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The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools and techniques for delivering effective health care. Minimally invasive surgery (MIS) techniques have revolutionized the way a number of surgical procedures are performed. Recent advances in surgical robotics are once again revolutionizing(More)
The Raven-II is a platform for collaborative research on advances in surgical robotics. Seven universities have begun research using this platform. The Raven-II system has two 3-DOF spherical positioning mechanisms capable of attaching interchangeable four DOF instruments. The Raven-II software is based on open standards such as Linux and ROS to maximally(More)
— In the area of surgical robotics no standard means of performance evaluation has been established. Thousands of surgeons have gone through the SAGES FLS Program, and the psychomotor skill portion of the program is considered the gold standard in laparoscopic skills evaluation. This research describes the use of the FLS Block Transfer task to evaluate the(More)
— In order to enable robotic surgery without human assistance, a means must be developed to change tools. As part of the larger Trauma Pod Project, we developed the Tool Rack Subsystem — an automated tool rack capable of holding, accepting, and dispensing up to 14 tools for the da Vinci T M surgical robot. Borrowing some techniques from industrial(More)
Exoskeleton robots are promising assistive/rehabilitative devices that can help people with force deficits or allow the recovery of patients who have suffered from pathologies such as stroke. The key component that allows the user to control the exoskeleton is the human machine interface (HMI). Setting the HMI at the neuro-muscular level may lead to(More)
Minimally invasive surgery (MIS) involves a multi-dimensional series of tasks requiring a synthesis between visual information and the kinematics and dynamics of the surgical tools. Analysis of these sources of information is a key step in mastering MIS but may also be used to define objective criteria for characterizing surgical performance. The BlueDRAGON(More)
— The exoskeleton robot, serving as an assistive device worn by the human (orthotic), functions as a human-amplifier. Setting the human machine interface (HMI) at the neuro-muscular level may lead to seamless integration and an intuitive control of the exoskeleton arm as a natural extension of the human body. At the core of the exoskeleton HMI there is a(More)
With a focus on design methodology for developing a compact and lightweight minimally invasive surgery (MIS) robot manipulator, the goal of this study is progress toward a next-generation surgical robot system that will help surgeons deliver healthcare more effectively. Based on an extensive database of in-vivo surgical measurements, the workspace(More)
Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a(More)
—Integrating humans and robotic machines into one system offers multiple opportunities for creating assistive technologies that can be used in biomedical, industrial, and aerospace applications. The scope of the present research is to study the integration of a human arm with a powered exoskeleton (orthotic device) and its experimental implementation in an(More)