Magnetically-actuated soft robots have potential for medical application but require further innovation on functionality and biocompatibility. In this letter, a multi-segmented snake-inspired robot with dissolvable biocompatible segments is designed. The actuation response under external magnetic field investigated through simulations experiments. A dissolve-controllable mixture of gelatin, gly...

the problem of navigation among movable obstacles (namo) is to find a collision free path for a robot while the robot is able to manipulate and transfer some objects (if possible or needed) to clear its path toward the goal. namo is a np-complete problem and is in a class of motion planning problems that have dynamic environments. in this domain, an optimal plan for the robot can be defined wit...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

Control of surgical continuum robot manipulators and steerable needles requires accurate real-time sensing of tip position and/or shaft shape. Medical image feedback provides the most straightforward and widely available method of measuring device and clinical target positions and shapes during insertion or tissue manipulation. In this paper we present a method for automatic robot/needle curve ...

Needle placement is an important procedure in many medical fields, especially in diagnosis (for the achievement of biopsies) or cancer treatment procedures (like brachytherapy). The paper presents an extensive study of the workspace for an innovative parallel robot designed for needle placement procedures. The singularities of the parallel robot are exhaustively analysed and the possibilities o...

The first section of this chapter reviews the current practice in corrective jaw surgery, detailing the conventional method for preparing a surgical plan, as well as the surgical technique used to carry out single jaw surgery with maxillary repositioning. A short orientation on surgical planning transfer methods is described, as well as different technical approaches to the problem in question,...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...