Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedAT9 Fenix 1 Wednesday, October 10, 2012, 08:30–09:30
Medical Robotics I
Chair Fumihito Arai, Nagoya Univ.
Co-Chair Jake Abbott, Univ. of Utah
08:30–08:45 WedAT9.1
Control Strategies of an Assistive Robot
Using a Brain-Machine Interface
Andrés Úbeda, Eduardo Iáñez, Javier Badesa,
Ricardo Morales, José M. Azorín, Nicolás García
Biomedical Neuroengineering Group,
Miguel Hernández University of Elche, Spain
• An assistive application has been
designed combining a BMI and a
pneumatic planar robot
• The application consists of
performing movements of the
robot to reach several targets
• The non-invasive spontaneous
BMI is based on the correlation of
EEG maps
• Two control protocols are
compared: a hierarchical control
protocol and a directional control
protocol
09:00–09:15 WedAT9.3
Optical Encoding of Catheter Motion Capture for
Quantitative Evaluation in Endovascular Surgery
Hirokatsu Kodama, Carlos Tercero, Katsutoshi Ooe,
Chaoyang Shi, Seiichi Ikeda and Toshio Fukuda
Micro-Nano Syatems Engineering, Nagoya University, Japan
Fumihito Arai
Mechanical Science and Engineering, Nagoya University, Japan
Makoto Negoro
Neurosurgery, Fujita Health University, Japan
Ikuo Takahashi
Neurosurgery, Anjo Kosei Hospital, Japan
Guiryong Kown
Product Division, Terumo Clinical Supply, Japan
• Optical Encoding of linear and
rotational motion of the catheter
• Quantitative evaluation of human skills
with the Cyber-physical system
• Comparison of catheter manipulation
skills between novice users and
medical doctor
Cyber-Physical System for
technical skill evaluation
08:45–09:00 WedAT9.2
Non-ideal Behaviors of Magnetically Driven
Screws in Soft Tissue
Arthur W. Mahoney¹, Nathan D. Nelson², Erin M. Parsons²
and Jake J. Abbott²
¹ School of Computing, ² Dept. of Mech. Engineering, University of Utah, USA
• Untethered, magnetically driven
screws have been studied for the
delivery of biomedical payloads
through human tissue.
• We present magnetic
phenomena that cause non-ideal
screw behavior while operating in
soft tissue.
• The undesired phenomena
harms screw stability and control
during normal operation, and
must be accounted for in closedloop
control.
• We demonstrate our results with
an artificial tissue phantom.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–127–
While steering, magnetic torque will always
cause a magnetic screw to yaw perpendicular
to the desired direction. (Image sequence)
09:15–09:30 WedAT9.4
A Voice-Coil Actuated Ultrasound Micro-Scanner
for Intraoral High Resolution Impression Taking
Thorsten Vollborn, Daniel Habor, Simon Junk,
Klaus Radermacher and Stefan Heger
Chair of Medical Engineering, RWTH Aachen University, Germany
• Silicone based impression-taking of
prepared teeth is well-established but
error-prone and inefficient for CAD/CAM of
dental prosthetics
• We designed an intraoral ultrasonic device
for micrometer resolution scanning
• We used a 2-DOF high-frequency concept
based on voice-coil technology for precise
& highly dynamic scanning
• In this contribution, we describe the set-up
and investigate the dependency of the
lateral displacement of the micro-scanners
end-effector from the oscillation rate using
laser triangulation