In the performance of a transvascular liver biopsy, the Trucut-type transjugular liver biopsy set is advance over a multipurpose catheter place in the suprahepatic vein. Occasionally there is a sharp bend between the suprahepatic veins and the inferior vein cava and the multipurpose catheter does not provide sufficient support to track the biopsy access set. To deal with this problem we describ...

  Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...

The aim of this paper is to study the integration of multiplicative preference relation as a preference representation structure in fuzzy multipurpose decision-making problems. Assuming fuzzy multipurpose decision-making problems under di4erent preference representation structures (ordering, utilities and fuzzy preference relations) and using the fuzzy preference relations as uniform representa...

Medical robotics can be split in subfields depending on who has to be assisted by a robot; it can be:-The hospital: for instance for patient transportation and handling,-the patient: by providing him/her robotized prostheses or artificial organs, rehabilitation aids or assistance for every day tasks,-the clinician: by assisting his diagnostic or therapeutic tasks. This short note focuses on the...

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

PURPOSE To evaluate the safety and efficacy of the porous polyethylene multipurpose conical orbital implant for use in evisceration. METHODS A retrospective review of 31 eyes that underwent evisceration and received the multipurpose conical orbital implant. The orbits were evaluated at 1 week, 1 month, and 6 months after final prosthetic fitting for implant exposure, superior sulcus deformity...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...