Zobrazeno 1 - 10
of 465
pro vyhledávání: '"Chablat, Damien"'
Publikováno v:
Workshope ''Co-design in Robotics: Theory, Practice, and Challenges'' (ICRA 2024), May 2024, Yokohama, Japan
This work presents the development of a parallel manipulator used for otological surgery from the perspective of co-design. Co-design refers to the simultaneous involvement of the end-users (surgeons), stakeholders (designers, ergonomic experts, manu
Externí odkaz:
http://arxiv.org/abs/2408.11830
Publikováno v:
Advances in Service and Industrial Robotics, 157, Springer Nature Switzerland, pp.175-183, 2024, Mechanisms and Machine Science
The control system in surgical robots must ensure patient safety and real time control. As such, all the uncertainties which could appear should be considered into an extended model of the plant. After such an uncertain plant is formed, an adequate c
Externí odkaz:
http://arxiv.org/abs/2407.16276
Autor:
Rus, Gabriela, Hajjar, Nadim Al, Tucan, Paul, Zima, Ionut, Vaida, Calin, Radu, Corina, Jucan, Daniel, Chablat, Damien, Pisla, Doina
Publikováno v:
6th IFToMM Symposium on Mechanism Design for Robotics, Jun 2024, Timi{\c s}oara, Romania
Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring preci-sion and safety throughout procedures. This paper presents a control architecture developed for a robotic system designed for MIS operations. The modular s
Externí odkaz:
http://arxiv.org/abs/2407.08286
This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Universal Robots). The primary aim of this comparative analysis is to asses
Externí odkaz:
http://arxiv.org/abs/2407.05720
Autor:
Vaida, Calin, Gherman, Bogdan, Birlescu, Iosif, Tucan, Paul, Pusca, Alexandru, Rus, Gabriela, Chablat, Damien, Pisla, Doina
Publikováno v:
19th International Symposium on Advances in Robot Kinematics, Springer, 2024
The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools. To increa
Externí odkaz:
http://arxiv.org/abs/2406.02047
Autor:
Mugisha, Stanley, Guda, Vamsi Krishna, Chevallereau, Christine, Chablat, Damien, Zoppi, Matteo
Humans use collaborative robots as tools for accomplishing various tasks. The interaction between humans and robots happens in tight shared workspaces. However, these machines must be safe to operate alongside humans to minimize the risk of accidenta
Externí odkaz:
http://arxiv.org/abs/2405.09109
Autor:
Pisla, Doina, Tucan, Paul, Chablat, Damien, Hajjar, Nadim Al, Ciocan, Andra, Pisla, Adrian, Pusca, Alexandru, Radu, Corina, Pop, Grigore, Gherman, Bogdan
Publikováno v:
33rd International Conference on Robotics in Alpe-Adria-Danube Region, Springer, 2024
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a high prec
Externí odkaz:
http://arxiv.org/abs/2404.11140
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties (e.g. on conce
Externí odkaz:
http://arxiv.org/abs/2403.05370
Publikováno v:
International Conference on Human-Computer Interaction, Springer, 2024
The industry of the future, also known as Industry 5.0, aims to modernize production tools, digitize workshops, and cultivate the invaluable human capital within the company. Industry 5.0 can't be done without fostering a workforce that is not only t
Externí odkaz:
http://arxiv.org/abs/2402.14388
Publikováno v:
33rd International Conference on Robotics in Alpe-Adria-Danube Region, 2024
The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particularly in the realm of laparoscopic rectal surgery (LRS). This speciali
Externí odkaz:
http://arxiv.org/abs/2402.14386