Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

Preoperative planning system for surgical robotics setup with kinematics and haptics.

Recently, some useful robotic surgical systems have been developed and applied in many surgical situations. Systems such as the da Vinci surgical system of Intuitive Surgical Inc., which facilitates minimally invasive surgery with increased dexterity, are commercially available. Preoperative simulation and planning of surgical robot setups should accompany advanced robotic surgery if their adva...

Attractor-based computation with reservoirs for online learning of inverse kinematics

We implement completely data driven and efficient online learning from temporally correlated data in a reservoir network setup. We show that attractor states rather than transients are used for computation when learning inverse kinematics for the redundant robot arm PA-10. Our findings shade also light on the role of output feedback.

An LPV Approach to Sensor Fault Diagnosis of Robotic Arm

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

Computational Issues in the Planning and Kinematics of Binary Robots

To meet the objectives of many future missions, robots will need to be adaptable and reconfigurable. A concept for such a robotic system has been proposed previously based on using a large number of simple binary actuators. Previous researchers have addressed some of the issues brought up by robots with a few binary actuators. This paper examines the computational feasibility of controlling and...