&amp;#x03BC;Angelo: A novel minimally invasive surgical system based on an anthropomorphic design

Tzemanaki, Antonia; Burton, Thomas; Gillatt, David; Melhuish, Chris; Persad, Raj; Pipe, Anthony G.; Dogramadzi, Sanja

doi:10.1109/biorob.2014.6913804

Cited by 7 publications

(8 citation statements)

References 19 publications

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“…The camera is also inflexible that limits its accessibility to unreachable regions, that is, in prostatectomy. da Vinci's camera length is around 30 cm which often clashes with assistant instruments 16. What are your requirements in terms of field of view?The requirements in terms of field of view is 5 cm 2 to 25 cm 2 .17Do you need visual feedback in wider areas, for example, behind obstacles (other organs)?…”

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confidence: 99%

Requirements elicitation for robotic and computer-assisted minimally invasive surgery

Nakawala

Momi

Tzemanaki³

et al. 2019

International Journal of Advanced Robotic Systems

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The robotic surgical systems and computer-assisted technologies market has seen impressive growth over the last decades, but uptake by end-users is still scarce. The purpose of this article is to provide a comprehensive and informed list of the end-user requirements for the development of new generation robot- and computer-assisted surgical systems and the methodology for eliciting them. The requirements were elicited, in the frame of the EU project SMARTsurg, by conducting interviews on use cases of chosen urology, cardiovascular and orthopaedics procedures, tailored to provide clinical foundations for scientific and technical developments. The structured interviews resulted in detailed requirement specifications which are ranked according to their priorities. Paradigmatic surgical scenarios support the use cases.

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confidence: 99%

Requirements elicitation for robotic and computer-assisted minimally invasive surgery

Nakawala

Momi

Tzemanaki³

et al. 2019

International Journal of Advanced Robotic Systems

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“…Consequently, calibration of the functionality of the FHD according to fingertip size could improve the consistency of user perception for each condition (as summarised in Table 2). Future work will also include re-designing of the FHD to make it even more compact and portable, as well as replace its tracking system (IMU) with other hand tracking devices such as the sensory hand exoskeleton of our previous work, also meant for application in a surgical scenario (Tzemanaki et al, 2014). Future experiments can include PHF to complement the functionality of the FHD, by showing deformation in the virtual tissues when the user "touches" them as in the work by Li et al (2015).…”

Section: Discussionmentioning

confidence: 99%

“…Master-slave robotic systems have found use in many applications ranging from games industry, assistive technologies and medicine (practicing or training) (e.g., in neuromuscular rehabilitation (Iqbal et al, 2014) or in surgery (Hagn et al, 2010;Tzemanaki et al, 2014;Intuitive Surgical, 2017) to areas where safety issues prevent use of autonomous robots such as in underwater environments, space exploration or nuclear industry (Nagatani et al, 2013;Kulakov et al, 2015;García et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment

Tzemanaki

Melhuish

et al. 2018

Front. Robot. AI

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This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit, which tracks the motion of the user's finger while its haptic functionality relies on two parameters: pressure in the VCP and its linear displacement towards the fingertip. The combination of these two features results in various conditions of the FHD, which emulate the remote object or surface stiffness properties. Such a device can be used in tele-operation, including virtual reality applications, where rendering the level of stiffness of different physical or virtual materials could provide a more realistic haptic perception to the user. The FHD stiffness representation is characterised in terms of resulting pressure and force applied to the fingertip created through the relationship of the two functional parameters -pressure and displacement of the VCP. The FHD was tested in a series of user studies to assess its potential to create a user perception of the object's variable stiffness. The viability of the FHD as a haptic device has been further confirmed by interfacing the users with a virtual environment. The developed virtual environment task required the users to follow a virtual path, identify objects of different hardness on the path and navigate away from "no-go" zones. The task was performed with and without the use of the variable compliance on the FHD. The results showed improved performance with the presence of the variable compliance provided by the FHD in all assessed categories and particularly in the ability to identify correctly between objects of different hardness.

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“…Gloveone by Neuro Digital Technologies [ 18 ], VR Glove by Manus [ 19 ], and Noitom Hi5 VR Glove [ 20 ] are the predominant data gloves available in the market, which enable tracking all of the finger phalanges using a number of IMUs with low latency and often haptic feedback. Finger-joint tracking using hall-effect sensors [ 21 ] is another recently developed novel technology that provides higher joint resolutions than IMUs. However, the main drawback of these technologies is that they are not sufficient for providing exact location information, as the sensors are estimating only the orientation of the hands and fingers.…”

Section: Introductionmentioning

confidence: 99%

Hand Tracking and Gesture Recognition Using Lensless Smart Sensors

Abraham

Urru

Normani

et al. 2018

Sensors

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The Lensless Smart Sensor (LSS) developed by Rambus, Inc. is a low-power, low-cost visual sensing technology that captures information-rich optical data in a tiny form factor using a novel approach to optical sensing. The spiral gratings of LSS diffractive grating, coupled with sophisticated computational algorithms, allow point tracking down to millimeter-level accuracy. This work is focused on developing novel algorithms for the detection of multiple points and thereby enabling hand tracking and gesture recognition using the LSS. The algorithms are formulated based on geometrical and mathematical constraints around the placement of infrared light-emitting diodes (LEDs) on the hand. The developed techniques dynamically adapt the recognition and orientation of the hand and associated gestures. A detailed accuracy analysis for both hand tracking and gesture classification as a function of LED positions is conducted to validate the performance of the system. Our results indicate that the technology is a promising approach, as the current state-of-the-art focuses on human motion tracking that requires highly complex and expensive systems. A wearable, low-power, low-cost system could make a significant impact in this field, as it does not require complex hardware or additional sensors on the tracked segments.

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μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design

Cited by 7 publications

References 19 publications

Requirements elicitation for robotic and computer-assisted minimally invasive surgery

Requirements elicitation for robotic and computer-assisted minimally invasive surgery

Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment

Hand Tracking and Gesture Recognition Using Lensless Smart Sensors

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