In this paper motion analysis on a winding stair-climbing is investigated using our proposed rotational arm type of robotic wheelchair. For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger’s safety. Equations of motion based on the skid-steering analysis are developed for the tra...

PURPOSE To compare the relative merits among robotic surgery, laparoscopy, and laparotomy for patients with endometrial cancer by conducting a meta-analysis. METHODS The MEDLINE, Embase, PubMed, Web of Science, and Cochrane Library databases were searched. Studies clearly documenting a comparison between robotic surgery and laparoscopy or between robotic surgery and laparotomy for endometrial...

Background and objective Open radical prostatectomy (ORP) is the standard approach for the surgical management of localized prostate cancer. The steep learning curve for laparoscopic prostatectomy poses a challenge for surgeons with minimal laparoscopic experience. As robotic-assisted surgery becomes more prevalent in the urologic community, there appears to be an increasing interest in robotic...

The complicated and changeable underwater environment increases the difficulty of pattern recognition for robotic fish swimming gaits. Aiming at this question, environment sensing and pattern recognition using an artificial lateral system are investigated in this work. Imitating lateral line of real fish in nature, a novel artificial lateral line system for robotic fish is designed in this pape...

Robotic surgery is being used with increasing frequency in gynecologic oncology. To date, 44 cases were reported in the literature of radical hysterectomy performed with robotic surgery. When comparing robotic surgery with laparoscopy or laparotomy in performing a radical hysterectomy, the literature shows that robotic surgery offers an advantage over the other 2 surgical approaches with regard...

In this paper, a methodology is proposed for the analysis of the force capabilities of connected differential mechanisms. These systems are the key elements used to extend the principle of underactuation in grasping from the fingers to the hand itself. The concept of underactuation in robotic grasping— with fewer actuators than degrees of freedom (DOF)—allows the hand to adjust itself to an irr...

Introduction Single-port laparoscopic surgery has some advantages, including improved cosmetic outcomes and minimized parietal trauma. However, pure single-port laparoscopic rectal cancer surgery is challenging because of the difficulties in creating triangulation and applying the laparoscopic staplers with sufficient distal margins in the narrow pelvic cavity. Recently, a reduced-port robotic ...

Title of dissertation: CONTROL OF NETWORKED ROBOTIC SYSTEMS Yen-Chen Liu, Doctor of Philosophy, 2012 Dissertation directed by: Professor Nikhil Chopra Department of Mechanical Engineering and Institute for Systems Research With the infrastructure of ubiquitous networks around the world, the study of robotic systems over communication networks has attracted widespread attention. This area is den...

OBJECTIVES The benefits of laparoscopic surgery with robotic assistance (da Vinci Robotic Surgical System, Intuitive Surgical, Sunnyvale, CA) includes elimination of tremor, motion scaling, 3D laparoscopic vision, and instruments with 7 degrees of freedom. The benefit of robotic assistance could be most pronounced with reconstructive procedures, such as pyeloplasty. We aimed to compare laparosc...

Many frameworks and packages exist for the development of robotic surgical systems. An important aspect of such packages involves the communication interfaces between various robotic devices. This paper discusses one such framework, the Surgical Assistant Workstation (SAW) developed at the Johns Hopkins University. SAW is a component-based framework, providing interfaces for the hardware and so...