Portable manipulation system for commercial robotic surgery forceps.

BACKGROUND: Transition from the utilisation of traditional instruments to new robotic methodologies in surgical operations occurs rapidly. Although the implementation of these methodologies to classical surgery operations is advantageous due to increased precisions and enhanced motion capabilities of robotic systems, overall worldwide accessibility and adaptation are still limited due to high equipment costs and special infrastructure requirements. METHODOLOGY: The design of four degrees of freedom low cost, compact and portable manipulation system was proposed to allow the utilisation of commercial robotic surgery forceps like a conventional laparoscopy instrument without the necessity of bulky manipulation systems. RESULTS: The structural design of the system was carried out along with necessary kinematic and coupled motion analysis. Prototypes were constructed. Hardware verification of the system was executed using implemented control methodology. CONCLUSIONS: The proposed design successfully demonstrated the advantages of multi degree of freedom robotic surgery forceps in a portable handheld system compared to classical laparoscopy instruments.

Utilization of Function Generation Synthesis on Biomimetics: A Case Study on Moray Eel Double Jaw Design.

Throughout history, humans have observed living or non-living things in nature and then imitated them in relation to these observations. This is due to the fact that the energy found in nature is generally consumed at an optimal level in order for it to endure. Biomimetic inspiration in many designs and applications is widely displayed, including within the field of engineering. In this paper, we were inspired by the double set of jaws found in the moray eel, which gives this fish a huge advantage while hunting, with a mobile pharyngeal jaw that works together with its oral jaw in order to overcome ineffective suction capabilities. A procedure that mimics the hunting motion of the moray eel was utilized by considering the overall movement as a single degree of freedom with multiple outputs on account of the repeating motion that is required during hunting. This procedure includes structural and dimensioning synthesis, wherein the latter was utilized with analytic kinematic synthesis for each linkage transfer. The flexibilities in parameters were taken into account with a novel multiple iterative kinematic synthesis algorithm that resulted in various mechanisms with the same purpose. Among the excessive number of resultant mechanisms, the optimization was carried out by considering the highest torque transmission ratio at critical timings that were specified as bio-constraints. In the end, the kinematic movement validation was utilized.

PARS, low-cost portable rehabilitation system for upper arm.

This study introduces a compact low-cost single degree of freedom end-effector type upper arm rehabilitation system (PARS) along with its hardware and software elements. Proposed system is also suitable to be used in conjunction with a gaming environment. Throughout the study structural setup of the system was explained in detail along with its electronics, control system and gaming software. Introduced virtual gaming interface supports various game levels with different difficulties generated via interaction type control algorithms. Having simple structural design constructed by using basic available components, proposed system can be easily manufactured and utilized in physical rehabilitation procedures by using supplied open source codes. Introduced systems compactness and user friendly interface also allow its usage for individual home therapies for remote rehabilitation treatment procedures.

Wearable Motion Capture System Evaluation for Biomechanical Studies for Hip Joints.

Human motion capture (MOCAP) systems are vital while determining the loads occurring at the joints. Most of the clinical MOCAP systems are very costly, requiring investment and infrastructure. Therefore, alternative technologies are in demand. In this study, a novel markerless wearable MOCAP system was assessed for its compatibility with a biomechanical modeling software. To collect evidence, experiments were designed in two stages for quantifying the range of motion (ROM) of the hip joint, in vitro and in vivo. Three constrained single-plane motions-abduction/adduction, flexion/extension, and internal/external rotation movements of the active leg-were analyzed. The data were collected from 14 healthy volunteers, using the wearable system and a medical grade optoelectronic MOCAP system simultaneously and compared against. For the in vitro study, the root-mean-square error (RMSE) for the abduction/adduction motion of the hip joint was calculated as 0.11 deg/0.30 deg and 0.11 deg/0.09 deg, respectively, for the wearable and the opto-electronic system. The in vivo Bland-Altman plots showed that the two system data are comparable. The simulation software is found compatible to run the simulations in offline mode. The wearable system could be utilized in the field of biomechanics software for running the kinetic simulations. The results demonstrated that the wearable system could be an alternative in the field of biomechanics based on the evidence collected.

Functional range of motion in the upper extremity and trunk joints: Nine functional everyday tasks with inertial sensors.

BACKGROUND: Functional range of motion is defined as the required range of motions for individuals to maintain maximal independence, along with optimal conditions for activities of daily living. Intervention plans for rehabilitation are directed towards the acquisition of anatomical range of motion. However, this isn't always possible based on person's etiology, prognosis, or severity of disease. RESEARCH QUESTION: The aim of this study is to determine functional range of motion during different unilateral, bilateral symmetrical and bimanual asymmetrical tasks of activities of daily living. METHODS: Participants completed nine basic activities of daily living (hand to head, hanging jacket, eating, wallet placement to back pocket, washing hands and face, removing belt, water pouring, brushing teeth) linked according to International Classification of Functioning, Disability and Health, while joint kinematics of the trunk and upper extremity were recorded with inertial measurement units. Peak values of mean joint angles were determined for each activities of daily living. MVN BIOMECH Awinda MTW2-3A7G6 sensors (Xsens Technologies B.V. Enschede, Netherlands) were used for 3D kinematic analysis of activities. RESULTS: Forty-six healthy subjects (right-dominant) were included in this study. Range of motion requirements of all activities were defined 37.85° extension, 91.18° flexion, 1.25° adduction, 39.45° abduction, 63.6° internal rotation, 21.8° external rotation in the dominant shoulder, 124.17° flexion in the dominant elbow, 40.29° extension, 23.66° flexion, 18.31° supination, 12.56° pronation, 18.27 ulnar deviation and, 18.36° radial deviation in the dominant wrist. Maximum trunk range of motions were found to be 29.75° flexion in C7-T1, 10.74° flexion in T12-L1, and 24.16° flexion in L5-S1. SIGNIFICANCE: It is thought that the results of this research will contribute to the determination of normative data needed for surgical interventions, technological rehabilitation devices and task-spesific rehabilitation programs which based patient's motor skill level.