Laser Registration and Supervisory Control of neuroArm Robotic Surgical System

<!DOCTYPE html> <html lang="en" dir="ltr"> <head>  <script async src="https://www.googletagmanager.com/gtag/js?id=G-P63WKM1TM1"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'G-P63WKM1TM1'); </script>  <script type="text/javascript" > (function(m,e,t,r,i,k,a){m[i]=m[i]||function(){(m[i].a=m[i].a||[]).push(arguments)}; m[i].l=1*new Date(); for (var j = 0; j < document.scripts.length; j++) {if (document.scripts[j].src === r) { return; }} k=e.createElement(t),a=e.getElementsByTagName(t)[0],k.async=1,k.src=r,a.parentNode.insertBefore(k,a)}) (window, document, "script", "https://mc.yandex.ru/metrika/tag.js", "ym"); ym(55165297, "init", { clickmap:false, trackLinks:true, accurateTrackBounce:true, webvisor:false }); </script> <noscript><div><img src="https://mc.yandex.ru/watch/55165297" style="position:absolute; left:-9999px;" alt="" /></div></noscript>    <title>Laser Registration and Supervisory Control of neuroArm Robotic Surgical System</title> <meta name="description" content="Laser Registration and Supervisory Control of neuroArm Robotic Surgical System"> <meta name="keywords" content="3D laser scanner, intraoperative MR imaging, neuroArm, real time registration, robot-assisted surgery, supervisory control. "> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <meta name="citation_title" content="Laser Registration and Supervisory Control of neuroArm Robotic Surgical System"> <meta name="citation_author" content="Hamidreza Hoshyarmanesh"> <meta name="citation_author" content="Hosein Madieh"> <meta name="citation_author" content="Sanju Lama"> <meta name="citation_author" content="Yaser Maddahi"> <meta name="citation_author" content="Garnette R. Sutherland"> <meta name="citation_author" content="Kourosh Zareinia"> <meta name="citation_publication_date" content="2017/06/01"> <meta name="citation_journal_title" content="International Journal of Mechanical and Materials Engineering"> <meta name="citation_volume" content="11"> <meta name="citation_issue" content="8"> <meta name="citation_firstpage" content="1407"> <meta name="citation_lastpage" content="1414"> <meta name="citation_pdf_url" content="https://publications.waset.org/10007599/pdf"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler ml-auto" type="button" data-toggle="collapse" data-target="#navbarMenu" aria-controls="navbarMenu" aria-expanded="false" aria-label="Toggle navigation"> <span class="navbar-toggler-icon"></span> </button> <div class="w-100"> <div class="d-none d-lg-flex flex-row-reverse"> <form method="get" action="https://waset.org/search" class="form-inline my-2 my-lg-0"> <input class="form-control mr-sm-2" type="search" placeholder="Search Conferences" value="" name="q" aria-label="Search"> <button class="btn btn-light my-2 my-sm-0" type="submit"><i class="fas fa-search"></i></button> </form> </div> <div class="collapse navbar-collapse mt-1" id="navbarMenu"> <ul class="navbar-nav ml-auto align-items-center" id="mainNavMenu"> <li class="nav-item"> <a class="nav-link" href="https://waset.org/conferences" title="Conferences in 2024/2025/2026">Conferences</a> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/disciplines" title="Disciplines">Disciplines</a> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/committees" rel="nofollow">Committees</a> </li> <li class="nav-item dropdown"> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdownPublications" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> Publications </a> <div class="dropdown-menu" aria-labelledby="navbarDropdownPublications"> <a class="dropdown-item" href="https://publications.waset.org/abstracts">Abstracts</a> <a class="dropdown-item" href="https://publications.waset.org">Periodicals</a> <a class="dropdown-item" href="https://publications.waset.org/archive">Archive</a> </div> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/page/support" title="Support">Support</a> </li> </ul> </div> </div> </nav> </div> </header> <main> <div class="container mt-4"> <div class="row"> <div class="col-md-9 mx-auto"> <form method="get" action="https://publications.waset.org/search"> <div id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value=""> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 33093</div> </div> </div> </div> <div class="card publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">Laser Registration and Supervisory Control of neuroArm Robotic Surgical System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Hamidreza%20Hoshyarmanesh">Hamidreza Hoshyarmanesh</a>, <a href="https://publications.waset.org/search?q=Hosein%20Madieh"> Hosein Madieh</a>, <a href="https://publications.waset.org/search?q=Sanju%20Lama"> Sanju Lama</a>, <a href="https://publications.waset.org/search?q=Yaser%20Maddahi"> Yaser Maddahi</a>, <a href="https://publications.waset.org/search?q=Garnette%20R.%20Sutherland"> Garnette R. Sutherland</a>, <a href="https://publications.waset.org/search?q=Kourosh%20Zareinia"> Kourosh Zareinia</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper illustrates the concept of an algorithm to register specified markers on the neuroArm surgical manipulators, an image-guided MR-compatible tele-operated robot for microsurgery and stereotaxy. Two range-finding algorithms, namely time-of-flight and phase-shift, are evaluated for registration and supervisory control. The time-of-flight approach is implemented in a semi-field experiment to determine the precise position of a tiny retro-reflective moving object. The moving object simulates a surgical tool tip. The tool is a target that would be connected to the neuroArm end-effector during surgery inside the magnet bore of the MR imaging system. In order to apply flight approach, a 905-nm pulsed laser diode and an avalanche photodiode are utilized as the transmitter and receiver, respectively. For the experiment, a high frequency time to digital converter was designed using a field-programmable gate arrays. In the phase-shift approach, a continuous green laser beam with a wavelength of 530 nm was used as the transmitter. Results showed that a positioning error of 0.1 mm occurred when the scanner-target point distance was set in the range of 2.5 to 3 meters. The effectiveness of this non-contact approach exhibited that the method could be employed as an alternative for conventional mechanical registration arm. Furthermore, the approach is not limited by physical contact and extension of joint angles.</p> <iframe src="https://publications.waset.org/10007599.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=3D%20laser%20scanner" title="3D laser scanner">3D laser scanner</a>, <a href="https://publications.waset.org/search?q=intraoperative%20MR%20imaging" title=" intraoperative MR imaging"> intraoperative MR imaging</a>, <a href="https://publications.waset.org/search?q=neuroArm" title=" neuroArm"> neuroArm</a>, <a href="https://publications.waset.org/search?q=real%20time%20registration" title=" real time registration"> real time registration</a>, <a href="https://publications.waset.org/search?q=robot-assisted%20surgery" title=" robot-assisted surgery"> robot-assisted surgery</a>, <a href="https://publications.waset.org/search?q=supervisory%20control." title=" supervisory control. "> supervisory control. </a> </p> <p class="card-text"><strong>Digital Object Identifier (DOI):</strong> <a href="https://doi.org/10.5281/zenodo.1131557" target="_blank">doi.org/10.5281/zenodo.1131557</a> </p> <a href="https://publications.waset.org/10007599/laser-registration-and-supervisory-control-of-neuroarm-robotic-surgical-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10007599/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10007599/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10007599/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10007599/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10007599/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10007599/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10007599/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10007599/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10007599/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10007599/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10007599.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1061</span> </span> <p class="card-text"><strong>References:</strong></p> <br>[1] Y. Maddahi, K. Zareinia, L. S. Gan, S. Lama, G. R. Sutherland, and N. Sepehri, “Positional and force characteristics of neuroArm robotic manipulators: A pilot study,” Int. Conf. of Control, Dynamic Systems, and Robotics, Ottawa, Canada, 2015. <br>[2] G. R. Sutherland, I. Latour, and A. D. Greer, “Integrating an image guided robot with intaroperative MRI: A review of design and construction,” IEEE Eng. Med. Biol., vol. 27, pp. 59–65, 2008. <br>[3] Y. Maddahi, L. S. Gan, K. Zareinia, S. Lama, N. Sepehri, and G. R. Sutherland, “Quantifying workspace and forces of surgical tools during robot-assisted neurosurgery,” Int. J. Med. Robotics Comput. Assist. Surg., vol. 12, no. 3, pp. 528–37, 2016. <br>[4] A. D. Greer, P. Newhook, and G. R. Sutherland, “Human-machine interface for Robotic Surgery and Stereotaxy,” IEEE/ASME Trans. on MRI Compatible Mechatronic Systems, vol. 13, pp. 355–361, 2008. <br>[5] Y. Maddahi, K. Zareinia K, L. S. Gan, S. Lama, G. R. Sutherland, N. Sepehri, “Positional and force characteristics of neuroArm robotic manipulators: a pilot study.,” in Proc. Intern. Conf. of Control, Dynamic Systems and Robotics, Ottawa, 2015. <br>[6] M. C. Amann, T. Bosch, M. Lescure, R. Myllyla, M. Rioux, “Laser ranging: a critical review of usual techniques for distance measurement”, Opt. Eng., vol. 40, no. 1, pp. 10–19, 2001. <br>[7] Y. Bae, “An Improved Measurement Method for the Strength of Radiation of Reflective Beam in an Industrial Optical Sensor Based on Laser Displacement Meter”, Sensors, vol. 16, no. 5, pp. 752, 2016. <br>[8] S. Mohammad Nejad and S. Olyaee, “Comparison of TOF, FMCW and phase-shift laser range finding methods by simulation and measurement,” J. Tech. Educ., vol. 1, no. 1, pp. 11–18, 2006. <br>[9] S. Mohammad Nejad and S. Olyaee, “Low-noise high-accuracy TOF laser range finder,” Am. J. Appl. Sci., vol. 5-7, pp. 755–762, 2008. <br>[10] S. Mohammad Nejad and S. 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Wolfsberger, “Advanced Cranial Navigation,” Neurosurgery, vol. 72, pp. A43-A53, 2013. </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/WASET-16th-foundational-anniversary.pdf">WASET celebrates its 16th foundational anniversary</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Account <li><a href="https://waset.org/profile">My Account</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Explore <li><a href="https://waset.org/disciplines">Disciplines</a></li> <li><a href="https://waset.org/conferences">Conferences</a></li> <li><a href="https://waset.org/conference-programs">Conference Program</a></li> <li><a href="https://waset.org/committees">Committees</a></li> <li><a href="https://publications.waset.org">Publications</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Research <li><a href="https://publications.waset.org/abstracts">Abstracts</a></li> <li><a href="https://publications.waset.org">Periodicals</a></li> <li><a href="https://publications.waset.org/archive">Archive</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Open Science <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Philosophy.pdf">Open Science Philosophy</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Award.pdf">Open Science Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Society-Open-Science-and-Open-Innovation.pdf">Open Innovation</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Postdoctoral-Fellowship-Award.pdf">Postdoctoral Fellowship Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Scholarly-Research-Review.pdf">Scholarly Research Review</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Support <li><a href="https://waset.org/page/support">Support</a></li> <li><a href="https://waset.org/profile/messages/create">Contact Us</a></li> <li><a href="https://waset.org/profile/messages/create">Report Abuse</a></li> </ul> </div> </div> </div> </div> </div> <div class="container text-center"> <hr style="margin-top:0;margin-bottom:.3rem;"> <a href="https://creativecommons.org/licenses/by/4.0/" target="_blank" class="text-muted small">Creative Commons Attribution 4.0 International License</a> <div id="copy" class="mt-2">© 2024 World Academy of Science, Engineering and Technology</div> </div> </footer> <a href="javascript:" id="return-to-top"><i class="fas fa-arrow-up"></i></a> <div class="modal" id="modal-template"> <div class="modal-dialog"> <div class="modal-content"> <div class="row m-0 mt-1"> <div class="col-md-12"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> </div> </div> <div class="modal-body"></div> </div> </div> </div> <script src="https://cdn.waset.org/static/plugins/jquery-3.3.1.min.js"></script> <script src="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/js/bootstrap.bundle.min.js"></script> <script src="https://cdn.waset.org/static/js/site.js?v=150220211556"></script> <script> jQuery(document).ready(function() { /*jQuery.get("https://publications.waset.org/xhr/user-menu", function (response) { jQuery('#mainNavMenu').append(response); });*/ jQuery.get({ url: "https://publications.waset.org/xhr/user-menu", cache: false }).then(function(response){ jQuery('#mainNavMenu').append(response); }); }); </script> </body> </html>

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Laser Registration and Supervisory Control of neuroArm Robotic Surgical System