48 research outputs found
Testimonianze sui rapporti tra «mercatores» romani ed i vescovati di Metz e Verdun nel secolo XIII
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Reconstructing endovascular catheter interaction forces in 3D using multicore optical shape sensors
No full textCatheterization instruments are increasingly being improved to accurately diagnose and treat cardiovascular conditions. However, current catheter systems provide limited information about the shape of the catheter and tissue-instrument interaction forces during an intervention. Furthermore, relying on inconsistent feedback of such interaction forces during an intervention may result in tissue injury. This paper presents the first steps to estimate the interaction forces between a catheter and a mock-up arterial environment. We base the proposed method on a Pseudo-Rigid Body approximation of the catheter and integrate three-dimensional shape information provided by Fiber Bragg Grating sensors inside the catheter. The reconstructed forces along the catheter body can be fed back to the surgeon in visual and/or haptic form. In this work, the estimated forces are displayed in real-time in a graphical user interface with the reconstructed catheter shape. Experimental validation demonstrates a root mean square error of 0.03 N and a mean reconstruction error of 0.02 N
Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots
No full textThe actuation of miniaturized robots through external magnetic fields has great potential formedical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, themagnetic field of a mobile electromagnet, notably capable to generate a desired magnetic field in large 3D workspaces, has been identified first. Then, a control model of the field generation system has been developed to produce a desired magnetic field designed to generate a locomotion gait in a legged miniaturized robot. Preliminary experiments prove the viability of the approach
A V-REP Simulator for the da Vinci Research Kit Robotic Platform
No full textIn this work we present a V-REP simulator for the da Vinci Research Kit (dVRK). The simulator contains a full robot kinematic model and integrated sensors. A robot operating system (ROS) interface has been created for easy use and development of common software components. Moreover, several scenes have been implemented to illustrate the performance and potentiality of the developed simulator. Both the simulator and the example scenes are available to the
community as an open source software
Portable dVRK: An augmented V-REP simulator of the da Vinci research kit
No full textThe da Vinci Research Kit (dVRK) is a first generation da Vinci robot repurposed as a research platform and coupled with software and controllers developed by research users. An already quite wide community is currently sharing the dVRK (32 systems in 28 sites worldwide). The access to the robotic system for training surgeons and for developing new surgical procedures, tools and new control modalities is still difficult due to the limited availability and high maintenance costs. The development of simulation tools provides a low cost, easy and safe alternative to the use of the real platform for preliminary research and training activities. The Portable dVRK, which is described in this work, is based on a V-REP simulator of the dVRK patient side and endoscopic camera manipulators which are controlled through two haptic interfaces and a 3D viewer, respectively. The V-REP simulator is augmented with a physics engine allowing to render the interaction of new developed tools with soft objects. Full integration in the ROS control architecture makes the simulator flexible and easy to be interfaced with other possible devices. Several scenes have been implemented to illustrate performance and potentials of the developed simulator
Portable dVRK: an augmented V-REP simulator of the da Vinci Research Kit
No full textThe da Vinci Research Kit (dVRK) is a first generation da Vinci robot repurposed as a research platform and coupled with software and controllers developed by research users. An already quite wide community is currently sharing the dVRK (32 systems in 28 sites worldwide). The access to the robotic system for training surgeons and for developing new surgical procedures, tools and new control modalities is still difficult due to the limited availability and high maintenance costs. The development of simulation tools provides a low cost, easy and safe alternative to the use of the real platform for preliminary research and training activities. The Portable dVRK, which is described in this work, is based on a V-REP simulator of the dVRK patient side and endoscopic camera manipulators which are controlled through two haptic interfaces and a 3D viewer, respectively. The V-REP simulator is augmented with a physics engine allowing to render the interaction of new developed tools with soft objects. Full integration in the ROS control architecture makes the simulator flexible and easy to be interfaced with other possible devices. Several scenes have been implemented to illustrate performance and potentials of the developed simulator
Enhancing force feedback in teleoperated needle insertion through on-line identification of the needle-tissue interaction parameters
No full textThis paper proposes an approach for displaying
the needle-tip interaction force exchanged between the needle
tip and the tissues to the remote operator of a teleoperated
needle insertion procedure. As known, the measures of the
needle tip interaction force with tissues obtained through
F/T sensor at the robot wrist do not provide a transparent
perception of the needle-tissue interaction at the tip mainly
because of the friction between the needle shaft and the
traversed tissues. Current literature mainly proposes hardware
solutions to the problem of measuring the forces at the needle
tip. In this work we aim instead at cleaning the F/T sensor
information for rendering only the estimated force exchanged at
the needle tip. The approach is based on an online identification
of the parameters of a needle-tissue interaction force model to
isolate offset force values mainly due to friction. The approach,
validated through simulations and experiments, is expected to
increase the sensitivity of the rendered force to tissue transitions
thus improving safety and accuracy in needle placement
