The current treatment of radiation-induced skin wounds utilizes mainly conventional therapies, including topical steroids, creams, ointments, and hydrogel dressings, which do not take into account the immunologic changes that occur in the skin after...
Cell and tissue products used in regenerative medicine are classified differently across jurisdictions according to processing, intended use, and manufacturing setting. This review compares regulatory approaches to products including bone marrow aspi...
Objective: The objective of our study was to assess the oncological safety of uterine manipulators (UMs) in apparent early-stage (FIGO I-II 2009) endometrial cancer treated by minimally invasive surgery (MIS). Methods: Our single-center retrospective...
The use of minimally manipulated adipose tissue (MM-AT) products is gaining increasing interest for the treatment of knee osteoarthritis (OA). MM-AT represents an easy way to exploit adipose tissue properties, although clinical evidence is still limi...
Transfer of regenerative approaches into clinical practice is limited by strict legal regulation of in vitro expanded cells and risks associated with substantial manipulations. Isolation of cells for the enrichment of bone grafts directly in the Oper...
The minimization of energy consumption is of the utmost importance in space robotics. For redundant manipulators tracking a desired end-effector trajectory, most of the proposed solutions are based on locally optimal inverse kinematics methods. On th...
Recently, there has been a heightened interest in using triply periodic minimal surfaces (TPMSs) in the design of compact process engineering components. The benefits of high surface area per unit volume, modular form, and inherent periodicity provid...
Background and Objectives: Minimally invasive surgery is considered the standard of care for early-stage endometrial cancer. However, the oncological safety of intrauterine manipulator (IUM) use during laparoscopic hysterectomy remains controversial....
Background/Objectives: Interstitial cystitis/bladder pain syndrome (IC/BPS) is a chronic condition characterized by pelvic pain, urinary symptoms, and reduced quality of life, with limited effective treatment options. Regenerative approaches using ad...
Shoulder pain is a serious clinical disease frequently related to absence from work. It is characterized by pain and stiffness, probably connected to the presence of an inflammatory substrate involving gleno-humeral capsule and collagen tissues. A ph...
Cervical cancer is the most common gynecologic malignancy and the fourth most common cancer in women worldwide. Over the last two decades, minimally invasive surgery (MIS) emerged as the mainstay in the surgical management of cervical cancer, bringin...
Flexible surgical robots are emerging as advanced tools for minimally invasive surgeries, offering greater versatility compared to traditional rigid robots. Unlike commercial endoscopes, the overtube should remain fixed to maintain stability, ensure...
Subcutaneous adipose tissue loss from trauma, congenital deformity, aging, or weight loss can compromise facial contour, symmetry, and soft-tissue support, making volume restoration a central target in soft-tissue reconstruction. Current approaches i...
Soft tissue reconstruction remains a challenge in clinical practice, particularly for restoring substantial volume loss due to surgical resections or contour deformities. Current methods, such as autologous fat transplantation, have limitations, incl...
Displacements of the base during trajectory tracking are a common issue in the control of aerial manipulators. These are caused by reaction torques transferred to the base due to the manipulator motion and, in particular, to the motion of its center...
This paper presents a miniature manipulator under Cartesian control for minimally invasive transluminal endoscopic surgery. The manipulator had four degrees of freedom (DoFs) and a diameter of only 3.5 mm. The compact size of the manipulator allowed...
In order to get natural and intuitive physical interaction in the pose adjustment of the minimally invasive surgery manipulator, a hybrid variable admittance model based on Fuzzy Sarsa(λ)-learning is proposed in this paper. The proposed model provide...
Objective: Worldwide cervical cancer is the fourth most common cancer and is also the fourth leading cause of death among women, after breast cancer, colorectal cancer, and lung cancer. The aim of this study is to investigate the long-term oncologica...
This article investigates the model-based control in configurations space of a soft continuum manipulator for minimally invasive surgery. The main control challenges for these types of systems are the presence of model uncertainties and nonlinearitie...
Several industrial pick-and-place applications, such as collaborative assembly lines, rely on visual tracking of the parts. Recurrent occlusions are caused by the manipulator motion decrease line productivity and can provoke failures. This work provi...
Background/Objectives: Laparoscopic hysterectomy is commonly performed for benign gynecologic conditions, and the choice of uterine manipulation technique may influence surgical outcomes. The Boztosun technique, a modification of the classical Rein t...
This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R...
The article presents the results of a manipulability analysis and optimal remote center of motion (RCM) frame placement based on the manipulability index for a simplified model of a planar laparoscopic surgical robot system with a control-based RCM c...
Background: Postoperative serum ALT levels are one of the most frequently used marker to detect liver tissue damage following liver resection. The aim of this study was to evaluate if minimally invasive liver surgery (MILS) may result in less hepatic...
Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery. However, because of...
Accurate and computationally efficient inverse kinematics is a fundamental requirement for industrial manipulators in intelligent manufacturing, where positioning, assembly, and handling demand reliable pose computation under nonlinear constraints. H...
Background: An autologous minimally manipulated homologous adipose tissue (AMHAT) fabricated using three-dimensional (3D) bioprinting has shown potential in the treatment of diabetic foot ulcers and other chronic wounds. Methods: This study assessed...
Bilio-biliary anastomosis (BBA) is a critical surgical procedure that is performed with the objective of restoring bile duct continuity. This procedure is often required in cases where there has been an injury to the extrahepatic bile ducts or during...
Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately wil...
In planning robotic manipulations, heuristic searches are commonly considered impractical due to the high dimensionality of the problem caused by redundancy in the kinematic chain. In this paper, we present an optimal motion planning algorithm for an...
This study aims to contribute academically valuable insights into energy-efficient drives for the positioning control of flexible structures. It focuses on the point-to-point (PTP) motion control of a flexible manipulator to suppress residual vibrati...
Needle manipulation with the guidance of magnetic resonance imaging (MRI) plays a key role in minimally invasive procedures such as biopsy and ablation. However, the confined bore and strong magnetic field of the MR environment pose great challenges...
Aerial manipulators are used in industrial and service robotics tasks such as assembly, inspection, and maintenance. One of the main challenges in aerial manipulation is related to the motion of the UAV base caused by manipulator disturbance torques...
The application of force in surgical settings is typically accomplished via physical tethers to the surgical tool. While physical tethers are common and critical, some internal surgical procedures may benefit from a tetherless operation of needles, p...
As energy efficiency becomes a significant performance indicator in mobile machines, power losses are recognized as an important criterion in the design and optimization of these systems. This paper analyses the loads and power loss due to friction i...
Accurate evaluation of Bayesian model evidence for a given data set is a fundamental problem in model development. Since evidence evaluations are usually intractable, in practice variational free energy (VFE) minimization provides an attractive alter...
The paper presents a complete geometric analysis of a novel parallel medical robotic system designed for minimally invasive treatment of hepatic tumors using brachytherapy, ablation or targeted chemotherapy. An algebraic method based on the study par...
This paper presents a study on optimal design to determine the installation position and link lengths of a robot within a designated workspace for welding, aiming to minimize singularities during the robot’s motion. Bi-objective functions are f...
The manipulability of a robotic arm may be defined based on ease of motion in different directions or ease of applying force/torque. In this study, we use manipulability measures to investigate how the kinematics of robots can be employed to calculat...
Robots are used more and more in manufacturing, especially in tasks like robotic machining, where understanding their vibration behavior is very important. However, robot vibrations vary with posture, and evaluating all representative postures requir...
A method for determining the optimal position of a robotic task within a manipulator’s workspace considering the minimum singularity free paths in joint space in order to achieve a high kinematic performance is presented. The selected performan...
The determination of the optimal position of a robotic task within a manipulator’s workspace is crucial for the manipulator to achieve high performance regarding selected aspects of its operation. In this paper, a method for determining the opt...
Hyper-redundant manipulators are widely used in minimally invasive surgery because they can navigate through narrow passages in passive compliance with the human body. Although their stability and dexterity have been significantly improved over the y...
The limb-driving force mutation of the modular combination parallel manipulator (MCPM) affects the alignment process of optical axis. In this paper, a novel optimization method based on the force mutation penalty term is proposed to solve the problem...
Robotic manipulators can reduce the cost of production and improve productivity; however, controlling a manipulator to follow a desired trajectory is a thorny problem. In this study, we introduced various forms of interference to facilitate the model...
Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of th...
The industry heavily relies on robotic manipulators at present. Despite their age, recent methodologies have significantly advanced their functionality, integrating them into daily life. Rescue robots are popular. However, their precision and reactio...
The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual rob...
Current hand-held smart devices are supplied with powerful processors, high resolution screens, and sharp cameras that make them suitable for Augmented Reality (AR) applications. Such applications commonly use interaction techniques adapted for touch...
This paper presents a velocity-level approach to optimizing the parasitic motion of 3-degrees of freedom (DoFs) parallel manipulators. To achieve this objective, we first systematically derive an analytical velocity-level parasitic motion equation as...
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