New Trends in Medical and Service Robotics: MESROB 2023

Preface
Organization
Contents
Surgical Robotics
Soft Robot Assistance for Tumor Biopsy and Ablation in Magnetic Resonance Imaging*-12pt
1 Introduction
2 Concept and Methods
2.1 Requirements for Percutaneous Interventions Using the Assistance System in MRI
2.2 Procedure of the Medical Intervention with the Assistance System
2.3 Conceptual Design of the Robotic System
2.4 Sterility Concept
2.5 Fabrication of the Soft Robot
3 Characterization and Validation of the Soft Robotic Assistance System
3.1 Bending Characteristics of the Soft Robot
4 Results of the Bending Characterization
5 Discussion
References
Workspace-aware Planning of a Surgical Robot Mounting in Virtual Reality
1 Introduction
2 Materials and Methods
2.1 Apparatus
2.2 Workspace Calculation, Visualization, and Interaction
2.3 Evaluation
3 Results
4 Discussion
5 Conclusion
References
Structural Study of a Robotic System for Sils Surgery
1 Introduction
1.1 State of the Art in Robotic SILS
2 Parallel Robotic System for SILS
2.1 Robotic Integration in Medical Procedure
2.2 The SILS Robot Platform Motions
3 The 6 DOF Robotic Platform
3.1 The First Motion Chain
3.2 The Second Motion Chain
3.3 The Third Motion Chain
4 FEM Analysis of System Components
5 Conclusions
References
Design and Functional Analysis of a New Parallel Modular Robotic System for Single Incision Laparoscopic Surgery
1 Introduction
2 Kinematic Scheme for a New Parallel Modular Robotic System
3 Constructive Design of a New Parallel Modular Robot for SILS
4 Robot Simulation and Workspace Generation in Siemens NX
5 Finite Element Analysis for Main Components of the Robot
6 Conclusions
References
Design and Development of a 6-Degree-Of-Freedom Robotic Device for Cochlear Implantation Surgery
1 Introduction
2 Design
2.1 System Overview
2.2 Design of 3-PRRS Parallel Manipulator
3 Analysis
3.1 Inverse Kinematic Analysis
4 Experiment
4.1 Experimental Setup
4.2 Insertion Test
5 Conclusion
References
Fuzzy Logic Systems: From WisdomofAge Mentoring Platform to Medical Robots
1 Introduction
2 Methodology
2.1 Quality of Live Surveys
2.2 Fuzzy Logic System
3 Results
4 Discussion
5 Conclusion
References
Design of Medical Devices
Grip-Type Pseudo Force Display with Normal and Tangential Skin Stimulationpg*-12pt
1 Introduction
2 Device
2.1 Overview
2.2 Device Design and Production
3 Applications
4 Conclusion
References
Design of a Surgical Stapler for Laparoscopic Colectomy
1 Introduction
2 Workspace Analysis
3 Mechanism Design of Surgical Stapler
3.1 Kinematics Equations of the Tensegrity Mechanism
3.2 Simulation and Singularities
4 Application to the Stapler Design
5 Conclusions
References
An Experimental Characterization of RIBOLUTION Rib Fracture Fixator
1 Introduction
2 RIBOLUTION Design and Functionality
3 Testing Design
4 Test Results
5 Considerations for RIBOLUTION Fixator Implementation
6 Conclusions
References
Pre-clinical Study of a Customized Rehabilitation Device Prototype for Patients with Immobility Syndrome
1 Introduction
2 ABLEFIT: Device Description
3 ABLEFIT: Pre-clinical Study
4 Conclusions
References
A Step Towards Obtaining an Innovative Smartbath for Shower in Bed of Disabled and Elder’s People
1 Introduction
2 Design of the New Step of Smartbath
3 Smartbath Hardware and Software Systems
3.1 Hardware System
3.2 Software System
4 Final Remarks
References
Lab Experiences for a Driver Monitoring System
1 Introduction
2 Problems and Requirements
3 Conceptual Design
4 Prototype Assembly
5 Lab Tests and Results
6 Conclusions
References
Wire Actuation Mechanism for Wrist Exoskeleton
1 Introduction
2 Background
3 Mechanical Design of the Proposed Exoskeleton
3.1 3D Model of the Proposed Structure
3.2 Kinematics of the Mechanism
3.3 Numerical Example
4 Conclusions
References
Exoskeletons and Prostheses
Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance*-12pt
1 Introduction
2 Active Lower Limb Exoskeleton Robot
2.1 The ALEXO Configuration
2.2 Hardware and Control Architecture
3 Trajectory Control Method
4 Simulations
5 Physical Experiments
5.1 Trajectory Tracking
5.2 Walking Assistance Tests
6 Conclusions
References
Preliminary Design of a Novel ULRD Upper Limb Rehabilitation Device
1 Introduction
2 Mechanical Design
3 Kinematic Analysis
3.1 Forward Kinematic Analysis
3.2 Inverse Kinematic Analysis
3.3 Constraint Analysis
4 Conclusions
References
Development of a Passive Ankle-Foot Exoskeleton for Variable Force Resistance Training
1 Introduction
2 Proposed System Design
3 Kinematic Analysis
4 Static Analysis
5 Experimental Results
5.1 Finite Element Analysis of the Coupler
5.2 Experimental Verification of the Variable Stiffness Spring
5.3 Performance Test of the PAFE
6 Conclusion
References
Design and Performance Analysis of Ankle Joint Exoskeleton
1 Introduction
2 Motion Requirements from Ankle Biomechanics
3 Design of a Wearable Device for Ankle Motion Assistance
4 Procedure of Design
5 Performance Analysis
6 Conclusion
References
A Leg Exoskeleton Mechanism for Human Walking Assistance
1 Introduction
2 Experimental Evaluation of Human Ankle Joint
3 Ankle Joint Actuation Mechanisms
4 A Leg Exoskeleton Concept and Functional Evaluations
5 Conclusions
References
Dynamic Analysis and Structural Optimization of a New Exoskeleton Prototype for Lower Limb Rehabilitation
1 Introduction
2 The Proposed Structural Solution
3 Structural Optimization of Robot Kinematic Elements
4 Conclusions
References
Developments in the Design of an Ankle Rehabilitation Platform
1 Introduction
2 Developments on the Rehabilitation Platform Design
2.1 Previous Designs
2.2 New Design
3 Conclusion
References
Effect of a Passive Shoulder Support Exoskeleton on Fatigue During Working with Arms over Shoulder Level
1 Introduction
2 Methods
2.1 Participants
2.2 Passive Shoulder Support Exoskeleton
2.3 Protocol
2.4 Data Processing and Statistics
3 Results
3.1 Effect on Muscle Activity
3.2 Objective and Perceived Fatigue
3.3 Cardiac Cost
3.4 Constrain, Discomfort and Usability
4 Discussion
5 Conclusion
References
Virtual Prototyping of a Leg Exoskeleton for Human Persons with Neuromotor Deficiencies
1 Introduction
2 Human Lower Limb Kinematic Models
3 Human Walking Analysis for Exoskeleton Programming and Control
4 Mathematical Models for Exoskeleton Mechanism Dynamic Analysis
5 Robotic System Virtual Prototyping
6 Exoskeleton Experimental Tests
7 Conclusions
References
Biomechanics
An Experimental Testing Procedure for Validating a Passive Upper-Limb Exoskeleton
1 Introduction
2 Approach Measurement System
2.1 Marker Detection Strategy
2.2 Payload Measurement System
3 Experimental Setup
4 Experimental Evaluation
4.1 First Tests – User Without Wearing the Exoskeleton and Without Payload
4.2 Second Tests – User Without Wearing the Exoskeleton Holding a Payload
4.3 Third Tests – User Wearing the Exoskeleton Without Holding a Payload
4.4 Fourth Tests - User Wearing the Exoskeleton and Holding a Payload
5 Conclusions
References
A New Bio-Inspired Joint with Variable Stiffness*-12pt
1 Introduction
2 Joints Actuated by Antagonist Tendons
2.1 Joint Stiffness
2.2 Joint Stiffness Modulation for the P-module
2.3 Joint Stiffness Modulation for the X-module
3 A Novel Module: The E-module
3.1 Design Parameters of the E-module
4 Conclusion
References
Parametric Identification of Postural Control Models in Humans Challenged by Impulse-Controlled Perturbations
1 Introduction
2 Materials and Methods
2.1 Experimental Trials with Automated Perturbation Device
2.2 Single-Link and Double-Link Inverted Pendulum Models
2.3 Parametric Identification of Balance Control Models
3 Results and Discussion
4 Conclusion
References
Nonlinear Dynamics Used to Study the Influence of Treadmill Speed and Incline on the Human Hip Stability
1 Introduction
2 Experimental Protocol
3 Nonlinear Dynamic Analysis
3.1 State Space Reconstruction (SSR)
4 Results
5 Discussions
6 Conclusions
References
Numerical Analysis of a Testbed Used for Liver Tissue of Biomechanical Behavior
1 Introduction
2 Methods
3 Results
4 Conclusion
References
Experimental Evaluation of Respiration in Patients Undergoing Thoracic Surgery
1 Introduction
2 Issues in Patients with Thoracic Surgery
3 RESPIRholter, the Monitoring Device
4 Testing Protocol
5 Results and Diagnosis Outputs
5.1 A Patient Case Study
6 Conclusions
References
Dynamic Functional Stability Analysis of Gait After Anterior Cruciate Ligament (ACL) Reconstruction
1 Problem Description
1.1 A Subsection Sample
2 Application Field
3 Research Stages-State of the Art in Biomechanics Assessment
4 The Aim of the Study
5 Method
6 Equipment and Software
7 Results
8 Further Research
9 Conclusions
References
The Use of Accelerometers to Track Changes in Cobb Angles During Scoliosis Rehabilitation Exercises
1 Introduction
2 Mathematical Modelling of the Spine and Computation of the Cobb Angle
3 Clinical Study Regarding the Efficiency of the Physical Exercises
4 Conclusions
References
Kinematics and Dynamics for Medical Robotics
Forward Kinematic Model Resolution of a Hybrid Haptic Device Using an Inertial Measurement Unit
1 Introduction
2 Architecture of the nHH Device
3 The Developed nHH Device
3.1 Direct Kinematic Model of the nHH Device
3.2 Experimental Setup and Protocol
4 Experimental Results
5 Conclusion
References
Influence on the Visual Feedback on Several Balance Assessment Indicators Measured in a Balance Rehabilitation Machine
1 Introduction
2 Description of the Balance Rehabilitation Device
3 Experimental Methodology
3.1 Subjects
3.2 Experimental Protocol
4 Results
4.1 Measurements of COP Patterns
5 Conclusions
References
Kinematic and Dynamic Analysis of a New Mechanism for Assisting Human Locomotion
1 Introduction
2 Human Gait Experimental Study
3 Structure and Design of the Foot Exoskeleton Mechanism
4 Kinematic Analysis of the Mechanism of the Exoskeleton Leg
5 Dynamic Modelling of the Exoskeleton While Walking
6 Conclusion
References
The Framework for Mobile Robot Task Planning Based on the Optimal Manufacturing Schedule
1 Introduction
2 Literature Review
3 Planning System Description
3.1 Implementation of Domain and Problem in PDDL
4 Experimental Evaluation
5 Conclusion
References
Periodic Actuations of Two-Link Planar Robot Arm with Revolute and Prismatic Joints*-12pt
1 Introduction
2 Dynamics of the System
2.1 Kinematics of the Links
2.2 Generalized Active Forces
2.3 Kinetic Energy
3 Results and Discussion
4 Conclusion
References
Mechanism Design and Inverse Kinematics of a 5-DOF Medical Assistive Manipulator*-12pt
1 Introduction
2 Manipulator Architecture
3 Inverse Kinematics
4 Case Study
5 Discussion
6 Conclusion
References
Design and Operation of a Robotized Bed for Bedridden COVID Patients
1 Introduction
2 Requirements
3 Design of a Robotized Bed
4 Operation of a Robotized Bed
5 Conclusions
References
Design of a Medical Robot with Folding Mechanism Used for Disinfection in the Hard-to-Reach Areas
1 Introduction
2 Analysis of the Mechanism
3 Design of the Robot
4 Conclusions
References
Anthropomorphic Hands
Patient Tailored Hand Exoskeletons - A 3D-Printable Concept for Force Transmission and Feedback*-12pt
1 Introduction
2 Methods
2.1 Design Requirements
2.2 Hand Measurement
2.3 Mechanical Linkage Design
2.4 Actuation and Sensing
3 Evaluation
3.1 Test Setup
3.2 Results
4 Conclusion
References
Tree-Like Fractal Structures Modeling and Their Application in 3D Printed Bones
1 Introduction
2 Mathematical Modeling
3 Numerical Simulations
4 Application in Biomechanics
5 Conclusions
References
Basics of Hand Prosthesis Design
1 Introduction
2 Concept and Kinematics
3 Design and Prototype
4 Conclusion
References
Rapid Prototyping Techniques for Innovative Hand Prosthesis
1 Introduction
2 Materials and Methods
2.1 Upper Limb Motility
2.2 Upper Limb Concept and Design
2.3 Prototyping the Components
3 Results
4 Discussion
5 Conclusions
References
Author Index