Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control
Graph Chatbot
Chattez avec Graph Search
Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.
AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.
A new challenge for surgical robotics is placed in the use of flexible manipulators, to perform procedures that are impossible for currently available rigid robots. Since the surgeon only controls the end-effector of the manipulator, new control strategies ...
Minimally invasive surgeries on the lungs have eliminated the ability for surgeons to place their hands on the patient's organ to feel for abnormalities. Therefore, in this paper, a force sensor for 2 degrees of freedom haptic applications is described. It ...
Major progress in abdominal surgery has occurred over the last decades with the introduction of laparoscopic and minimally invasive techniques in the operating room. These innovative procedures attracted much attention due to several advantages: the need f ...
The present paper describes LIGRA, an innovative technological solution developed in the context of the SAFROS co-funded EU project. Its general goal is to improve patient safety during minimal invasive robotic surgery. Focusing on the risks introduced in ...
The present study investigated how multisensory integration in peripersonal space is modulated by limb posture (i.e. whether the limbs are crossed or uncrossed) and limb congruency (i.e. whether the observed body part matches the actual position of one's l ...
Over the past few decades, surgical procedures have made enormous progress, shifting from traditional open procedures to less and less invasive approaches, with the promise of smaller incisions, less complications, better cosmetic results and shorter recov ...
A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several ...
Power amplifiers are a highly important component in a range of industrial applications, such as, servo-drives, magnetic resonance imaging, energy systems, and audio. The control system for power amplifiers should satisfy a range of requirements, e. g., of ...
In the field of surgical robotics, it is difficult to find objective assessment techniques for evaluating telepresence. In this study we try to merge the concepts from cognitive neuroscience more specifically from the field of tool incorporation (embodimen ...
In this paper we propose the Middle-Axis-Rotation (MAR) parametrization of human limbs that addresses the ill-conditioned cases of analytical Inverse Kinematics (IK) algorithms. The MAR parametrization is singularity-free in the reach space of the human li ...
