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Assisted reproduction needles. 884.6100 Section... (CONTINUED) MEDICAL DEVICES OBSTETRICAL AND GYNECOLOGICAL DEVICES Assisted Reproduction Devices § 884.6100 Assisted reproduction needles. (a) Identification. Assisted reproduction needles are devices used in...

  4. 21 CFR 884.6100 - Assisted reproduction needles.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Assisted reproduction needles. 884.6100 Section... (CONTINUED) MEDICAL DEVICES OBSTETRICAL AND GYNECOLOGICAL DEVICES Assisted Reproduction Devices § 884.6100 Assisted reproduction needles. (a) Identification. Assisted reproduction needles are devices used in...

  5. 21 CFR 884.6100 - Assisted reproduction needles.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 21 Food and Drugs 8 2012-04-01 2012-04-01 false Assisted reproduction needles. 884.6100 Section... (CONTINUED) MEDICAL DEVICES OBSTETRICAL AND GYNECOLOGICAL DEVICES Assisted Reproduction Devices § 884.6100 Assisted reproduction needles. (a) Identification. Assisted reproduction needles are devices used in...

  6. 21 CFR 868.5150 - Anesthesia conduction needle.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 21 Food and Drugs 8 2013-04-01 2013-04-01 false Anesthesia conduction needle. 868.5150 Section 868...) MEDICAL DEVICES ANESTHESIOLOGY DEVICES Therapeutic Devices § 868.5150 Anesthesia conduction needle. (a) Identification. An anesthesia conduction needle is a device used to inject local anesthetics into a patient...

  7. 21 CFR 868.5150 - Anesthesia conduction needle.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 21 Food and Drugs 8 2012-04-01 2012-04-01 false Anesthesia conduction needle. 868.5150 Section 868...) MEDICAL DEVICES ANESTHESIOLOGY DEVICES Therapeutic Devices § 868.5150 Anesthesia conduction needle. (a) Identification. An anesthesia conduction needle is a device used to inject local anesthetics into a patient...

  8. 21 CFR 868.5150 - Anesthesia conduction needle.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 21 Food and Drugs 8 2014-04-01 2014-04-01 false Anesthesia conduction needle. 868.5150 Section 868...) MEDICAL DEVICES ANESTHESIOLOGY DEVICES Therapeutic Devices § 868.5150 Anesthesia conduction needle. (a) Identification. An anesthesia conduction needle is a device used to inject local anesthetics into a patient...

  9. Transthoracic needle aspiration in solitary pulmonary nodule

    PubMed Central

    Yang, Wen; Jiang, Hongli; Khan, Ali Nawaz; Allen, Carolyn; Bertolaccini, Luca

    2017-01-01

    With improved awareness of public health and the recent advances in various imaging technologies, the detection rate of solitary pulmonary nodules (SPN) is continuously increasing. Transthoracic needle aspiration (TTNA) has represented a major approach for the diagnosis and differential diagnosis of pulmonary masses, owing to its simplicity and minimal invasiveness. This paper demonstrates the role of TTNA in SPN. PMID:28331827

  10. A Modification to Maxwell's Needle Apparatus

    ERIC Educational Resources Information Center

    Soorya, Tribhuvan N.

    2015-01-01

    Maxwell's needle apparatus is used to determine the shear modulus (?) of the material of a wire of uniform cylindrical cross section. Conventionally, a single observation is taken for each observable, and the value of ? is calculated in a single shot. A modification to the above apparatus is made by varying one of the observables, namely the mass…

  11. The Single Needle Lockstitch Machine. Module 1.

    ERIC Educational Resources Information Center

    South Carolina State Dept. of Education, Columbia. Office of Vocational Education.

    This module on parts of the machine, one in a series on the single needle lockstitch sewing machine for student self-study, contains eight sections. Each section contains the following parts: an introduction, directions, an objective, learning activities, student information, student self-check, check-out activities, and an instructor's final…

  12. Transthoracic needle biopsy. What size syringe?

    PubMed

    Yankelevitz, D F; Hayt, D; Henschke, C I

    1995-01-01

    Using a vacuum gauge we demonstrated that with less effort, the identical vacuum can be obtained using a 10-cc syringe as opposed to a 50-cc syringe. We recommend using a 20 cc syringe during transthoracic needle aspiration since the syringe is easier to handle and still allows sufficient vacuum to be developed, even if a small amount of air enters the syringe.

  13. Bubble Growth and Detachment from a Needle

    NASA Astrophysics Data System (ADS)

    Shusser, Michael; Rambod, Edmond; Gharib, Morteza

    1999-11-01

    The release of bubbles from an underwater nozzle or orifice occurs in large number of applications, such as perforated plate columns, blood oxygenators and various methods of water treatment. It is also a widely used method in laboratory research on multiphase flow and acoustics for generating small bubbles in a controlled fashion. We studied experimentally the growth and pinch-off of air bubbles released from a submerged needle into a quiescent liquid or a liquid flowing parallel to the needle. Micron-sized bubbles were generated by an air-liquid dispenser. High-speed imaging was performed to study the formation and detachment of bubbles from the tip of the needle. The impact of the needle diameter was investigated and the size and number of produced bubbles were assessed for different flow rates of air and for different velocities of the imposed upward liquid flow. The results were compared with available theoretical models and numerical computations. The existence of a critical gas flow rate and two regimes of bubble growth were verified.

  14. Distribution of elements in needles of Pinus massoniana (Lamb.) was uneven and affected by needle age.

    PubMed

    Kuang, Yuan Wen; Wen, Da Zhi; Zhou, Guoyi; Liu, Shi Zhong

    2007-02-01

    Macronutrients (P, S, K, Na, Mg, Ca), heavy metals (Fe, Zn, Mn, Cu, Pb, Cr, Ni, Cd,) and Al concentrations as well as values of Ca/Al in the tip, middle and base sections, and sheaths of current year and previous year needles of Pinus massoniana from Xiqiao Mountain were analyzed and the distribution patterns of those elements were compared. The results indicated that many elements were unevenly distributed among the different components of needles. Possible deficiency of P, K, Ca, Mn and Al toxicity occurred in needles under air pollution. Heavy metals may threaten the health of Masson pine. Needle sheaths were good places to look for particulate pollutants, in this case including Fe, Cu, Zn, Pb, Cr, Cd and Al.

  15. Distribution of elements in needles of Pinus massoniana (Lamb.) was uneven and affected by needle age.

    PubMed

    Kuang, Yuan Wen; Wen, Da Zhi; Zhou, Guo Yi; Liu, Shi Zhong

    2007-01-01

    Macronutrients (P, S, K, Na, Mg, Ca), heavy metals (Fe, Zn, Mn, Cu, Pb, Cr, Ni, Cd) and Al concentrations as well as values of Ca/Al in the tip, middle, base sections and sheaths of current year and previous year needles of Pinus massoniana from Xiqiao Mountain were analyzed and the distribution patterns of those elements were compared. The results indicated that many elements were unevenly distributed among the different components of needles. Possible deficiency of P, K, Ca, Mn and Al toxicity occurred in needles under air pollution. Heavy metals may threaten the health of Masson pine. Needle sheaths were good places to look for particulate pollutants, in this case including Fe, Cu, Zn, Pb, Cr, Cd and Al.

  16. Robotic Lander Prototype

    NASA Video Gallery

    NASA engineers successfully integrated and completed system testing on a new robotic lander recently at Teledyne Brown Engineering’s facility in Huntsville in support of the Robotic Lunar Lander ...

  17. Robotic Lander Development Project

    NASA Video Gallery

    The Robotic Lander Development Project at the Marshall Center is testing a prototype lander that will aid in the design and development of a new generation of small, smart, versatile robotic lander...

  18. Robotic Intelligence Kernel: Communications

    SciTech Connect

    Walton, Mike C.

    2009-09-16

    The INL Robotic Intelligence Kernel-Comms is the communication server that transmits information between one or more robots using the RIK and one or more user interfaces. It supports event handling and multiple hardware communication protocols.

  19. Robots and the Economy.

    ERIC Educational Resources Information Center

    Albus, James S.

    1984-01-01

    Spectacular advances in microcomputers are forging new technological frontiers in robotics. For example, many factories will be totally automated. Economic implications of the new technology of robotics for the future are examined. (RM)

  20. Robotic Surveying

    SciTech Connect

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

    ZAPATA ENGINEERING challenged our engineers and scientists, which included robotics expertise from Carnegie Mellon University, to design a solution to meet our client's requirements for rapid digital geophysical and radiological data collection of a munitions test range with no down-range personnel. A prime concern of the project was to minimize exposure of personnel to unexploded ordnance and radiation. The field season was limited by extreme heat, cold and snow. Geographical Information System (GIS) tools were used throughout this project to accurately define the limits of mapped areas, build a common mapping platform from various client products, track production progress, allocate resources and relate subsurface geophysical information to geographical features for use in rapidly reacquiring targets for investigation. We were hopeful that our platform could meet the proposed 35 acres per day, towing both a geophysical package and a radiological monitoring trailer. We held our breath and crossed our fingers as the autonomous Speedrower began to crawl across the playa lakebed. We met our proposed production rate, and we averaged just less than 50 acres per 12-hour day using the autonomous platform with a path tracking error of less than +/- 4 inches. Our project team mapped over 1,800 acres in an 8-week (4 days per week) timeframe. The expertise of our partner, Carnegie Mellon University, was recently demonstrated when their two autonomous vehicle entries finished second and third at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. 'The Grand Challenge program was established to help foster the development of autonomous vehicle technology that will some day help save the lives of Americans who are protecting our country on the battlefield', said DARPA Grand Challenge Program Manager, Ron Kurjanowicz. Our autonomous remote-controlled vehicle (ARCV) was a modified New Holland 2550 Speedrower retrofitted to allow the machine

  1. NASA research in teleoperation and robotics

    NASA Technical Reports Server (NTRS)

    Meintel, A. J., Jr.; Larsen, R. L.

    1983-01-01

    Increased automation is necessary in future NASA missions. Drivers for automation include constrained funding and physical resources as well as mission capabilities not achievable through conventional means. The application of emerging technology in manipulators and machine intelligence will enable the development of robotic devices remotely commanded by human operators to increase man's productivity in space. The Office of Aeronautics and Space Technology (OAST) has established a program for research in teleoperation and robotics. The program's near-term focus is a Remote Orbital Servicing System (ROSS). The longer range goals include: (1) basic research in autonomous operations, (2) human factors research on the man-machine interface to remote systems, and (3) system integration and analysis of advanced concepts. This paper reviews the current NASA research and technology and considers future work needed to meet the OAST goals.

  2. RHOBOT: Radiation hardened robotics

    SciTech Connect

    Bennett, P.C.; Posey, L.D.

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

  3. Tool Changer For Robot

    NASA Technical Reports Server (NTRS)

    Voellmer, George M.

    1992-01-01

    Mechanism enables robot to change tools on end of arm. Actuated by motion of robot: requires no additional electrical or pneumatic energy to make or break connection between tool and wrist at end of arm. Includes three basic subassemblies: wrist interface plate attached to robot arm at wrist, tool interface plate attached to tool, and holster. Separate tool interface plate and holster provided for each tool robot uses.

  4. Robotics Research for Cybersecurity

    DTIC Science & Technology

    2012-01-24

    Wei-Min Shen 1/24/12 Page 1 of 3 Robotics Research for Cybersecurity Wei-Min Shen Polymorphic Robotics Laboratory USC/ISI, 4676 Admiralty Way...Marina del Rey, CA 90292 Phone: 310-448-8710, Fax: 310-822-0751 Email: shen@isi.edu, Web: http://www.isi.edu/ robots / Executive Summary This...project is to conduct a comprehensive study of robotics research in the context of cybersecurity. Specifically, 1) Create a realistic cybersecurity test

  5. Towards Pervasive Robotics

    DTIC Science & Technology

    2003-01-01

    Towards Pervasive Robotics Artur M. Arsenio Artificial Intelligence Lab - Massachusetts Institute of Technology 545 Technology Square, Room NE43-936...MA 02139 arsenio@ai.mit.edu Abstract Pervasive robotics will require, in a near future, small, light and cheap robots that exhibit complex behaviors...These demands led to the development of the M2-M4 Macaco project - a robotic active vi- sion head. Macaco is a portable system, capable of emulating

  6. Ground Vehicle Robotics

    DTIC Science & Technology

    2013-08-20

    Ground Vehicle Robotics Jim Parker Associate Director, Ground Vehicle Robotics UNCLASSIFIED: Distribution Statement A. Approved for public...DATE 20 AUG 2013 2. REPORT TYPE Briefing Charts 3. DATES COVERED 09-05-2013 to 15-08-2013 4. TITLE AND SUBTITLE Ground Vehicle Robotics 5a...Willing to take Risk on technology -User Evaluated -Contested Environments -Operational Data Applied Robotics for Installation & Base Ops -Low Risk

  7. Telepresence and Intervention Robotics

    DTIC Science & Technology

    2000-11-01

    UNCLASSIFIED Defense Technical Information Center Compilation Part Notice ADPO10628 TITLE: Telepresence and Intervention Robotics DISTRIBUTION...comprise the compilation report: ADPO10609 thru ADP010633 UNCLASSIFIED 20-1 TELEPRESENCE AND INTERVENTION ROBOTICS Nathalie Cislo Laboratoire de...Robotique de Paris 10-12, Avenue de 1’Europe 78140 VWlizy-Villacoublay, FRANCE cislo@robot.uvsq.fr ABSTRACT In the field of Mobile Robotics applications

  8. Supervised autonomous robotic soft tissue surgery.

    PubMed

    Shademan, Azad; Decker, Ryan S; Opfermann, Justin D; Leonard, Simon; Krieger, Axel; Kim, Peter C W

    2016-05-04

    The current paradigm of robot-assisted surgeries (RASs) depends entirely on an individual surgeon's manual capability. Autonomous robotic surgery-removing the surgeon's hands-promises enhanced efficacy, safety, and improved access to optimized surgical techniques. Surgeries involving soft tissue have not been performed autonomously because of technological limitations, including lack of vision systems that can distinguish and track the target tissues in dynamic surgical environments and lack of intelligent algorithms that can execute complex surgical tasks. We demonstrate in vivo supervised autonomous soft tissue surgery in an open surgical setting, enabled by a plenoptic three-dimensional and near-infrared fluorescent (NIRF) imaging system and an autonomous suturing algorithm. Inspired by the best human surgical practices, a computer program generates a plan to complete complex surgical tasks on deformable soft tissue, such as suturing and intestinal anastomosis. We compared metrics of anastomosis-including the consistency of suturing informed by the average suture spacing, the pressure at which the anastomosis leaked, the number of mistakes that required removing the needle from the tissue, completion time, and lumen reduction in intestinal anastomoses-between our supervised autonomous system, manual laparoscopic surgery, and clinically used RAS approaches. Despite dynamic scene changes and tissue movement during surgery, we demonstrate that the outcome of supervised autonomous procedures is superior to surgery performed by expert surgeons and RAS techniques in ex vivo porcine tissues and in living pigs. These results demonstrate the potential for autonomous robots to improve the efficacy, consistency, functional outcome, and accessibility of surgical techniques.

  9. Virtobot 2.0: the future of automated surface documentation and CT-guided needle placement in forensic medicine.

    PubMed

    Ebert, Lars Christian; Ptacek, Wolfgang; Breitbeck, Robert; Fürst, Martin; Kronreif, Gernot; Martinez, Rosa Maria; Thali, Michael; Flach, Patricia M

    2014-06-01

    In this paper we present the second prototype of a robotic system to be used in forensic medicine. The system is capable of performing automated surface documentation using photogrammetry, optical surface scanning and image-guided, post-mortem needle placement for tissue sampling, liquid sampling, or the placement of guide wires. The upgraded system includes workflow optimizations, an automatic tool-change mechanism, a new software module for trajectory planning and a fully automatic computed tomography-data-set registration algorithm. We tested the placement accuracy of the system by using a needle phantom with radiopaque markers as targets. The system is routinely used for surface documentation and resulted in 24 surface documentations over the course of 11 months. We performed accuracy tests for needle placement using a biopsy phantom, and the Virtobot placed introducer needles with an accuracy of 1.4 mm (±0.9 mm). The second prototype of the Virtobot system is an upgrade of the first prototype but mainly focuses on streamlining the workflow and increasing the level of automation and also has an easier user interface. These upgrades make the Virtobot a potentially valuable tool for case documentation in a scalpel-free setting that uses purely imaging techniques and minimally invasive procedures and is the next step toward the future of virtual autopsy.

  10. A universal six-joint robot controller

    NASA Technical Reports Server (NTRS)

    Bihn, D. G.; Hsia, T. C.

    1987-01-01

    A general purpose six-axis robotic manipulator controller was designed and implemented to serve as a research tool for the investigation of the practical and theoretical aspects of various control strategies in robotics. A 80286-based Intel System 310 running the Xenix operating servo software as well as the higher level software (e.g., kinematics and path planning) were employed. A Multibus compatible interface board was designed and constructed to handle I/O signals from the robot manipulator's joint motors. From the design point of view, the universal controller is capable of driving robot manipulators equipped with D.C. joint motors and position optical encoders. To test its functionality, the controller is connected to the joint motor D.C. power amplifier of a PUMA 560 arm bypassing completely the manufacturer-supplied Unimation controller. A controller algorithm consisting of local PD control laws was written and installed into the Xenix operating system. Additional software drivers were implemented to allow application programs access to the interface board. All software was written in the C language.

  11. A compact robotic apparatus and method for 3-D ultrasound guided prostate therapy

    NASA Astrophysics Data System (ADS)

    Bax, Jeffrey; Gardi, Lori; Montreuil, Jacques; Smith, David; Fenster, Aaron

    2007-03-01

    Ultrasound imaging has revolutionized the treatment of prostate cancer by producing increasingly accurate models of the prostate and influencing sophisticated targeting procedures for the insertion of radioactive seeds during brachytherapy. Three-dimensional (3D) ultrasound imaging, which allows 3D models of the prostate to be constructed from a series of two-dimensional images, helps to accurately target and implant seeds into the prostate. We have developed a compact robotic apparatus, as well as an effective method for guiding and controlling the insertion of transperineal needles into the prostate. This device has been designed to accurately guide a needle in 3D space so that the needle can be inserted into the prostate at an angle that does not interfere with the pubic arch. The physician can adjust manually or automatically the position of the apparatus in order to place several radioactive seeds into the prostate at designated target locations. Because many physicians are wary of conducting robotic surgical procedures, the apparatus has been developed so that the physician can position the needle for manual insertion and apply a method for manually releasing the needle without damaging the apparatus or endangering the patient.

  12. Robotics of human movements.

    PubMed

    van der Smagt, Patrick; Grebenstein, Markus; Urbanek, Holger; Fligge, Nadine; Strohmayr, Michael; Stillfried, Georg; Parrish, Jonathon; Gustus, Agneta

    2009-01-01

    The construction of robotic systems that can move the way humans do, with respect to agility, stability and precision, is a necessary prerequisite for the successful integration of robotic systems in human environments. We explain human-centered views on robotics, based on the three basic ingredients (1) actuation; (2) sensing; and (3) control, and formulate detailed examples thereof.

  13. Building a Better Robot

    ERIC Educational Resources Information Center

    Navah, Jan

    2012-01-01

    Kids love to build robots, letting their imaginations run wild with thoughts of what they might look like and what they could be programmed to do. Yet when students use cereal boxes and found objects to make robots, often the projects look too similar and tend to fall apart. This alternative allows students to "build" robots in a different way,…

  14. Robotics development programs overview

    SciTech Connect

    Heckendorn, F.M.

    1990-11-01

    This paper discusses the applications of robotics at the Westinghouse Savannah River Site. The Savannah River Laboratory (SRL) continues to provide support to the Savannah River Site (SRS) in many areas of Robotics and Remote Vision. An overview of the current and near term future developments are presented. The driving forces for Robotics and Vision developments at SRS include the classic reasons for industrial robotics installation (i.e. repetitive and undesirable jobs) and those reasons related to radioactive environments. Protection of personnel from both radiation and radioactive contamination benefit greatly from both Robotics and Telerobotics. Additionally, the quality of information available from remote locations benefits greatly from the ability to visually monitor and remotely sense. The systems discussed include a glovebox waste handling and bagout robot, a shielded cells robot for radioactive waste sample transfer, waste handling gantry robots, a two armed master/slave manipulator as an attachment to a gantry robot, navigation robot research/testing, demonstration of the mobile underwater remote cleaning and inspection device, a camera deployment robot to support remote crane operations and for deployment of radiation sensors directly over a hazardous site, and demonstration of a large mobile robot for high radiation environments. Development of specialized and limited life vision/viewing systems for hazardous environments is also discussed.

  15. Networking a mobile robot

    NASA Astrophysics Data System (ADS)

    McKee, Gerard T.

    1994-10-01

    Conventional mobile robotic systems are `stand alone'. Program development involves loading programs into the mobile, via an umbilical. Autonomous operation, in this context, means `isolation': the user cannot interact with the program as the robot is moving around. Recent research in `swarm robotics' has exploited wireless networks as a means of providing inter- robot communication, but the population is still isolated from the human user. In this paper we report on research we are conducting into the provision of mobile robots as resources on a local area computer network, and thus breaking the isolation barrier. We are making use of new multimedia workstation and wireless networking technology to link the robots to the network in order to provide a new type of resource for the user. We model the robot as a set of resources and propose a client-server architecture as the basis for providing user access to the robots. We describe the types of resources each robot can provide and we outline the potential for cooperative robotics, human-robot cooperation, and teleoperation and autonomous robot behavior within this context.

  16. Robotic Telesurgery Research

    DTIC Science & Technology

    2010-10-01

    concepts have been pursued to provide imaging capabilities for use in robotic surgery . The first concept involves developing a camera system that...Oleynikov, D. Project Title: CAESAR: Computer Automated Enhanced Support and Analysis for Robotic Surgery Source of Support: Intelligent Automation, Inc...successful autonomous robotic surgery . REFERENCES Dolghi, O., Strabala, K., Wortman, T., Goede, M., Farritor, S., & Oleynikov. (2010). Miniature

  17. Mobile robot knowledge base

    NASA Astrophysics Data System (ADS)

    Heath Pastore, Tracy; Barnes, Mitchell; Hallman, Rory

    2005-05-01

    Robot technology is developing at a rapid rate for both commercial and Department of Defense (DOD) applications. As a result, the task of managing both technology and experience information is growing. In the not-to-distant past, tracking development efforts of robot platforms, subsystems and components was not too difficult, expensive, or time consuming. To do the same today is a significant undertaking. The Mobile Robot Knowledge Base (MRKB) provides the robotics community with a web-accessible, centralized resource for sharing information, experience, and technology to more efficiently and effectively meet the needs of the robot system user. The resource includes searchable information on robot components, subsystems, mission payloads, platforms, and DOD robotics programs. In addition, the MRKB website provides a forum for technology and information transfer within the DOD robotics community and an interface for the Robotic Systems Pool (RSP). The RSP manages a collection of small teleoperated and semi-autonomous robotic platforms, available for loan to DOD and other qualified entities. The objective is to put robots in the hands of users and use the test data and fielding experience to improve robot systems.

  18. Total portal robotic pneumonectomy.

    PubMed

    Rodriguez, Jose R

    2013-09-01

    Robotic pulmonary lobectomies have been reported to be technically and oncologically achievable; however, only three robotic pneumonectomy cases have been described. Two of them used a mini thoracotomy. We describe one case of a total portal robotic pneumonectomy without utility incision. We describe the step-by-step process.

  19. Inertially Aided Robotics

    DTIC Science & Technology

    1989-12-31

    0031 dis~bti:,1 is uitsnjt( Deczmllcr 31: 1989 92-05530 2:.-: 3o : T >VE?-A ~ : Inertially Aided Robotics FINAL REPORT for Contract No. DAAHO1 -88-D-0057...1 2 Advantages of Inertially Aided Robotics ...86 iii List of Figures Figure 1 - Robot Manipulator having Joint Sensor Based Control ..................... 2

  20. Robotic Intelligence Kernel: Visualization

    SciTech Connect

    2009-09-16

    The INL Robotic Intelligence Kernel-Visualization is the software that supports the user interface. It uses the RIK-C software to communicate information to and from the robot. The RIK-V illustrates the data in a 3D display and provides an operating picture wherein the user can task the robot.

  1. Robotic Follow Algorithm

    SciTech Connect

    2005-03-30

    The Robotic Follow Algorithm enables allows any robotic vehicle to follow a moving target while reactively choosing a route around nearby obstacles. The robotic follow behavior can be used with different camera systems and can be used with thermal or visual tracking as well as other tracking methods such as radio frequency tags.

  2. Modular robot

    DOEpatents

    Ferrante, T.A.

    1997-11-11

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold. 12 figs.

  3. Modular robot

    DOEpatents

    Ferrante, Todd A.

    1997-01-01

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold.

  4. Autonomous Dome for a Robotic Telescope

    NASA Astrophysics Data System (ADS)

    Kumar, A.; Sengupta, A.; Ganesh, S.

    2016-12-01

    The Physical Research Laboratory operates a 50 cm robotic observatory at Mount Abu (Rajsthan, India). This Automated Telescope for Variability Studies (ATVS) makes use of the Remote Telescope System 2 (RTS2) for autonomous operations. The observatory uses a 3.5 m dome from Sirius Observatories. We have developed electronics using Arduino electronic circuit boards with home grown logic and software to control the dome operations. We are in the process of completing the drivers to link our Arduino based dome controller with RTS2. This document is a short description of the various phases of the development and their integration to achieve the required objective.

  5. Dual mode fuel injector with one piece needle valve member

    DOEpatents

    Lawrence, Keith E.; Hinrichsen, Michael H.; Buckman, Colby

    2005-01-18

    A fuel injector includes a homogenous charge nozzle outlet set and a conventional nozzle outlet set controlled respectively by inner and outer needle value members. The homogenous charged nozzle outlet set is defined by an outer needle value member that is moveably positioned in an injector body, which defines the conventional nozzle outlet set. The inner needle valve member is positioned in the outer needle valve member. The outer needle valve member is a piece component that includes at least one external guide surface, an external value surface and an internal valve seat.

  6. Intelligent robots and computer vision

    SciTech Connect

    Casasent, D.P.

    1986-01-01

    This book presents the papers given at a conference on artificial intelligence and robot vision. Topics considered at the conference included pattern recognition, image processing for intelligent robotics, three-dimensional vision (depth and motion), vision modeling and shape estimation, spatial reasoning, the symbolic processing visual information, robotic sensors and applications, intelligent control architectures for robot systems, robot languages and programming, human-machine interfaces, robotics applications, and architectures of robotics.

  7. Development drivers for waste management.

    PubMed

    Wilson, David C

    2007-06-01

    This paper identifies six broad groups of drivers for development in waste management. Public health led to the emergence of formalized waste collection systems in the nineteenth century, and remains a key driver in developing countries. Environmental protection came to the forefront in the 1970s, with an initial focus on eliminating uncontrolled disposal, followed by the systematic increasing of technical standards. Today, developing countries seem still to be struggling with these first steps; while climate change is also emerging as a key driver. The resource value of waste, which allows people to make a living from discarded materials, was an important driver historically, and remains so in developing countries today. A current trend in developed countries is closing the loop, moving from the concept of 'end-of-pipe' waste management towards a more holistic resource management. Two underpinning groups of drivers are institutional and responsibility issues, and public awareness. There is no, one single driver for development in waste management: the balance between these six groups of drivers has varied over time, and will vary between countries depending on local circumstances, and between stakeholders depending on their perspective. The next appropriate steps towards developing a sustainable, integrated waste management system will also vary in each local situation.

  8. The research of knitting needle status monitoring setup

    NASA Astrophysics Data System (ADS)

    Liu, Lu; Liao, Xiao-qing; Zhu, Yong-kang; Yang, Wei; Zhang, Pei; Zhao, Yong-kai; Huang, Hui-jie

    2013-09-01

    In textile production, quality control and testing is the key to ensure the process and improve the efficiency. Defect of the knitting needles is the main factor affecting the quality of the appearance of textiles. Defect detection method based on machine vision and image processing technology is universal. This approach does not effectively identify the defect generated by damaged knitting needles and raise the alarm. We developed a knitting needle status monitoring setup using optical imaging, photoelectric detection and weak signal processing technology to achieve real-time monitoring of weaving needles' position. Depending on the shape of the knitting needle, we designed a kind of Glass Optical Fiber (GOF) light guides with a rectangular port used for transmission of the signal light. To be able to capture the signal of knitting needles accurately, we adopt a optical 4F system which has better imaging quality and simple structure and there is a rectangle image on the focal plane after the system. When a knitting needle passes through position of the rectangle image, the reflected light from needle surface will back to the GOF light guides along the same optical system. According to the intensity of signals, the computer control unit distinguish that the knitting needle is broken or curving. The experimental results show that this system can accurately detect the broken needles and the curving needles on the knitting machine in operating condition.

  9. [Robotics in pediatric surgery].

    PubMed

    Camps, J I

    2011-10-01

    Despite the extensive use of robotics in the adult population, the use of robotics in pediatrics has not been well accepted. There is still a lack of awareness from pediatric surgeons on how to use the robotic equipment, its advantages and indications. Benefit is still controversial. Dexterity and better visualization of the surgical field are one of the strong values. Conversely, cost and a lack of small instruments prevent the use of robotics in the smaller patients. The aim of this manuscript is to present the controversies about the use of robotics in pediatric surgery.

  10. Miniaturized autonomous robot

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1998-01-01

    Many projects developing the miniaturized autonomous robot have been carried out in the whole world. This paper deals with our challenges developing a miniaturized autonomous robot. The miniaturized autonomous robot is defined as the miniaturized closed-loop system with micro processor, microactuators and microsensors. We have developed the micro autonomous robotic system (MARS) consisting of the microprocessor, microsensors, microactuators, communication units and batteries. The MARS controls itself by the downloaded program supplied through the IR communication system. In this paper, we demonstrate several performance of the MARS, and discuss the properties of the miniaturized autonomous robot.

  11. Robotic technology in urology

    PubMed Central

    Murphy, D; Challacombe, B; Khan, M S; Dasgupta, P

    2006-01-01

    Urology has increasingly become a technology‐driven specialty. The advent of robotic surgical systems in the past 10 years has led to urologists becoming the world leaders in the use of such technology. In this paper, we review the history and current status of robotic technology in urology. From the earliest uses of robots for transurethral resection of the prostate, to robotic devices for manipulating laparoscopes and to the current crop of master–slave devices for robotic‐assisted laparoscopic surgery, the evolution of robotics in the urology operating theatre is presented. Future possibilities, including the prospects for nanotechnology in urology, are awaited. PMID:17099094

  12. Robotics Technical Note 102.

    DTIC Science & Technology

    1981-06-01

    IAfl-AIBZ 4U2 AIR FORCE BUSINESS RESEARCH MANAGEMENT CENTER WRIGHT-ETC F/6 13/8 I ROBOTICS TECHNIICAL NOTE 102.(U) JUN Al B M BLABIERSALL UNCLASSIFE...CATALOG uME 1T4.T7- Subtitle S. TYPE OF REPOR & PERIOO COVERED Technical Note 102 Robotics 𔄁 FInal r ---- 6. PERFORMING O1G. REPORT NUMBER C 7. A tNORa B...Identify by block number) Robotics Manufacturing Industrial Robots Robot Technology SRobotics Application BQ~.STRACT (Continue on revere* side It

  13. Needle insertion with duty-cycled rotation into multiple media.

    PubMed

    Lehocky, Craig A; Riviere, Cameron N

    2012-01-01

    Thin, flexible needles can be steered along nonlinear paths to reach deep anatomical structures within the human body. This study builds upon previous work involving steering of bevel-tipped needles by inserting while rotating in a duty-cycled fashion. Here we investigate how needle material and radius, duty cycle, and tissue stiffness affect needle curvature. Needles were inserted into media while rotated at a specified duty cycle and the curvature was measured. A linear relationship between duty cycle and curvature was observed across all needle materials and radii, and tissue stiffnesses. Following these observations, we developed a model that encapsulates needle and tissue parameters in order to predict the duty cycle needed to achieve a desired curvature.

  14. Tip-holed spinal needle: a new design concept.

    PubMed

    Jahangir, S M

    2000-01-01

    Dura-arachnoid puncture for spinal anesthesia is associated with several complications. Postdural puncture headache (PDPH) and needle bending are significant among these. The incidence of PDPH has been reduced significantly with the advent of pencil-point needles. However, these needles also have their limitations, such as obstruction of the delivery port by tissues affecting both cerebrospinal fluid flash back and drug delivery. Increasing the size of the lateral hole has led to mechanical complications, such as tip bending. A new spreading beveled spinal needle tip has been designed to overcome the disadvantages of all the currently used spinal needles. To assess the feasibility, a 26-gauge Quincke spinal needle (B. Braun, Melsungen, Germany) has been modified manually. The new tip-holed design seems to be sound both from theoretical and practical point of view. Searching Medline Plus through their Internet Web site (www.nlm.nih.com) did not reveal the existence of any such spinal needle.

  15. Mixed mode fuel injector with individually moveable needle valve members

    DOEpatents

    Stewart, Chris; Chockley, Scott A.; Ibrahim, Daniel R.; Lawrence, Keith; Tomaseki, Jay; Azam, Junru H.; Tian, Steven Ye; Shafer, Scott F.

    2004-08-03

    A fuel injector includes a homogenous charge nozzle outlet set and a conventional nozzle outlet set controlled respectively, by first and second needle valve members. One of the needle valve members moves to an open position while the other needle valve member remains stationary for a homogeneous charge injection event. The former needle valve member stays stationary while the other needle valve member moves to an open position for a conventional injection event. One of the needle valve members is at least partially positioned in the other needle valve member. Thus, the injector can perform homogeneous charge injection events, conventional injection events, or even a mixed mode having both types of injection events in a single engine cycle.

  16. Torsional dynamics of steerable needles: modeling and fluoroscopic guidance.

    PubMed

    Swensen, John P; Lin, MingDe; Okamura, Allison M; Cowan, Noah J

    2014-11-01

    Needle insertions underlie a diversity of medical interventions. Steerable needles provide a means by which to enhance existing needle-based interventions and facilitate new ones. Tip-steerable needles follow a curved path and can be steered by twisting the needle base during insertion, but this twisting excites torsional dynamics that introduce a discrepancy between the base and tip twist angles. Here, we model the torsional dynamics of a flexible rod-such as a tip-steerable needle-during subsurface insertion and develop a new controller based on the model. The torsional model incorporates time-varying mode shapes to capture the changing boundary conditions inherent during insertion. Numerical simulations and physical experiments using two distinct setups-stereo camera feedback in semitransparent artificial tissue and feedback control with real-time X-ray imaging in optically opaque artificial tissue-demonstrate the need to account for torsional dynamics in control of the needle tip.

  17. MR-compatible biopsy needle with enhanced tip force sensing.

    PubMed

    Elayaperumal, Santhi; Bae, Jung Hwa; Christensen, David; Cutkosky, Mark R; Daniel, Bruce L; Costa, Joannes M; Black, Richard J; Faridian, Fereydoun; Moslehi, Behzad

    2013-04-01

    We describe an instrumented biopsy needle that provides physicians the capability to sense interaction forces directly at the tip of the needle's inner stylet. The sensors consist of optical fiber Bragg gratings (FBGs), and are unaffected by electromagnetic fields; hence the needle is suitable for MR-guided procedures. In comparison to previous instrumented needles that measure bending strains, the new design has additional sensors and a series of micro-machined holes at the tip. The holes increase strain sensitivity, especially to axial forces, without significantly reducing the stiffness or strength. A comparison of the dynamic forces measured with the new needle and those obtained using a force/torque sensor at the needle base shows that the enhanced tip sensitivity is particularly noticeable when there is significant friction along the needle sleeve.

  18. Needle Insertion with Duty-Cycled Rotation into Multiple Media

    PubMed Central

    Lehocky, Craig A.; Riviere, Cameron N.

    2012-01-01

    Thin, flexible needles can be steered along nonlinear paths to reach deep anatomical structures within the human body. This study builds upon previous work involving steering of bevel-tipped needles by inserting while rotating in a duty-cycled fashion. Here we investigate how needle material and radius, duty cycle, and tissue stiffness affect needle curvature. Needles were inserted into media while rotated at a specified duty cycle and the curvature was measured. A linear relationship between duty cycle and curvature was observed across all needle materials and radii, and tissue stiffnesses. Following these observations, we developed a model that encapsulates needle and tissue parameters in order to predict the duty cycle needed to achieve a desired curvature. PMID:23366042

  19. Basic technique in endoscopic ultrasound-guided fine needle aspiration for solid lesions: What needle is the best?

    PubMed Central

    Lachter, Jesse

    2014-01-01

    Basic technique for endoscopic ultrasound (EUS) of solid lesions has developed during 30 years of EUS, as endoscopes and accessory equipment, particularly needles, have been developed. Systematic high-quality examinations require understanding and planning. Needles used for EUS-guided fine needle aspiration (FNA) have gone through many improvements; some 18 characteristics of any needle are presented and these come under consideration whenever choosing the best needle for each procedure. The bright future of EUS and FNA for solid lesions currently still leaves much room for continued developments. PMID:24949410

  20. An Exploration of the Needling Depth in Acupuncture: The Safe Needling Depth and the Needling Depth of Clinical Efficacy

    PubMed Central

    Lin, Jaung-Geng; Chou, Pei-Chi; Chu, Heng-Yi

    2013-01-01

    Objective. To explore the existing scientific information regarding safe needling depth of acupuncture points and the needling depth of clinical efficacy. Methods. We searched the PubMed, EMBASE, Cochrane, Allied and Complementary Medicine (AMED), The National Center for Complementary and Alternative Medicine (NCCAM), and China National Knowledge Infrastructure (CNKI) databases to identify relevant monographs and related references from 1991 to 2013. Chinese journals and theses/dissertations were hand searched. Results. 47 studies were recruited and divided into 6 groups by measuring tools, that is, MRI, in vivo evaluation, CT, ultrasound, dissected specimen of cadavers, and another group with clinical efficacy. Each research was analyzed for study design, definition of safe depth, and factors that would affect the measured depths. Depths of clinical efficacy were discussed from the perspective of de-qi and other clinical observations. Conclusions. Great inconsistency in depth of each point measured from different subject groups and tools exists. The definition of safe depth should be established through standardization. There is also lack of researches to compare the clinical efficacy. A well-designed clinical trial selecting proper measuring tools to decide the actual and advisable needling depth for each point, to avoid adverse effects or complications and promote optimal clinical efficacy, is a top priority. PMID:23935678

  1. [Needling technique of Professor Li Yan-Fang].

    PubMed

    Li, Li-Jun

    2014-01-01

    Experiences of needling techniques of Professor LI Ya- fang is introduced in this article. Gentle and superficial insertion is adopted by Professor LI in clinic. Emphases are put on the qi regulation function, needling sensation to the affected region and insertion with both hands, especially the function of the left hand as pressing hand. The gentle and superficial insertion should be done as the follows: hold the needle with the right hand, press gently along the running course of meridians with the left hand to promote qi circulation, hard pressing should be applied at acupoints to disperse the local qi and blood, insert the needle gently and quickly into the subcutaneous region with the right hand, and stop the insertion when patient has the needling sensation. While the fast needling is characterized with shallow insertion and swift manipulation: the left hand of the manipulator should press first along the running course of the meridian, and fix the local skin, hold the needle with the right hand and insert the needle quickly into the acupoint. Withdrawal of the needle should be done immediately after the reinforcing and reducing manipulations. Professor LI is accomplished in qi regulation. It is held by him that regulating qi circulation is essence of acupuncture, letting the patient get the needling sensation is the most important task of needling. Lifting, thrusting and rotation manipulations should be applied to do reinforcing or reducing. The tissue around the tip of the needle should not be too contracted or too relaxed, and the resistance should not be too strong or too weak. The feeling of the insertion hand of the practitioner should not be too smooth or too hesitant. Needle should be inserted into the skin quickly at the moment of hard pressing by the left hand. And then, slow rotation and gentle lifting and thrusting can be applied to promote the needling sensation like electric current pass through and to reach the affected region along the

  2. Space robotics in Japan

    NASA Astrophysics Data System (ADS)

    Whittaker, William; Lowrie, James W.; McCain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-03-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  3. Space robotics in Japan

    NASA Technical Reports Server (NTRS)

    Whittaker, William; Lowrie, James W.; Mccain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-01-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  4. Innovation Driver Nanoelectronics

    NASA Astrophysics Data System (ADS)

    Lakner, Hubert

    2013-03-01

    When addressing the global societal challenges most solutions will require Nano electronics and Smart Systems - therefore innovation today is mainly based on nanoelectronics which has become one of the most important key enabling technologies and innovation drivers. Nanoelectronics has been extended by other microtechnologies. This results in additional functionalities. The combination of analog and digital electronics, the integration of sensors and actuators, of power devices and rf components on wafer level makes it possible to shrink shoebox sized systems to the size of a matchbox. But there is no innovation without research. Europe (Germany) is top in invention but poor in commercialization - many good ideas fail when going from research to production within the so-called Valley of Death. To overcome this, a clear strategy is necessary. Silicon Saxony, the big Saxonian cluster on micro- and nanoelectronics is presented as a best practice example: clear focus, addressing whole value chains and establishing joint technology platforms has led to a remarkable commercial success in the Dresden area.

  5. Maxillofacial Changes in Melnick-Needles Syndrome

    PubMed Central

    Albuquerque do Nascimento, Leilane Larissa; Salgueiro, Monica da Consolação Canuto; Quintela, Mariana; Mota, Ana Carolina Costa

    2016-01-01

    Background. Melnick-Needles Syndrome is rare congenital hereditary skeletal dysplasia caused by mutations in the FLNA gene, which codifies the protein filamin A. This condition leads to serious skeletal abnormalities, including the stomatognathic region. Case Presentation. This paper describes the case of a 13-year-old girl diagnosed with Melnick-Needles Syndrome presenting with different forms of skeletal dysplasia, such as cranial hyperostosis, short upper limbs, bowed long bones, metaphyseal thickening, genu valgum (knock-knee), shortened distal phalanges, narrow pelvis and shoulders, rib tapering and irregularities, elongation of the vertebrae, kyphoscoliosis, micrognathia, hypoplastic coronoid processes of the mandible, left stylohyoid ligament suggesting ossification, and dental development anomalies. Conclusion. Knowledge of this rare syndrome on the part of dentists is important due to the fact that this condition involves severe abnormalities of the stomatognathic system that cause an impact on the development of the entire face as well as functional and esthetic impairments. PMID:27478655

  6. Intraoperative Optical Coherence Tomography Guided Bleb Needling.

    PubMed

    Dada, Tanuj; Angmo, Dewang; Midha, Neha; Sidhu, Talvir

    2016-01-01

    Two patients with history of trabeculectomy presented with uncontrolled intraocular pressure (IOP) postoperatively. The first patient had a flat and vasularized bleb 10 weeks after the surgery, and the second subject developed encapsulated bleb 3 months postoperatively. Both patients were taken to the operating room and intraoperative optical coherence tomography (OCT) guided bleb needling was performed to restore aqueous egress into the subconjunctival space. Postoperatively, IOP of the operated eyes ranged 14-18 mmHg at week 6 and month 3. None of the eyes had any intraoperative or postoperative complications. This novel application of the intraoperative OCT for bleb needling facilitates precision surgery under direct visualization and reduces the risk of complications.

  7. Intraoperative Optical Coherence Tomography Guided Bleb Needling

    PubMed Central

    Dada, Tanuj; Angmo, Dewang; Midha, Neha; Sidhu, Talvir

    2016-01-01

    Two patients with history of trabeculectomy presented with uncontrolled intraocular pressure (IOP) postoperatively. The first patient had a flat and vasularized bleb 10 weeks after the surgery, and the second subject developed encapsulated bleb 3 months postoperatively. Both patients were taken to the operating room and intraoperative optical coherence tomography (OCT) guided bleb needling was performed to restore aqueous egress into the subconjunctival space. Postoperatively, IOP of the operated eyes ranged 14-18 mmHg at week 6 and month 3. None of the eyes had any intraoperative or postoperative complications. This novel application of the intraoperative OCT for bleb needling facilitates precision surgery under direct visualization and reduces the risk of complications. PMID:27994819

  8. Marsupial robots for law enforcement

    NASA Astrophysics Data System (ADS)

    Murphy, Robin R.

    2001-02-01

    Marsupial robots are a type of heterogeneous mobile robot team. A mother robot transports, supports, and recovers one or more daughter robots. This paper will cover the marsupial robot concept, the application of law enforcement, and recent results in collaborative teleoperation for the related task of urban search and rescue.

  9. Melnick- needles osteodysplasty presenting with quadriparesis.

    PubMed

    Bandyopadhyay, S K; Ghosal, J; Chakrabarti, Nandini; Dutta, Anita

    2006-03-01

    Melnick-Needles syndrome or osteodysplasty, a monogenic heritable bone dysplasia, is characterized by a typical facies and characteristic radiological findings. Less than 70 well-documented cases have been reported in literature; most of them were sporadic. We report the first case from Eastern India in an adolescent male, who had cranio-vertebral junction anomalies and presented with spastic quadriparesis at the age of 13 years.

  10. Electrical needle therapy of uremic pruritus.

    PubMed

    Duo, L J

    1987-01-01

    Six patients with intractable uremic pruritus were treated with a modified acupuncture technique, the electrical needle stimulation (ENS). Results were followed with a pruritic score scale based on severity, frequency and distribution of itching, together with sleeping hours and waking up at night. The results were encouraging: pruritus was drastically improved during or after ENS in several patients. A control treatment with superficial electrical stimulation was ineffective.

  11. Yield of new versus reused endobronchial ultrasound-guided transbronchial needle aspiration needles: A retrospective analysis of 500 patients

    PubMed Central

    Dhooria, Sahajal; Sehgal, Inderpaul Singh; Gupta, Nalini; Ram, Babu; Aggarwal, Ashutosh Nath; Behera, Digambar; Agarwal, Ritesh

    2016-01-01

    Background: Endobronchial ultrasound (EBUS)-guided transbronchial needle aspiration (TBNA) requires a dedicated needle for aspiration of mediastinal lesions. There is no data on reuse of these needles. Methods: This is a retrospective study of patients who underwent EBUS-TBNA with either new or reused EBUS-TBNA needles. The needles were reused after thorough cleaning with filtered water and organic cleaning solution, disinfection with 2.4% glutaraldehyde solution followed by ethylene oxide sterilization. The yield of EBUS-TBNA was compared between the two groups. Results: A total of 500 EBUS-TBNA procedures (351 new, 149 reused needles) were performed. The baseline characteristics were different in the two groups with suspected granulomatous disorders (sarcoidosis or tuberculosis) being significantly more common in the new compared to the reused needle group. Similarly, the median, interquartile range number of lymph node stations sampled, and the total number of passes were significantly higher in the new versus the reused needle group. The diagnostic yield was significantly higher with new needle as compared to reused needle (65.2% vs. 53.7%, P = 0.02). On multivariate logistic regression analysis, clinical suspicion of granulomatous disorders (odds ratio 1.86 [95% confidence interval, 1.20-2.87], P = 0.005) was the only predictor of diagnostic yield, after adjusting for the type of needle (new or reused), total number of passes and the number of lymph node stations sampled. No case of mediastinitis was encountered in either group. Conclusions: The yield of EBUS-TBNA might be similar with single reuse of needles as compared to new needles. However, reuse of needle should be performed only when absolutely necessary. PMID:27578927

  12. Randomized Trial of Conventional Transseptal Needle Versus Radiofrequency Energy Needle Puncture for Left Atrial Access (the TRAVERSE‐LA Study)

    PubMed Central

    Hsu, Jonathan C.; Badhwar, Nitish; Gerstenfeld, Edward P.; Lee, Randall J.; Mandyam, Mala C.; Dewland, Thomas A.; Imburgia, Kourtney E.; Hoffmayer, Kurt S.; Vedantham, Vasanth; Lee, Byron K.; Tseng, Zian H.; Scheinman, Melvin M.; Olgin, Jeffrey E.; Marcus, Gregory M.

    2013-01-01

    Background Transseptal puncture is a critical step in achieving left atrial (LA) access for a variety of cardiac procedures. Although the mechanical Brockenbrough needle has historically been used for this procedure, a needle employing radiofrequency (RF) energy has more recently been approved for clinical use. We sought to investigate the comparative effectiveness of an RF versus conventional needle for transseptal LA access. Methods and Results In this prospective, single‐blinded, controlled trial, 72 patients were randomized in a 1:1 fashion to an RF versus conventional (BRK‐1) transseptal needle. In an intention‐to‐treat analysis, the primary outcome was time required for transseptal LA access. Secondary outcomes included failure of the assigned needle, visible plastic dilator shavings from needle introduction, and any procedural complication. The median transseptal puncture time was 68% shorter using the RF needle compared with the conventional needle (2.3 minutes [interquartile range {IQR}, 1.7 to 3.8 minutes] versus 7.3 minutes [IQR, 2.7 to 14.1 minutes], P=0.005). Failure to achieve transseptal LA access with the assigned needle was less common using the RF versus conventional needle (0/36 [0%] versus 10/36 [27.8%], P<0.001). Plastic shavings were grossly visible after needle advancement through the dilator and sheath in 0 (0%) RF needle cases and 12 (33.3%) conventional needle cases (P<0.001). There were no differences in procedural complications (1/36 [2.8%] versus 1/36 [2.8%]). Conclusions Use of an RF needle resulted in shorter time to transseptal LA access, less failure in achieving transseptal LA access, and fewer visible plastic shavings. Clinical Trial Registration URL: http://www.clinicaltrials.gov. Unique identifier: NCT01209260. PMID:24045120

  13. A robotic wheelchair trainer: design overview and a feasibility study

    PubMed Central

    2010-01-01

    Background Experiencing independent mobility is important for children with a severe movement disability, but learning to drive a powered wheelchair can be labor intensive, requiring hand-over-hand assistance from a skilled therapist. Methods To improve accessibility to training, we developed a robotic wheelchair trainer that steers itself along a course marked by a line on the floor using computer vision, haptically guiding the driver's hand in appropriate steering motions using a force feedback joystick, as the driver tries to catch a mobile robot in a game of "robot tag". This paper provides a detailed design description of the computer vision and control system. In addition, we present data from a pilot study in which we used the chair to teach children without motor impairment aged 4-9 (n = 22) to drive the wheelchair in a single training session, in order to verify that the wheelchair could enable learning by the non-impaired motor system, and to establish normative values of learning rates. Results and Discussion Training with haptic guidance from the robotic wheelchair trainer improved the steering ability of children without motor impairment significantly more than training without guidance. We also report the results of a case study with one 8-year-old child with a severe motor impairment due to cerebral palsy, who replicated the single-session training protocol that the non-disabled children participated in. This child also improved steering ability after training with guidance from the joystick by an amount even greater than the children without motor impairment. Conclusions The system not only provided a safe, fun context for automating driver's training, but also enhanced motor learning by the non-impaired motor system, presumably by demonstrating through intuitive movement and force of the joystick itself exemplary control to follow the course. The case study indicates that a child with a motor system impaired by CP can also gain a short-term benefit

  14. Exercise among commercial truck drivers.

    PubMed

    Turner, Lisa M; Reed, Deborah B

    2011-10-01

    This study examines the exercise habits and perceived barriers to exercise of a convenience sample of 300 commercial truck drivers. Participants reported minimal amounts of exercise, with nearly 20% not exercising in the past week. A high prevalence of obesity was found in this sample: 93.3% of study participants had a body mass index (BMI) of 25 or higher. Drivers with BMIs of greater than 30 were significantly more likely to rate the exercise environment as terrible/bad. Drivers who had at least one health condition engaged in significantly less aerobic exercise, used fewer strengthening exercises, did not exercise for 30 minutes continuously, and had a higher BMI. Drivers who spent most of their off-duty time in their truck while their partner drove were also significantly more likely to not exercise regularly. Most drivers cited lack of time and place as the primary barriers to exercising. This study adds to the limited knowledge about exercise behaviors among commercial truck drivers.

  15. Characteristics of Two Groups of Angry Drivers

    ERIC Educational Resources Information Center

    Deffenbacher, Jerry L.; Filetti, Linda B.; Richards, Tracy L.; Lynch, Rebekah S.; Oetting, Eugene R.

    2003-01-01

    High anger drivers acknowledging problems with driving anger and interest in counseling (high anger/problem [HP] drivers) were compared with high and low anger drivers not acknowledging problems with driving anger and seeking counseling (high and low/nonproblem [HNP and LNP, respectively] drivers). High anger groups reported more anger while…

  16. 49 CFR 396.13 - Driver inspection.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 5 2010-10-01 2010-10-01 false Driver inspection. 396.13 Section 396.13... MAINTENANCE § 396.13 Driver inspection. Before driving a motor vehicle, the driver shall: (a) Be satisfied that the motor vehicle is in safe operating condition; (b) Review the last driver vehicle...

  17. 49 CFR 396.13 - Driver inspection.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 5 2014-10-01 2014-10-01 false Driver inspection. 396.13 Section 396.13... MAINTENANCE § 396.13 Driver inspection. Before driving a motor vehicle, the driver shall: (a) Be satisfied that the motor vehicle is in safe operating condition; (b) Review the last driver vehicle...

  18. 49 CFR 396.13 - Driver inspection.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 5 2012-10-01 2012-10-01 false Driver inspection. 396.13 Section 396.13... MAINTENANCE § 396.13 Driver inspection. Before driving a motor vehicle, the driver shall: (a) Be satisfied that the motor vehicle is in safe operating condition; (b) Review the last driver vehicle...

  19. 49 CFR 396.13 - Driver inspection.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 5 2013-10-01 2013-10-01 false Driver inspection. 396.13 Section 396.13... MAINTENANCE § 396.13 Driver inspection. Before driving a motor vehicle, the driver shall: (a) Be satisfied that the motor vehicle is in safe operating condition; (b) Review the last driver vehicle...

  20. 49 CFR 396.13 - Driver inspection.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 5 2011-10-01 2011-10-01 false Driver inspection. 396.13 Section 396.13... MAINTENANCE § 396.13 Driver inspection. Before driving a motor vehicle, the driver shall: (a) Be satisfied that the motor vehicle is in safe operating condition; (b) Review the last driver vehicle...

  1. 49 CFR 380.507 - Driver responsibilities.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 5 2012-10-01 2012-10-01 false Driver responsibilities. 380.507 Section 380.507... REQUIREMENTS Entry-Level Driver Training Requirements § 380.507 Driver responsibilities. Each entry-level driver must receive training required by § 380.503....

  2. 49 CFR 380.507 - Driver responsibilities.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 5 2013-10-01 2013-10-01 false Driver responsibilities. 380.507 Section 380.507... REQUIREMENTS Entry-Level Driver Training Requirements § 380.507 Driver responsibilities. Each entry-level driver must receive training required by § 380.503....

  3. 49 CFR 380.507 - Driver responsibilities.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 5 2014-10-01 2014-10-01 false Driver responsibilities. 380.507 Section 380.507... REQUIREMENTS Entry-Level Driver Training Requirements § 380.507 Driver responsibilities. Each entry-level driver must receive training required by § 380.503....

  4. 49 CFR 380.507 - Driver responsibilities.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 5 2011-10-01 2011-10-01 false Driver responsibilities. 380.507 Section 380.507... REQUIREMENTS Entry-Level Driver Training Requirements § 380.507 Driver responsibilities. Each entry-level driver must receive training required by § 380.503....

  5. [Design and application of silver needle-knife].

    PubMed

    Sun, Guodong; Shi, Bin; Zhang, Benwu; Xu, Haidong

    2015-04-01

    A silver needle-knife which has the dual function of silver needle and needle-knife is designed. The main components of this silver needle-knife are approximately 50% silver and approximately 50% nichrome. The silver needle-knife is composed of five parts, including needle-knife tail, spiral handle; steering handle, needle-knife body and needle-knife edge. It converges the advantages of needle-knife and silver needle, which can cut loose of diseased tissue and peel adhesion of lesions, but also be heated with moxa cone and thermal therapeutic instrument, and connect with electroacupuncture apparatus. It has the function of warming channel and removing coldness, dispelling wind and eliminating dampness, resolving spasm and relieving pain, dredging the channel and so on. Due to the spiral handle and the steering handle, the operation is easier, which reduces the blindness of cutting and increase the safety. It is mainly used for soft tissue injury, rheumatism and rheumatoid arthritis, as well as degenerative diseases of spine and joint, and it has obvious efficacy on some internal medical diseases.

  6. Manually controlled steerable needle for MRI-guided percutaneous interventions.

    PubMed

    Henken, Kirsten R; Seevinck, Peter R; Dankelman, Jenny; van den Dobbelsteen, John J

    2017-02-01

    This study aims to develop and evaluate a manually controlled steerable needle that is compatible with and visible on MRI to facilitate full intra-procedural control and accurate navigation in percutaneous interventions. The steerable needle has a working channel that provides a lumen to a cutting stylet or a therapeutic instrument. A steering mechanism based on cable-operated compliant elements is integrated in the working channel. The needle can be steered by adjusting the orientation of the needle tip through manipulation of the handle. The steering mechanism is evaluated by recording needle deflection at constant steering angles. A steering angle of 20.3° results in a deflection of 9.1-13.3 mm in gelatin and 4.6-18.9 mm in porcine liver tissue at an insertion depth of 60 mm. Additionally, the possibility to control the needle path under MRI guidance is evaluated in a gelatin phantom. The needle can be steered to targets at different locations while starting from the same initial position and orientation under MRI guidance with generally available sequences. The steerable needle offers flexibility to the physician in control and choice of the needle path when navigating the needle toward the target position, which allows for optimization of individual treatment and may increase target accuracy.

  7. Electrotactile display using microfabricated micro-needle array

    NASA Astrophysics Data System (ADS)

    Kitamura, N.; Chim, J.; Miki, N.

    2015-02-01

    This paper describes an electrotactile display with micro-needle electrodes. The electrotactile display can produce tactile sensations by stimulating tactile receptors using an electric current. Micro-needle electrodes can drastically decrease the threshold voltage required to stimulate tactile receptors by penetrating the stratum corneum, which has a higher impedance than the dermis. In addition, the optimized length of the needle allows us to stimulate tactile receptors painlessly. In the present study, we developed a process for fabricating a micro-needle array in which the length and tip radius can be controlled using electrochemical etching. A micro-needle array was successfully fabricated to form an electrotactile display. In addition, we experimentally determined the suitable shape of the micro-needle electrodes for electrotactile display applications. When the tip radius of the needle is too small, the impedance between the finger and micro-needles becomes large due to the small contact area. On the other hand, when the tip radius is too large, the needle cannot penetrate the skin surface and the impedance is not sufficiently small. The experiments verified the superiority of needle electrode devices to flat electrode devices with respect to the threshold voltage at each frequency.

  8. Turbulent flow evaluation of the venous needle during hemodialysis.

    PubMed

    Unnikrishnan, Sunil; Huynh, Thanh N; Brott, B C; Ito, Y; Cheng, C H; Shih, A M; Allon, M; Anayiotos, Andreas S

    2005-12-01

    Arteriovenous (AV) grafts and fistulas used for hemodialysis frequently develop intimal hyperplasia (IH) at the venous anastomosis of the graft, leading to flow-limiting stenosis, and ultimately to graft failure due to thrombosis. Although the high AV access blood flow has been implicated in the pathogenesis of graft stenosis, the potential role of needle turbulence during hemodialysis is relatively unexplored. High turbulent stresses from the needle jet that reach the venous anastomosis may contribute to endothelial denudation and vessel wall injury. This may trigger the molecular and cellular cascade involving platelet activation and IH, leading to eventual graft failure. In an in-vitro graft/needle model dye injection flow visualization was used for qualitative study of flow patterns, whereas laser Doppler velocimetry was used to compare the levels of turbulence at the venous anastomosis in the presence and absence of a venous needle jet. Considerably higher turbulence was observed downstream of the venous needle, in comparison to graft flow alone without the needle. While turbulent RMS remained around 0.1 m/s for the graft flow alone, turbulent RMS fluctuations downstream of the needle soared to 0.4-0.7 m/s at 2 cm from the tip of the needle and maintained values higher than 0.1 m/s up to 7-8 cm downstream. Turbulent intensities were 5-6 times greater in the presence of the needle, in comparison with graft flow alone. Since hemodialysis patients are exposed to needle turbulence for four hours three times a week, the role of post-venous needle turbulence may be important in the pathogenesis of AV graft complications. A better understanding of the role of needle turbulence in the mechanisms of AV graft failure may lead to improved design of AV grafts and venous needles associated with reduced turbulence, and to pharmacological interventions that attenuate IH and graft failure resulting from turbulence.

  9. Evolution of robotic arms.

    PubMed

    Moran, Michael E

    2007-01-01

    The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

  10. GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge

    DTIC Science & Technology

    2004-01-01

    GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge Reid Simmons, Allison Bruce, Dani Goldberg, Adam Goode, Michael Montemerlo, Nicholas...2004 2. REPORT TYPE 3. DATES COVERED - 4. TITLE AND SUBTITLE GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge 5a. CONTRACT...Simmons. “A Social Robot that Stands in Line.” Autonomous Robots , 12:3 pp.313-324, May 2002. [Ortony, 1988] A. Ortony, G. L. Clore, and A. Collins

  11. Humanlike Robots - The Upcoming Revolution in Robotics

    NASA Technical Reports Server (NTRS)

    Bar-Cohen, Yoseph

    2009-01-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  12. Humanlike robots: the upcoming revolution in robotics

    NASA Astrophysics Data System (ADS)

    Bar-Cohen, Yoseph

    2009-08-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  13. Robotically assisted MRgFUS system

    NASA Astrophysics Data System (ADS)

    Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

    2010-03-01

    Magnetic resonance imaging guided focus ultrasound surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. The objective of this ongoing work is to establish an MRgFUS therapy unit consisting of a specially designed FUS applicator as an add-on to a commercial robotic assistance system originally designed for percutaneous needle interventions in whole-body MRI systems. The fully MR compatible robotic assistance system InnoMotion™ (Synthes Inc., West Chester, USA; formerly InnoMedic GmbH, Herxheim, Germany) offers six degrees of freedom. The developed add-on FUS treatment applicator features a fixed focus ultrasound transducer (f = 1.7 MHz; f' = 68 mm, NA = 0.44, elliptical shaped -6-dB-focus: 8.1 mm length; O/ = 1.1 mm) embedded in a water-filled flexible bellow. A Mylar® foil is used as acoustic window encompassed by a dedicated MRI loop coil. For FUS application, the therapy unit is directly connected to the head of the robotic system, and the treatment region is targeted from above. A newly in-house developed software tool allowed for complete remote control of the MRgFUS-robot system and online analysis of MRI thermometry data. The system's ability for therapeutic relevant focal spot scanning was tested in a closed-bore clinical 1.5 T MR scanner (Magnetom Symphony, Siemens AG, Erlangen, Germany) in animal experiments with pigs. The FUS therapy procedure was performed entirely under MRI guidance including initial therapy planning, online MR-thermometry, and final contrast enhanced imaging for lesion detection. In vivo trials proved the MRgFUS-robot system as highly MR compatible. MR-guided focal spot scanning experiments were performed and a well-defined pattern of thermal tissue lesions was created. A total in vivo positioning accuracy of the US focus better than 2 mm was estimated which is comparable to existing MRgFUS systems. The newly developed FUS-robotic system offers an accurate, highly flexible focus positioning. With its access

  14. INL Multi-Robot Control Interface

    SciTech Connect

    2005-03-30

    The INL Multi-Robot Control Interface controls many robots through a single user interface. The interface includes a robot display window for each robot showing the robot’s condition. More than one window can be used depending on the number of robots. The user interface also includes a robot control window configured to receive commands for sending to the respective robot and a multi-robot common window showing information received from each robot.

  15. Evaluation of a Robotic Assistance-System For Percutaneous Computed Tomography-Guided (CT-Guided) Facet Joint Injection: A Phantom Study

    PubMed Central

    Beyer, Lukas Philipp; Michalik, Katharina; Niessen, Christoph; da Silva, Natascha Platz Batista; Wiesinger, Isabell; Stroszczynski, Christian; Wiggermann, Philipp

    2016-01-01

    Background The aim of this study was to compare robotic assisted and freehand facet joint puncture on a phantom model in regards to time requirements and puncture accuracy. Material/Methods Forty facet joints were punctured, 20 using a robotic guidance system and 20 using a freehand procedure. Side and height of the facet joints were randomized and identical for both groups. Procedural accuracy, defined as axial and sagittal deviation, as well as the number of corrections were assessed. Procedure times for each step were documented and time requirements for pre-positioning, reconstruction, planning, and total intervention were calculated. Results Total procedure time for robotic guidance was 259±111 seconds versus 119±77 seconds for freehand procedure (p=1.0). Procedural accuracy for robotic guidance was significantly higher with 0 corrections versus 1.3 corrections for freehand procedure (p=0.02). Needle deviation in the robotics arm was 0.35±1.1 mm in the axial and 2.15±1.2 mm in the sagittal reconstruction. Conclusions Robotic assisted puncture of the facet joint allowed accurate positioning of the needle with a lower number of needle readjustments. Higher procedural accuracy was marginally offset by a slightly longer intervention time. PMID:27648509

  16. Evaluation of a Robotic Assistance-System For Percutaneous Computed Tomography-Guided (CT-Guided) Facet Joint Injection: A Phantom Study.

    PubMed

    Beyer, Lukas Philipp; Michalik, Katharina; Niessen, Christoph; Platz Batista da Silva, Natascha; Wiesinger, Isabell; Stroszczynski, Christian; Wiggermann, Philipp

    2016-09-20

    BACKGROUND The aim of this study was to compare robotic assisted and freehand facet joint puncture on a phantom model in regards to time requirements and puncture accuracy. MATERIAL AND METHODS Forty facet joints were punctured, 20 using a robotic guidance system and 20 using a freehand procedure. Side and height of the facet joints were randomized and identical for both groups. Procedural accuracy, defined as axial and sagittal deviation, as well as the number of corrections were assessed. Procedure times for each step were documented and time requirements for pre-positioning, reconstruction, planning, and total intervention were calculated. RESULTS Total procedure time for robotic guidance was 259±111 seconds versus 119±77 seconds for freehand procedure (p=1.0). Procedural accuracy for robotic guidance was significantly higher with 0 corrections versus 1.3 corrections for freehand procedure (p=0.02). Needle deviation in the robotics arm was 0.35±1.1 mm in the axial and 2.15±1.2 mm in the sagittal reconstruction. CONCLUSIONS Robotic assisted puncture of the facet joint allowed accurate positioning of the needle with a lower number of needle readjustments. Higher procedural accuracy was marginally offset by a slightly longer intervention time.

  17. Applying robotics to HAZMAT

    NASA Technical Reports Server (NTRS)

    Welch, Richard V.; Edmonds, Gary O.

    1994-01-01

    The use of robotics in situations involving hazardous materials can significantly reduce the risk of human injuries. The Emergency Response Robotics Project, which began in October 1990 at the Jet Propulsion Laboratory, is developing a teleoperated mobile robot allowing HAZMAT (hazardous materials) teams to remotely respond to incidents involving hazardous materials. The current robot, called HAZBOT III, can assist in locating characterizing, identifying, and mitigating hazardous material incidents without risking entry team personnel. The active involvement of the JPL Fire Department HAZMAT team has been vital in developing a robotic system which enables them to perform remote reconnaissance of a HAZMAT incident site. This paper provides a brief review of the history of the project, discusses the current system in detail, and presents other areas in which robotics can be applied removing people from hazardous environments/operations.

  18. Robots in modern industry

    NASA Technical Reports Server (NTRS)

    Heer, E.

    1981-01-01

    A survey is presented of robotic device types and capabilities, and an assessment is made of the relative benefits they confer in present and planned numbers on such industrial countries as Japan, the U.S., and West Germany. Attention is also given to possible social impacts of large-scale implementation, and the need for close consultation between management and labor is stressed. It is reported that, while the hourly cost of robot labor remained at between $4.00 and $4.60 over the period 1960-present, human hourly labor costs (including fringe benefits) have risen from less than $4.00 to nearly $17.00. Among the types of devices described are: (1) remotely controlled manipulator vehicles; (2) undersea robotic craft; (3) servo-controlled robots; and (4) articulated robots. Also covered are robot programming languages derived from such standard languages as ALGOL, FORTRAN, and BASIC.

  19. ROBOTIC SURGERY: BIOETHICAL ASPECTS

    PubMed Central

    SIQUEIRA-BATISTA, Rodrigo; SOUZA, Camila Ribeiro; MAIA, Polyana Mendes; SIQUEIRA, Sávio Lana

    2016-01-01

    ABSTRACT Introduction: The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. Objective: To present review of the ethical aspects of robot use in surgery. Method: Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Results: Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains brief presentation on robotics, its inclusion in health and bioethical aspects, and the use of robots in surgery. Conclusion: Robotic surgery is a reality today in many hospitals, which makes essential bioethical reflection on the relationship between health professionals, automata and patients. PMID:28076489

  20. Robotic surgical simulation.

    PubMed

    Liss, Michael A; McDougall, Elspeth M

    2013-01-01

    Robotic surgery has undergone exponential growth and has ever developing utilization. The explosion of new technologies and regulation have led to challenges in training surgeons who desire this skill set. We review the current state of robotic simulation and incorporation of simulation into surgical training curricula. In addition to the literature review, results of a questionnaire survey study of 21 expert and novice surgeons attending a Urologic Robotic Oncology conference using 3 different robotic skill simulation devices are discussed. An increasing number of robotic surgery simulators have had some degree of validation study of their use in surgical education curricula and proficiency testing. Although simulators are advantageous, confirmation of construct and predictive validity of robotic simulators and their reliability as a training tool will be necessary before they are integrated into the surgical credentialing process.

  1. Survival of falling robots

    NASA Astrophysics Data System (ADS)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  2. Survival of falling robots

    NASA Technical Reports Server (NTRS)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  3. Navigating a Mobile Robot Across Terrain Using Fuzzy Logic

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Howard, Ayanna; Bon, Bruce

    2003-01-01

    A strategy for autonomous navigation of a robotic vehicle across hazardous terrain involves the use of a measure of traversability of terrain within a fuzzy-logic conceptual framework. This navigation strategy requires no a priori information about the environment. Fuzzy logic was selected as a basic element of this strategy because it provides a formal methodology for representing and implementing a human driver s heuristic knowledge and operational experience. Within a fuzzy-logic framework, the attributes of human reasoning and decision- making can be formulated by simple IF (antecedent), THEN (consequent) rules coupled with easily understandable and natural linguistic representations. The linguistic values in the rule antecedents convey the imprecision associated with measurements taken by sensors onboard a mobile robot, while the linguistic values in the rule consequents represent the vagueness inherent in the reasoning processes to generate the control actions. The operational strategies of the human expert driver can be transferred, via fuzzy logic, to a robot-navigation strategy in the form of a set of simple conditional statements composed of linguistic variables. These linguistic variables are defined by fuzzy sets in accordance with user-defined membership functions. The main advantages of a fuzzy navigation strategy lie in the ability to extract heuristic rules from human experience and to obviate the need for an analytical model of the robot navigation process.

  4. Drug injectors and the cleaning of needles and syringes.

    PubMed

    Hughes, R A

    2000-03-01

    When people share needles and syringes they risk transmitting human immunodeficiency virus (HIV) and other infections including hepatitis B virus (HBV) and hepatitis C virus (HCV). Cleaning needles and syringes can help to reduce, although not eliminate, these risks. This article begins by engaging with some of the literature on the cleaning of needles and syringes. Drawing on qualitative research conducted with drug injectors in England, the article then goes on to explore drug injectors' perceptions and experiences of cleaning needles and syringes inside and outside prison. The article concludes by highlighting the implications for future research and policy making. Ultimately there should be a stronger policy response to reduce the risks associated with sharing needles and syringes inside prison, which should include the piloting of prison needle and syringe exchange schemes.

  5. MR-compatible biopsy needle with enhanced tip force sensing

    PubMed Central

    Elayaperumal, Santhi; Bae, Jung Hwa; Christensen, David; Cutkosky, Mark R.; Daniel, Bruce L.; Costa, Joannes M.; Black, Richard J.; Faridian, Fereydoun; Moslehi, Behzad

    2015-01-01

    We describe an instrumented biopsy needle that provides physicians the capability to sense interaction forces directly at the tip of the needle’s inner stylet. The sensors consist of optical fiber Bragg gratings (FBGs), and are unaffected by electromagnetic fields; hence the needle is suitable for MR-guided procedures. In comparison to previous instrumented needles that measure bending strains, the new design has additional sensors and a series of micro-machined holes at the tip. The holes increase strain sensitivity, especially to axial forces, without significantly reducing the stiffness or strength. A comparison of the dynamic forces measured with the new needle and those obtained using a force/torque sensor at the needle base shows that the enhanced tip sensitivity is particularly noticeable when there is significant friction along the needle sleeve. PMID:26509189

  6. Robotics and expert systems

    SciTech Connect

    Not Available

    1986-01-01

    This volume contains papers presented at ROBEXS' 86, the Second Annual Workshop on Robotics and Expert Systems. Many diverse perspectives on automation problems, and on the merging of robotics and expert systems technology with conventional systems, are contained in this book. The contents include: Integrated Expert Systems Applications; Expert Systems Theory and Applications, Robotics, Intelligent Control, CAD/CAE/CAM, AI Tools, Human Factors, and intelligent Interfaces.

  7. Robotic liver surgery

    PubMed Central

    Leung, Universe

    2014-01-01

    Robotic surgery is an evolving technology that has been successfully applied to a number of surgical specialties, but its use in liver surgery has so far been limited. In this review article we discuss the challenges of minimally invasive liver surgery, the pros and cons of robotics, the evolution of medical robots, and the potentials in applying this technology to liver surgery. The current data in the literature are also presented. PMID:25392840

  8. NASA Robot Brain Surgeon

    NASA Technical Reports Server (NTRS)

    1997-01-01

    Mechanical Engineer Michael Guerrero works on the Robot Brain Surgeon testbed in the NeuroEngineering Group at the Ames Research Center, Moffett Field, California. Principal investigator Dr. Robert W. Mah states that potentially the simple robot will be able to feel brain structures better than any human surgeon, making slow, very precise movements during an operation. The brain surgery robot that may give surgeons finer control of surgical instruments during delicate brain operations is still under development.

  9. TARDEC Ground Vehicle Robotics

    DTIC Science & Technology

    2013-05-30

    TARDEC Ground Vehicle Robotics Mr. Jim Parker, Associate Director Dr. Greg Hudas, Chief Engineer UNCLASSIFIED: Distribution Statement A (OPSEC...TARDEC Ground Vehicle Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Jim Parker; Greg Hudas 5d. PROJECT...Provide Transition-Ready, Cost-Effective, and Innovative Robotics and Control System Solutions for Manned, Optionally-Manned, and Unmanned Ground Vehicles

  10. A Modular Robotic Architecture

    DTIC Science & Technology

    1990-11-01

    DATES COVERED AD-A232 007 Januar 1991 professional paper5 FUNOING NUMBERS A MODULAR ROBOTIC ARCHITECTURE PR: ZE92 WU: DN300029 PE: 0602936N - S. AUTHOR...mobile robots will help alleviate these problems, and, if made widely available, will promote standardization and compatibility among systems throughout...the industry. The Modular Robotic Architecture (MRA) is a generic control system that meets the above needs by providing developers with a standard set

  11. Ground Vehicle Robotics Presentation

    DTIC Science & Technology

    2012-08-14

    Mr. Jim Parker Associate Director Ground Vehicle Robotics Distribution Statement A. Approved for public release Report Documentation Page...Briefing 3. DATES COVERED 01-07-2012 to 01-08-2012 4. TITLE AND SUBTITLE Ground Vehicle Robotics Presentation 5a. CONTRACT NUMBER 5b. GRANT...ABSTRACT Provide Transition-Ready, Cost-Effective, and Innovative Robotics and Control System Solutions for Manned, Optionally-Manned, and Unmanned

  12. Robotic Security Systems

    DTIC Science & Technology

    2003-12-01

    robotic security platforms that automatically respond in an adaptive fashion to potential disturbances reported by a broad-area field of fixed unattended...sensors represents a powerful new defensive tool for mitigating the terrorist threat. Background The primary purpose of any robotic system is to...mobile robots , the predominant challenge is one of perception, in that the very nature of mobility introduces a never-ending sequence of dynamically

  13. Army Medical Robotics Research

    DTIC Science & Technology

    2007-01-01

    Army Medical Robotics Research Gary Gilbert, Ph.D., U.S. Army TATRC, Ph: (301) 619-4043, Fax: (301) 619-2518 gilbert@tatrc.org, www.tatrc.org...politically sensitive low intensity combat in urban terrain. Research progress has been made in the areas of robotics ; artificial intelligence...institutions have demonstrated intelligent robots that execute functions ranging from performing mechanical repairs to playing soccer. The military has

  14. Robotics Strategy White Paper

    DTIC Science & Technology

    2009-03-19

    VIRGINIA 23651-1087 REPlY TO A1Tl!NTlON OF ATFC-DS 19 MEMORANDUM FOR SEE DISTRIBUTION SUBJECT: Robotics Strategy White Paper 1. The enclosed... Robotics Strategy White Paper is the result of a collaborative effort between the U.S. Anny Training and Doctrine Command (TRADOC) and the Tank-Automotive...Research, Development and Engineering Center (TARDEC). This paper builds on a confederated Anny robotics "strategy" that is described by senior leader

  15. AMAS Robotics Seminar Brief

    DTIC Science & Technology

    2011-07-19

    Unclassified Unclassified 19 July 2011 AMAS ROBOTICS SEMINAR BRIEF Aaron Hart, Product Integrator, RS JPO DISTRIBUTION STATEMENT A. Approved for...19-07-2011 to 19-07-2011 4. TITLE AND SUBTITLE robotics seminar brief 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...12. DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES AMAS ROBOTICS SEMINAR BRIEF 14

  16. Artificial Intelligence and Robotics.

    DTIC Science & Technology

    1984-02-01

    D-Ai42 488 ARTIFICIAL INEELLIGENCE AND ROBOTICS (U) MASSACHUSETTS i/1 INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB M BRADY FEB 84 AI-M-756...Subtile) S. TYPE OF REPORT A PERIOD COVERED Artificial Intelligence and Robotics 6. PERFORMING ORG. REPORT NUMBER 7. AUTHOR(*) S. CONTRACT OR GRANT NUMBER...Identify by block niiniber) -. Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a

  17. Compliant Robotic Structures

    DTIC Science & Technology

    1985-08-01

    robotic structure is one or more continuously flexible arms -hat can be controlled to manipulate objects. A typical arm is comprised of ... of ideas for the design of versatile, strong robotic manipulators. In this paper a mathematical model of an elephant trunk lifting a weight is...Results may be used for the design of robotic actuators driven by internal pressure. I,g or 67 I* .,.. INTRODUCTION Improvement in the

  18. Industrial robots: Handbook

    NASA Astrophysics Data System (ADS)

    Kozyrev, Iu. G.

    Topics covered include terms, definitions, and classification; operator-directed manipulators; autooperators as used in automated pressure casting; construction and application of industrial robots; and the operating bases of automated systems. Attention is given to adaptive and interactive robots; gripping mechanisms; applications to foundary production, press-forging plants, heat treatment, welding, and assembly operations. A review of design recommendations includes a determination of fundamental structural and technological indicators for industrial robots and a consideration of drive mechanisms.

  19. Asteroid Redirect Mission: Robotic Segment

    NASA Video Gallery

    This concept animation illustrates the robotic segment of NASA's Asteroid Redirect Mission. The Asteroid Redirect Vehicle, powered by solar electric propulsion, travels to a large asteroid to robot...

  20. Evaluating the advances and use of hypodermic needles in dentistry.

    PubMed

    Boynes, Sean G

    2014-10-01

    Different injection techniques and patient management methodologies have been proposed to decrease the fear patients may have concerning dental needles. Dental providers should have an understanding of the technological advances, changes in techniques, and patient perceptions associated with the hypodermic needle. This article provides an overview of the pain perception process associated with dental injections. It reviews the two main sensory nerve fibers associated with injection pain and discusses needle properties as well as complications and adverse occurrences.

  1. [Pneumothorax following dry needling treatment: legal and ethical aspects].

    PubMed

    Ronconi, Gianpaolo; De Giorgio, Fabio; Ricci, Eleonora; Maggi, Loredana; Spagnolo, Antonio G; Ferrara, Paola Emilia

    2016-01-01

    Trigger point "dry needling" is a technique used to treat myofascial pain. It involves using filiform needles which are inserted into muscles to give local pain relief. Few cases of serious adverse events following this treatment have been reported in the literature. In this paper we describe the case of a professional swimmer who developed pneumothorax after dry needling treatment and discuss the medicolegal and ethical aspects related to competencies and responsibilities of medical doctors and physiotherapists performing the procedure.

  2. Chest Wall Dissemination of Nocardiosis after Percutaneous Transthoracic Needle Biopsy

    SciTech Connect

    Shimamoto, Hiroshi Inaba, Yoshitaka; Yamaura, Hidekazu; Sato, Yozo; Kamiya, Mika; Miyazaki, Masaya; Arai, Yasuaki; Horio, Yoshitsugu

    2007-07-15

    We described a case of chest wall dissemination after percutaneous transthoracic needle biopsy. A 65-year-old man had a lung nodule which was suspected to be lung carcinoma. He underwent percutaneous transthoracic needle biopsy using an 18G semiautomated biopsy needle and pathologic diagnosis showed organizing pneumonia. Two months after the biopsy, chest wall dissemination occurred. Implantation of carcinoma along the biopsy route was suspected, but the mass was actually due to pulmonary nocardiosis.

  3. Children's Perception and Interpretation of Robots and Robot Behaviour

    NASA Astrophysics Data System (ADS)

    Bhamjee, Sajida; Griffiths, Frances; Palmer, Julie

    Technology is advancing rapidly; especially in the field of robotics. The purpose of this study was to examine children's perception and interpretation of robots and robot behaviour. The study was divided into two phases: phase one involved 144 children (aged 7-8) from two primary schools drawing a picture of a robot and then writing a story about the robot that they had drawn. In phase two, in small groups, 90 children observed four e-puck robots interacting within an arena. The children were asked three questions during the observation: 'What do you think the robots are doing?', 'Why are they doing these things?' and 'What is going on inside the robot?' The results indicated that children can hold multiple understandings of robots simultaneously. Children tend to attribute animate characteristics to robots. Although this may be explained by their stage of development, it may also influence how their generation integrates robots into society.

  4. Hopping Robot with Wheels

    NASA Technical Reports Server (NTRS)

    Barlow, Edward; Marzwell, Nevellie; Fuller, Sawyer; Fionni, Paolo; Tretton, Andy; Burdick, Joel; Schell, Steve

    2003-01-01

    A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

  5. Human-Robot Interaction

    NASA Technical Reports Server (NTRS)

    Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

    2015-01-01

    Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

  6. [Robots and intellectual property].

    PubMed

    Larrieu, Jacques

    2013-12-01

    This topic is part of the global issue concerning the necessity to adapt intellectual property law to constant changes in technology. The relationship between robots and IP is dual. On one hand, the robots may be regarded as objects of intellectual property. A robot, like any new machine, could qualify for a protection by a patent. A copyright may protect its appearance if it is original. Its memory, like a database, could be covered by a sui generis right. On the other hand, the question of the protection of the outputs of the robot must be raised. The robots, as the physical embodiment of artificial intelligence, are becoming more and more autonomous. Robot-generated works include less and less human inputs. Are these objects created or invented by a robot copyrightable or patentable? To whom the ownership of these IP rights will be allocated? To the person who manufactured the machine ? To the user of the robot? To the robot itself? All these questions are worth discussing.

  7. Robotics for welding research

    SciTech Connect

    Braun, G.; Jones, J.

    1984-09-01

    The welding metallurgy research and education program at Colorado School of Mines (CSM) is helping industries make the transition toward automation by training students in robotics. Industry's interest is primarily in pick and place operations, although robotics can increase efficiency in areas other than production. Training students to develop fully automated robotic welding systems will usher in new curriculum requirements in the area of computers and microprocessors. The Puma 560 robot is CSM's newest acquisition for welding research 5 references, 2 figures, 1 table.

  8. [Robotic surgery in gynecology].

    PubMed

    Csorba, Roland

    2012-06-24

    Minimally invasive surgery has revolutionized gynecological interventions over the past 30 years. The introduction of the da Vinci robotic surgery in 2005 has resulted in large changes in surgical management. The robotic platform allows less experienced laparoscopic surgeons to perform more complex procedures. It can be utilized mainly in general gynecology and reproductive gynecology. The robot is being increasingly used for procedures such as hysterectomy, myomectomy, adnexal surgery, and tubal anastomosis. In urogynecology, the robot is being utilized for sacrocolopexy as well. In the field of gynecologic oncology, the robot is being increasingly used for hysterectomy and lymphadenectomy in oncologic diseases. Despite the rapid and widespread adaption of robotic surgery in gynecology, there are no randomized trials comparing its efficacy and safety to other traditional surgical approaches. This article presents the development, technical aspects and indications of robotic surgery in gynecology, based on the previously published reviews. Robotic surgery can be highly advantageous with the right amount of training, along with appropriate patient selection. Patients will have less blood loss, less post-operative pain, faster recovery, and fewer complications compared to open surgery and laparoscopy. However, until larger randomized control trials are completed which report long-term outcomes, robotic surgery cannot be stated to have priority over other surgical methods.

  9. Advanced robot locomotion.

    SciTech Connect

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  10. Robotic Thumb Assembly

    NASA Technical Reports Server (NTRS)

    Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor); Goza, S. Michael (Inventor)

    2013-01-01

    An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.

  11. Experiments in autonomous robotics

    SciTech Connect

    Hamel, W.R.

    1987-01-01

    The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

  12. Hazardous Environment Robotics

    NASA Technical Reports Server (NTRS)

    1996-01-01

    Jet Propulsion Laboratory (JPL) developed video overlay calibration and demonstration techniques for ground-based telerobotics. Through a technology sharing agreement with JPL, Deneb Robotics added this as an option to its robotics software, TELEGRIP. The software is used for remotely operating robots in nuclear and hazardous environments in industries including automotive and medical. The option allows the operator to utilize video to calibrate 3-D computer models with the actual environment, and thus plan and optimize robot trajectories before the program is automatically generated.

  13. Stress among package truck drivers.

    PubMed

    Orris, P; Hartman, D E; Strauss, P; Anderson, R J; Collins, J; Knopp, C; Xu, Y; Melius, J

    1997-02-01

    In 1992, a cross-sectional questionnaire study of package truck drivers in one company was conducted at four widely scattered sites throughout the US; 317 drivers participated, representing 82% of those eligible. The package truck drivers scored significantly above the US working population comparison norm on all summary and individual scales derived from the SCL 90-R, indicating a substantial increase in psychologic distress for this group. The Global Severity Index, the best single summary measure of psychological distress in the SCL 90-R, revealed a mean T score for the drivers of 64.20, 91st percentile of the normative population. The group perceived significantly more daily stressful events than the average working adult, and their sensitivity to these events was also increased. Role overload, a component of the Occupational Stress Inventory, was the most consistent factor associated with symptoms of psychological distress on multiple regression analysis. This study suggests that job stress is a psychological health hazard for these drivers.

  14. The biopolitics of needle exchange in the United States

    PubMed Central

    McLean, Katherine

    2012-01-01

    Needle exchange began in the United States as a fragmented and illegal practice initiated by actors at the grassroots level; since the late 1980s, needle exchange has achieved increasing yet variable levels of institutional support across the country, receiving official sanction and funding from state and municipal governments. In turn, the practice(s) and discourse(s) of needle exchange have shifted significantly in many locales, becoming the purview of professional administration that advocates needle exchange as a necessary public health measure. This article is interested in the ways in which needle exchange has become implicated in and appropriated by networks of power seeking to discipline and regulate injection drug use. Drawing theoretically on Michel Foucault’s writings concerning biopower and governmentality, it will examine the proliferation of discourses, knowledges, and rules surrounding needle exchange in the United States. At the same time, this article will avoid a characterization of needle exchange that envisions the unilateral control of drug users by governmental power, illuminating instead both its negative and productive effects for drug users. Namely, it will explore how needle exchange creates both subjects of interest and subjects of resistance among drug users – that is to say, the governmentalization of needle exchange and its ‘clients’. PMID:22389572

  15. Lab in a needle for epidural space identification

    NASA Astrophysics Data System (ADS)

    Carotenuto, B.; Micco, A.; Ricciardi, A.; Amorizzo, E.; Mercieri, M.; Cutolo, A.; Cusano, A.

    2016-05-01

    This work relies on the development of a sensorized medical needle with an all-optical guidance (Lab in a Needle) system for epidural space identification. The device is based on the judicious integration of a Fiber Bragg grating sensor inside the lumen of an epidural needle to discriminate between different types of tissue and thus providing continuous and real time measurements of the pressure experienced by the needle tip during its advancement. Experiments carried out on an epidural training phantom demonstrate the validity of our approach for the correct and effective identification of the epidural space.

  16. Steerable real-time sonographically guided needle biopsy.

    PubMed

    Buonocore, E; Skipper, G J

    1981-02-01

    A method for dynamic real-time ultrasonic guidance for percutaneous needle biopsy has been successful in obtaining cytologic and histologic specimens from abdominal masses. The system depends on a real-time ultrasonic transducer that has been rigidly attached to a laterally placed steerable needle holder. Using simple trigonometric functions, a chart has been derived that gives the exact angulation and needle length to produce quick, reliable, guided needle placements. Examples of successful renal, hepatobiliary, and retroperitoneal biopsies are presented. Advantages of this technique include speed, accuracy, low cost, three-dimensional format, and the omission of contrast media and radiation.

  17. Easy robot programming for beginners and kids using augmented reality environments

    NASA Astrophysics Data System (ADS)

    Sakamoto, Kunio; Nishiguchi, Masahiro

    2010-11-01

    The authors have developed the mobile robot which can be programmed by command and instruction cards. All you have to do is to arrange cards on a table and to shot the programming stage by a camera. Our card programming system recognizes instruction cards and translates icon commands into the motor driver program. This card programming environment also provides low-level structure programming.

  18. Robotically assisted small animal MRI-guided mouse biopsy

    NASA Astrophysics Data System (ADS)

    Wilson, Emmanuel; Chiodo, Chris; Wong, Kenneth H.; Fricke, Stanley; Jung, Mira; Cleary, Kevin

    2010-02-01

    Small mammals, namely mice and rats, play an important role in biomedical research. Imaging, in conjunction with accurate therapeutic agent delivery, has tremendous value in small animal research since it enables serial, non-destructive testing of animals and facilitates the study of biomarkers of disease progression. The small size of organs in mice lends some difficulty to accurate biopsies and therapeutic agent delivery. Image guidance with the use of robotic devices should enable more accurate and repeatable targeting for biopsies and delivery of therapeutic agents, as well as the ability to acquire tissue from a pre-specified location based on image anatomy. This paper presents our work in integrating a robotic needle guide device, specialized stereotaxic mouse holder, and magnetic resonance imaging, with a long-term goal of performing accurate and repeatable targeting in anesthetized mice studies.

  19. Thinking ethically about needle and syringe programs.

    PubMed

    Kleinig, John

    2006-01-01

    Accepting-for the sake of argument-our current legal policies concerning heroin use and its users, what ethical questions are raised for needle and syringe program (NSPs)? Do they weaken drug laws, send the wrong message or obscure the right message, do little to eliminate the harm of drugs, detract from alternatives, and/or constitute a counsel of despair? I suggest that in the absence of established better alternatives, NSPs constitute a morally acceptable and in some cases even desirable option despite the continued criminalization of injecting drug use. Yet they must be conceived and administered in ways that do not reinforce prevailing social prejudices.

  20. Key drivers of airline loyalty.

    PubMed

    Dolnicar, Sara; Grabler, Klaus; Grün, Bettina; Kulnig, Anna

    2011-10-01

    This study investigates drivers of airline loyalty. It contributes to the body of knowledge in the area by investigating loyalty for a number of a priori market segments identified by airline management and by using a method which accounts for the multi-step nature of the airline choice process. The study is based on responses from 687 passengers. Results indicate that, at aggregate level, frequent flyer membership, price, the status of being a national carrier and the reputation of the airline as perceived by friends are the variables which best discriminate between travellers loyal to the airline and those who are not. Differences in drivers of airline loyalty for a number of segments were identified. For example, loyalty programs play a key role for business travellers whereas airline loyalty of leisure travellers is difficult to trace back to single factors. For none of the calculated models satisfaction emerged as a key driver of airline loyalty.

  1. Multi-robot control interface

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

  2. Canadian space robotic activities

    NASA Astrophysics Data System (ADS)

    Sallaberger, Christian; Space Plan Task Force, Canadian Space Agency

    The Canadian Space Agency has chosen space robotics as one of its key niche areas, and is currently preparing to deliver the first flight elements for the main robotic system of the international space station. The Mobile Servicing System (MSS) is the Canadian contribution to the international space station. It consists of three main elements. The Space Station Remote Manipulator System (SSRMS) is a 7-metre, 7-dof, robotic arm. The Special Purpose Dextrous Manipulator (SPDM), a smaller 2-metre, 7-dof, robotic arm can be used independently, or attached to the end of the SSRMS. The Mobile Base System (MBS) will be used as a support platform and will also provide power and data links for both the SSRMS and the SPDM. A Space Vision System (SVS) has been tested on Shuttle flights, and is being further developed to enhance the autonomous capabilities of the MSS. The CSA also has a Strategic Technologies in Automation and Robotics Program which is developing new technologies to fulfill future robotic space mission needs. This program is currently developing in industry technological capabilities in the areas of automation of operations, autonomous robotics, vision systems, trajectory planning and object avoidance, tactile and proximity sensors, and ground control of space robots. Within the CSA, a robotic testbed and several research programs are also advancing technologies such as haptic devices, control via head-mounted displays, predictive and preview displays, and the dynamic characterization of robotic arms. Canada is also now developing its next Long Term Space Plan. In this context, a planetary exploration program is being considered, which would utilize Canadian space robotic technologies in this new arena.

  3. Exploring Stakeholder Perceptions of Facilitators and Barriers to Using Needle Exchange Programs in Yunnan Province, China

    PubMed Central

    Philbin, Morgan M.; FuJie, Zhang

    2014-01-01

    Injection drug use is an ongoing urban health crisis in China and one of the largest drivers of the transmission of HIV/AIDS. Sentinel surveillance sites in Yunnan province show upwards of 20% of injection drug users (IDUs) are HIV positive. Though the Ministry of Health has scaled-up needle exchange programs (NEPs), they have not received official government recognition nor have they been extensively evaluated to explore factors influencing their acceptability and feasibility. Using in-depth qualitative interviews conducted from February to July 2008 with 35 participants consisting of IDUs and other key stakeholders, we explored facilitators and barriers to accessing needle exchange programs in Kunming, the capital of Yunnan province. Content analysis was conducted to identify themes including attitudes toward NEPs and harm reduction, barriers to access, and suggestions for improvement. Themes that emerged included fears of breached confidentiality and police interference at the exchange sites and tensions between the public health and law enforcement perspective. Low levels of NEP-related knowledge and awareness were uniformly reported among interviewees. Suggestions to facilitate an increase in NEP acceptance included raising awareness of harm reduction and HIV more generally, offering services such as psychological counseling, job training and behavioral therapy at NEPs, and increasing communication between police, government, and public health officials. High rates of HIV infection among injection drug users in China have prompted rapid scale up of NEPs. Additional adaptations are necessary, however, to increase needle exchange use among injection drug users. This study finds that an urgent need to raise awareness of NEPs among policy makers and IDUs and act upon identified steps for developing social-structural interventions to create enabling environments that facilitate increased access to NEPs among injection drug users in Kunming. PMID:24498286

  4. UWB dual burst transmit driver

    SciTech Connect

    Dallum, Gregory E; Pratt, Garth C; Haugen, Peter C; Zumstein, James M; Vigars, Mark L; Romero, Carlos E

    2012-04-17

    A dual burst transmitter for ultra-wideband (UWB) communication systems generates a pair of precisely spaced RF bursts from a single trigger event. An input trigger pulse produces two oscillator trigger pulses, an initial pulse and a delayed pulse, in a dual trigger generator. The two oscillator trigger pulses drive a gated RF burst (power output) oscillator. A bias driver circuit gates the RF output oscillator on and off and sets the RF burst packet width. The bias driver also level shifts the drive signal to the level that is required for the RF output device.

  5. Evaluation of the elderly driver.

    PubMed

    Craig, Kevin W; Zweig, Steven C

    2007-01-01

    Driving is a daily activity for people across the country. Most Americans, including the elderly, consider it a right. Driving, however, is dangerous and can become more challenging as people age. While evaluating the elderly driver is not a simple task, it is a responsibility that must be shared by Missouri physicians. This paper describes the epidemiology of this problem, common mistakes made by elderly drivers, risk factors that can cause unsafe driving, and strategies physicians can use to evaluate their elderly patients' ability to drive.

  6. A new needle on the block: EchoTip ProCore endobronchial ultrasound needle

    PubMed Central

    Dincer, H Erhan; Andrade, Rafael; Zamora, Felix; Podgaetz, Eitan

    2016-01-01

    Endobronchial ultrasound has become the first choice standard of care procedure to diagnose benign or malignant lesions involving mediastinum and lung parenchyma adjacent to the airways owing to its characteristics of being real-time and minimally invasive. Although the incidence of lung cancer has been decreasing, it is and will be the leading cause of cancer-related mortality in the next few decades. When compared to other cancers, lung cancer kills more females than breast and colon cancers combined and more males than colon and prostate cancers combined. The type of lung cancer has changed in recent decades and adenocarcinoma has become the most frequent cell type. Prognosis of lung cancer depends upon the cell type and the staging at the time of diagnosis. The cell type and molecular characteristics of adenocarcinoma may allow individualized targeted treatment. Other malignant conditions in the mediastinum and lung (eg, metastatic lung cancers and lymphoma) can be biopsied using endobronchial ultrasound needles. Endobronchial ultrasound needle biopsies provides mostly cytology specimens due to its small sizes of needles (22 gauge or larger) which may not give enough tissue to make a definitive diagnosis in malignant (eg, lymphoma) or benign conditions (eg, sarcoidosis). EchoTip ProCore endobronchial needle released in early 2014 provides histologic biopsy material. Larger tissue biopsies may potentially provide a higher diagnostic yield and it eliminates mediastinoscopy or other surgical interventions. Here we aim to review bronchoscopic approach in the diagnosis of mediastinal lesions with emphasis of EchoTip ProCore needles. PMID:27099535

  7. Integrated navigation and control software system for MRI-guided robotic prostate interventions

    PubMed Central

    Tokuda, Junichi; Fischer, Gregory S.; DiMaio, Simon P.; Gobbi, David G.; Csoma, Csaba; Mewes, Philip W.; Fichtinger, Gabor; Tempany, Clare M.; Hata, Nobuhiko

    2010-01-01

    A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called “workphases” that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. PMID:19699057

  8. Robotic Intelligence Kernel: Architecture

    SciTech Connect

    2009-09-16

    The INL Robotic Intelligence Kernel Architecture (RIK-A) is a multi-level architecture that supports a dynamic autonomy structure. The RIK-A is used to coalesce hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a framework that can be used to create behaviors for humans to interact with the robot.

  9. Robot Rodeo 2013

    ScienceCinema

    Deuel, Jake

    2016-07-12

    Sandia National Laboratories hosted the seventh annual Western National Robot Rodeo and Capability Exercise in June 2013. The five-day event is a lively and challenging competition that draws civilian and military bomb squad teams from across the country to see who can most effectively defuse dangerous situations with the help of robots.

  10. Robot Rodeo 2013

    SciTech Connect

    Deuel, Jake

    2013-08-27

    Sandia National Laboratories hosted the seventh annual Western National Robot Rodeo and Capability Exercise in June 2013. The five-day event is a lively and challenging competition that draws civilian and military bomb squad teams from across the country to see who can most effectively defuse dangerous situations with the help of robots.

  11. Next generation space robot

    NASA Technical Reports Server (NTRS)

    Iwata, Tsutomu; Oda, Mitsushige; Imai, Ryoichi

    1989-01-01

    The recent research effort on the next generation space robots is presented. The goals of this research are to develop the fundamental technologies and to acquire the design parameters of the next generation space robot. Visual sensing and perception, dexterous manipulation, man machine interface and artificial intelligence techniques such as task planning are identified as the key technologies.

  12. Real World Robotics.

    ERIC Educational Resources Information Center

    Clark, Lisa J.

    2002-01-01

    Introduces a project for elementary school students in which students build a robot by following instructions and then write a computer program to run their robot by using LabView graphical development software. Uses ROBOLAB curriculum which is designed for grade levels K-12. (YDS)

  13. Robotics technology discipline

    NASA Technical Reports Server (NTRS)

    Montemerlo, Melvin D.

    1990-01-01

    Viewgraphs on robotics technology discipline for Space Station Freedom are presented. Topics covered include: mechanisms; sensors; systems engineering processes for integrated robotics; man/machine cooperative control; 3D-real-time machine perception; multiple arm redundancy control; manipulator control from a movable base; multi-agent reasoning; and surfacing evolution technologies.

  14. Motivating Students with Robotics

    ERIC Educational Resources Information Center

    Brand, Brenda; Collver, Michael; Kasarda, Mary

    2008-01-01

    In recent years, the need to advance the number of individuals pursuing science, technology, engineering, and mathematics fields has gained much attention. The Montgomery County/Virginia Tech Robotics Collaborative (MCVTRC), a yearlong high school robotics program housed in an educational shop facility in Montgomery County, Virginia, seeks to…

  15. Robotics in medicine

    NASA Astrophysics Data System (ADS)

    Kuznetsov, D. N.; Syryamkin, V. I.

    2015-11-01

    Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

  16. The Uranus Mobile Robot

    DTIC Science & Technology

    1990-09-01

    Schematics 26 Wi List of Figures 1 Neptune and Pluto .. .. .. .. .. ... .. ... ... ... ... .... 2 2 Uranus...began building our first mobile robot, Pluto (see Figure 1 a). We envisioned Pluto as the ultimate indoor robot within the grasp of current technology...smooth arced trajectory while rotating about its center. This omni-directionality combined with very precise positioning would allow Pluto to easily

  17. Neurotechnology for Biomimetic Robots

    DTIC Science & Technology

    2007-11-02

    This award funded in part, the travel of three investigators to the international conference on Neurotechnology for Biomimetic Robots. The three...investigators participated in a conference held at Northeastern University May 14-16 on the subject of ’ Neurotechnology for Biomimetic Robots’. Each

  18. Concurrent programming and robotics

    SciTech Connect

    Cox, I.J.; Gehani, N.H.

    1989-04-01

    Many current robot systems exhibit a significant degree of concurrency, doing many activities in parallel. Future sensor-based robots are expected to exhibit even more concurrency. Programs to control such robots are characterized by the need to wait for external events and/or handle interrupts, deal with concurrent activities, synchronize actions with external events, and communicate with other robots and processes. In this paper, the authors focus on the advantages of concurrent programming for robotics and suggest that a general-purpose language with the right facilities is a good vehicle for robot programming. In this context they discuss Concurrent C, an upward-compatible extension of the C language that provides high-level concurrent programming facilities. They give an historical perspective of concurrent programming followed by a brief description of Concurrent C and how Concurrent C programs communicate with robots and devices. They show by examples how Concurrent C simplifies writing robot programs. Of specific interest are the process interaction and related interrupt handling facilities.

  19. Going Green Robots

    ERIC Educational Resources Information Center

    Nelson, Jacqueline M.

    2011-01-01

    In looking at the interesting shapes and sizes of old computer parts, creating robots quickly came to the author's mind. In this article, she describes how computer parts can be used creatively. Students will surely enjoy creating their very own robots while learning about the importance of recycling in the society. (Contains 1 online resource.)

  20. Robotics and Industrial Arts.

    ERIC Educational Resources Information Center

    Edmison, Glenn A.; And Others

    Robots are becoming increasingly common in American industry. By l990, they will revolutionize the way industry functions, replacing hundreds of workers and doing hot, dirty jobs better and more quickly than the workers could have done them. Robotics should be taught in high school industrial arts programs as a major curriculum component. The…

  1. INL Generic Robot Architecture

    SciTech Connect

    2005-03-30

    The INL Generic Robot Architecture is a generic, extensible software framework that can be applied across a variety of different robot geometries, sensor suites and low-level proprietary control application programming interfaces (e.g. mobility, aria, aware, player, etc.).

  2. Robot Vision Library

    NASA Technical Reports Server (NTRS)

    Howard, Andrew B.; Ansar, Adnan I.; Litwin, Todd E.; Goldberg, Steven B.

    2009-01-01

    The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses

  3. Preschool Needle Pain Responding: Establishing 'Normal'.

    PubMed

    Waxman, Jordana A; DiLorenzo, Miranda G; Pillai Riddell, Rebecca R; Flora, David B; Greenberg, Saul; Garfield, Hartley

    2017-02-11

    The current study sets forth to provide both descriptive data for preschool vaccination pain responding and examine longitudinal relationships over early childhood. Growth mixture modeling (GMM) was first used to describe stable subgroups of preschoolers based on their pain response patterns over 2-minutes post-needle. Secondly, a parallel-process growth curve model was used to assess the stability of acute pain responding from 12-months of age to preschool age. Specifically, we examined whether preschool pain-related distress or regulation could be predicted from 12-month acute pain responding. Preschool participants were part of a Canadian longitudinal cohort (The OUCH Cohort; N = 302). GMM analyses discerned 3 distinct groups of preschoolers, with an important minority not regulating to low-no pain by 2 minutes post-needle. There were no significant associations between 12-month and preschool pain responding. These results highlight the steep trajectory of development between these different stages of early childhood and the variability of pain responding at the preschool vaccination.

  4. Cryosurgery and needle ablation of renal lesions.

    PubMed

    Johnson, D B; Nakada, S Y

    2001-05-01

    Laparoscopic renal cryoablation is a minimally invasive alternative for treating renal tumors utilizing narrow probes cooled with a compressed gas such as argon or carbon dioxide. At this time, cryotherapy has shown the most promise as an alternative to partial nephrectomy as a nephron-sparing treatment for renal tumors. Radiofrequency ablation employs needle electrodes placed percutaneously directly into renal lesions to deliver energy, creating high temperatures leading to cell death. High-intensity focused ultrasound is a noninvasive technique in which focused ultrasound energy is applied to cause cell death within the focal zone. Microwave thermotherapy uses small applicators to deliver microwave energy to tissues, resulting in the generation of heat. Although RF, HIFU, and microwave thermotherapy show promise as energy sources for tumor ablation, they are in the early stages of development. Little is known about their acute and chronic histologic effects and long-term efficacy as a treatment for malignant disease. Further work is needed to develop cryosurgery and needle ablation in order to delineate what role these techniques will ultimately play in the management of RCC.

  5. Honda humanoid robots development.

    PubMed

    Hirose, Masato; Ogawa, Kenichi

    2007-01-15

    Honda has been doing research on robotics since 1986 with a focus upon bipedal walking technology. The research started with straight and static walking of the first prototype two-legged robot. Now, the continuous transition from walking in a straight line to making a turn has been achieved with the latest humanoid robot ASIMO. ASIMO is the most advanced robot of Honda so far in the mechanism and the control system. ASIMO's configuration allows it to operate freely in the human living space. It could be of practical help to humans with its ability of five-finger arms as well as its walking function. The target of further development of ASIMO is to develop a robot to improve life in human society. Much development work will be continued both mechanically and electronically, staying true to Honda's 'challenging spirit'.

  6. Intelligent Articulated Robot

    NASA Astrophysics Data System (ADS)

    Nyein, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    In this paper, an articulated type of industrial used robot is discussed. The robot is mainly intended to be used in pick and place operation. It will sense the object at the specified place and move it to a desired location. A peripheral interface controller (PIC16F84A) is used as the main controller of the robot. Infrared LED and IR receiver unit for object detection and 4-bit bidirectional universal shift registers (74LS194) and high current and high voltage Darlington transistors arrays (ULN2003) for driving the arms' motors are used in this robot. The amount of rotation for each arm is regulated by the limit switches. The operation of the robot is very simple but it has the ability of to overcome resetting position after power failure. It can continue its work from the last position before the power is failed without needing to come back to home position.

  7. [The robotic surgeon training].

    PubMed

    Crestani, Alessandro; Rossanese, Marta; Abbinante, Maria; Calandriello, Mattia; Kungulli, Afrovita; Giannarini, Gianluca; Ficarra, Vincenzo

    2015-10-01

    The widespread robotic surgery in the world highlighted the relevance of the training programs for young urologists and residents. In the last years, urologic societies and some independent robotic surgeons strongly worked to standardize some general and specific training modules. Theoretical and practical sections of robotic training programs have been recently specified. The role of simulators, dry and wet laboratories, bedside assistance, and modular (step-by-step) training at console represent the most relevant elements of robotic surgeon training. Ideally, these didactic tools should be available in modern training centers. The development of structured robotic training programs should be considered as one of the priorities that the urologic community must take into account in the near future.

  8. Utilizing Robot Operating System (ROS) in Robot Vision and Control

    DTIC Science & Technology

    2015-09-01

    OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples...Master’s Thesis 4. TITLE AND SUBTITLE UTILIZING ROBOT OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL 5. FUNDING NUMBERS 6. AUTHOR(S) Lum, Joshua S...release; distribution is unlimited UTILIZING ROBOT OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL Joshua S. Lum Captain, United States

  9. Expanding Frontiers of Humanoid Robotics

    DTIC Science & Technology

    2000-08-01

    From the IEEE Intelligent Systems Special Issue on Humanoid Robotics , July/August 2000 GUEST EDITORS’ Expanding Frontiers of Humanoid Robotics ...Mark L. Swinson, DARPA David J. Bruemmer, Strategic Analysis Mobile robots pose a unique set of challenges to artificial intelligence researchers...the constraints of logical correctness but also some assortment of crosscutting, physical constraints. Particularly interesting among these robots

  10. Robots in Space -Psychological Aspects

    NASA Technical Reports Server (NTRS)

    Sipes, Walter E.

    2006-01-01

    A viewgraph presentation on the psychological aspects of developing robots to perform routine operations associated with monitoring, inspection, maintenance and repair in space is shown. The topics include: 1) Purpose; 2) Vision; 3) Current Robots in Space; 4) Ground Based Robots; 5) AERCam; 6) Rotating Bladder Robot (ROBLR); 7) DART; 8) Robonaut; 9) Full Immersion Telepresence Testbed; 10) ERA; and 11) Psychological Aspects

  11. [Application of robots in stomatology].

    PubMed

    Zhou, Meng-Qi; Zhang, Jin-Ning; Hong, Jin

    2016-10-01

    Recently, the robot technology has been developed rapidly and the medical robot has been used in many clinical areas, especially in the field of stomatology. The application of robot in stomatology will break the traditional mode of treatment and bring a new technological revolution. This paper introduced the advantages, the current situation and the development prospect of applying robot in stomatology.

  12. Teaching French via Driver Education.

    ERIC Educational Resources Information Center

    Berwald, Jean-Pierre

    1980-01-01

    Driver instruction through the medium of a foreign language is useful in teaching vocabulary, grammar, and culture. The maps, driving manuals, and cars stimulate discussion and communication. Course techniques can include Asher's concept of Total Physical Response wherein students act in response to commands in the foreign language. (PMJ)

  13. Fuel-Cell Drivers Wanted

    ERIC Educational Resources Information Center

    Clark, Todd; Jones, Rick

    2004-01-01

    While the political climate seems favorable for the development of fuel-cell vehicles for personal transportation, the market's demand may not be so favorable. Nonetheless, middle level students will be the next generation of drivers and voters, and they need to be able to make informed decisions regarding the nation's energy and transportation…

  14. Driver Education and Driving Simulators.

    ERIC Educational Resources Information Center

    Fox, James H.

    This study was concerned with--(1) the conditions of transfer of training, (2) armed forces research on the use of synthetic training devices in the learning of complex skills, (3) armed forces research on the use of training devices in learning judgmental skills, and (4) training devices used in driver education. A section with a summary,…

  15. Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues

    PubMed Central

    Alterovitz, Ron; Goldberg, Kenneth Y.; Pouliot, Jean; Hsu, I-Chow

    2009-01-01

    Minimally invasive medical procedures such as biopsies, anesthesia drug injections, and brachytherapy cancer treatments require inserting a needle to a specific target inside soft tissues. This is difficult because needle insertion displaces and deforms the surrounding soft tissues causing the target to move during the procedure. To facilitate physician training and preoperative planning for these procedures, we develop a needle insertion motion planning system based on an interactive simulation of needle insertion in deformable tissues and numerical optimization to reduce placement error. We describe a 2-D physically based, dynamic simulation of needle insertion that uses a finite-element model of deformable soft tissues and models needle cutting and frictional forces along the needle shaft. The simulation offers guarantees on simulation stability for mesh modications and achieves interactive, real-time performance on a standard PC. Using texture mapping, the simulation provides visualization comparable to ultrasound images that the physician would see during the procedure. We use the simulation as a component of a sensorless planning algorithm that uses numerical optimization to compute needle insertion offsets that compensate for tissue deformations. We apply the method to radioactive seed implantation during permanent seed prostate brachytherapy to minimize seed placement error. PMID:19126473

  16. Synthesis of nano-crystalline multifibrous zirconia needle

    SciTech Connect

    Biswas, Mridula; Bandyopadhyay, Siddhartha

    2013-06-01

    Graphical abstract: - Highlights: • Zirconia needles have been successfully prepared by simple inorganic sol–gel route. • The shape of the needles was retained after firing with aspect ratio > 400. • Needles are composed of multiple fibres. • Fibres are composed of nano crystals. - Abstract: Zirconia needles have been successfully synthesized using a simple inorganic sol–gel process without using any template. The method employs mixture of zirconium oxychloride octahydrate and sulphuric acid in aqueous medium. This process requires heat treatment at 40 °C for 2 h in an oven for nucleus formation. Complete formation of needle occurs after 17 days. The green needle retained its original shape after calcination at 1200 °C. Fired needles were of 1–2 cm in length and 5–50 μm in diameter and possess monoclinic phase. Needles are composed of multiple fibres. Depending on the heat treatment temperature, crystallite size varies in the range of 8 to around 300 nm.

  17. Needle Steering in 3-D Via Rapid Replanning

    PubMed Central

    Patil, Sachin; Burgner, Jessica; Webster, Robert J.; Alterovitz, Ron

    2014-01-01

    Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy and reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. We present a new needle steering system capable of automatically reaching targets in 3-D environments while avoiding obstacles and compensating for real-world uncertainties. Given a specification of anatomical obstacles and a clinical target (e.g., from preoperative medical images), our system plans and controls needle motion in a closed-loop fashion under sensory feedback to optimize a clinical metric. We unify planning and control using a new fast algorithm that continuously replans the needle motion. Our rapid replanning approach is enabled by an efficient sampling-based rapidly exploring random tree (RRT) planner that achieves orders-of-magnitude reduction in computation time compared with prior 3-D approaches by incorporating variable curvature kinematics and a novel distance metric for planning. Our system uses an electromagnetic tracking system to sense the state of the needle tip during the procedure. We experimentally evaluate our needle steering system using tissue phantoms and animal tissue ex vivo. We demonstrate that our rapid replanning strategy successfully guides the needle around obstacles to desired 3-D targets with an average error of less than 3 mm. PMID:25435829

  18. Needle and Syringe Cleaning Practices among Injection Drug Users.

    ERIC Educational Resources Information Center

    Fisher, Dennis G.; Harbke, Colin R.; Canty, John R.; Reynolds, Grace L.

    2002-01-01

    Evaluates the effect of needle exchange on the bleach-mediated disinfection (BMD) practices of 176 needle and syringe sharing injection drug users (IDUs). Results reveal that IDUs who traded sex for money or drugs were less likely to practice BMD, and IDUs who reported a reduced number of sex partners were more likely to practice BMD. (Contains 36…

  19. Design of a Slender Tuned Ultrasonic Needle for Bone Penetration

    NASA Astrophysics Data System (ADS)

    Cleary, Rebecca; Mathieson, Andrew; Wallace, Robert; Simpson, Hamish; Lucas, Margaret

    This paper reports on an ultrasonic bone biopsy needle, particularly focusing on design guidelines applicable for any slender tuned ultrasonic device component. Ultrasonic surgical devices are routinely used to cut a range of biological tissues, such as bone. However the realisation of an ultrasonic bone biopsy needle is particularly challenging. This is due to the requirement to generate sufficient vibrational amplitude capable of penetrating mineralised tissue, while avoiding flexural vibrational responses, which are known to reduce the performance and reliability of slender ultrasonic devices. This investigation uses finite element analysis (FEA) to predict the vibrational behaviour of a resonant needle which has dimensions that match closely to an 8Gx4inch bone marrow biopsy needle. Features of the needle, including changes in material and repeated changes in diameter, have been included and systematically altered to demonstrate that the location of and geometry of these features can significantly affect the resonant frequency of bending and torsional modes of vibration while having a limited effect on the frequency and shape of the tuned longitudinal mode. Experimental modal analysis was used to identify the modal parameters of the selected needle design, validating the FEA model predictions of the longitudinal mode and the close flexural modes. This verifies that modal coupling can be avoided by judicious small geometry modifications. Finally, the tuned needle assembly was driven under typical operational excitation conditions to demonstrate that an ultrasonic biopsy needle can be designed to operate in a purely longitudinal motion.

  20. Needle Steering in 3-D Via Rapid Replanning.

    PubMed

    Patil, Sachin; Burgner, Jessica; Webster, Robert J; Alterovitz, Ron

    2014-08-01

    Steerable needles have the potential to improve the effectiveness of needle-based clinical procedures such as biopsy and drug delivery by improving targeting accuracy and reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. We present a new needle steering system capable of automatically reaching targets in 3-D environments while avoiding obstacles and compensating for real-world uncertainties. Given a specification of anatomical obstacles and a clinical target (e.g., from preoperative medical images), our system plans and controls needle motion in a closed-loop fashion under sensory feedback to optimize a clinical metric. We unify planning and control using a new fast algorithm that continuously replans the needle motion. Our rapid replanning approach is enabled by an efficient sampling-based rapidly exploring random tree (RRT) planner that achieves orders-of-magnitude reduction in computation time compared with prior 3-D approaches by incorporating variable curvature kinematics and a novel distance metric for planning. Our system uses an electromagnetic tracking system to sense the state of the needle tip during the procedure. We experimentally evaluate our needle steering system using tissue phantoms and animal tissue ex vivo. We demonstrate that our rapid replanning strategy successfully guides the needle around obstacles to desired 3-D targets with an average error of less than 3 mm.