Publication

Toward the Development of a Hand-Held Surgical Robot for Laparoscopy

Publications associées (51)

Supernumerary Robotic Arm for Three-Handed Surgical Application: Behavioral Study and Design of Human-Machine Interface

In surgical to industrial manipulation, the operator needs assistance for tasks requiring more than two hands. Teamwork may be the source of errors and inefficiency, especially if the assistant is a novice or unfamiliar with the main operator. The need for ...

EPFL2017

Le BIM "seulement" une révolution technologique

Bernard Nicolas Cherix

Presentation of BIM teaching at the EPFL to architects and engineers students at master level. Explanation of the instruments used during the course to train students to work on a collaborative and interdisciplinary mode. The importance of the allocation o ...

2017

Policy mixes for resource efficiency – theoretical and practical challenges

Based on an on-going research project called “Policy options for a resource efficient Europe” (POLFREE), this paper analyses potential policy instruments and their interdependencies in a policy mix for resource efficiency. It focuses on fundamental trade-o ...

A World Resources Forum Production, PSI2017

Modelling of the human shoulder as a parallel mechanism without constraints

Alexandre Terrier, Alain Farron, Philippe Müllhaupt, Christoph Anselm Engelhardt, David Ingram

The synthesis of shoulder kinematics, either for simulation in a model or imitation in a robot, is a challenging task because of the contact between shoulder blade and ribcage. As the shoulder moves, the shoulder blade glides over the ribcage. In kinematic ...

Elsevier2016

Mechanical Stability Margin for Scouting Poses in Modular Snake Robots

Kamilo Andres Melo Becerra

This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...

Ieee2016

CAMEA: Simulations and Kinematic Calculations

During the design of CAMEA extensive simulations and cinematic calculations were performed to explore the waste parameter space. These have led to a far better understanding of the instrument performance as well as new ideas to improve the instrument. Many ...

2014

Fast Part-Based Classification for Instrument Detection in Minimally Invasive Surgery

Pascal Fua, Raphael Sznitman, Carlos Joaquin Becker

Automatic visual detection of instruments in minimally invasive surgery (MIS) can significantly augment the procedure experience for operating clinicians. In this paper, we present a novel technique for detecting surgical instruments by constructing a robu ...

Springer2014

Cognitive Loading Affects Motor Awareness and Movement Kinematics but Not Locomotor Trajectories during Goal-Directed Walking in a Virtual Reality Environment

Kamiar Aminian, Olaf Blanke, Oliver Alan Kannape, Arnaud Barré

The primary purpose of this study was to investigate the effects of cognitive loading on movement kinematics and trajectory formation during goal-directed walking in a virtual reality (VR) environment. The secondary objective was to measure how participant ...

Public Library of Science2014

ESS Instrument Construction Proposal CAMEA

Henrik Moodysson Rønnow, Paul Gregory Freeman

We propose the construction of a highly innovative spectrometer – CAMEA – offering Continuous Angular and Multiple Energy Analysis. Combining indirect time-of flight with multiple consecutive analyser arrays, this instrument will provide massive flux on th ...

2014

Analytical Calculations for CAMEA

CAMEA is a novel instrument concept, thus the performance has not been explored. Furthermore it is a complex instrument using many analyser arrays in a wide angular range. The performance of the instrument has been studied by use of three approaches: McSta ...

2014

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