Hongbing Li - IEEE Xplore Author Profile

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Accurate determination of the needle tip location is critical not only to the success of the lumbar puncture procedure, but also to the reduction of complication rates. The interaction force at the needle tip contains important information for the needle tip location estimation. However, precise identification of puncture forces to key tissue layer is a great challenge to achieve only by tradition...Show More
This work develops a concept of using stationary IoT cameras with motion tracking and notification functions employed for a teleoperated unmanned aerial vehicles (UAV) control. The notification function uses a popular messenger to improve an operator convenience. This approach allows the operator using a mobile phone as a UAV control panel by notifying on a presence of motion within a currently in...Show More
Today, a collaborative robotics is a rapidly developing area due to its applications in a broad variety of sectors. Collaborative robots (cobots) are robots, which are designed specifically to work along with humans in a common workspace. This article discusses modern cobots employed in industrial and service sectors. Research activities associated with cobots used in virtual environments and real...Show More
Internet of Medical Things (IoMT) is a rapidly growing branch of IoT (Internet of Things), which requires special treatment to cyber security due to confidentiality of healthcare data and patient health threat. Healthcare data and automated medical devices might become vulnerable targets of malicious cyber-attacks. While a large number of robotic applications, including medical and healthcare, emp...Show More
This paper describes an implementation of autonomous perpendicular parking and parking spot search algorithms. A procedure of the perpendicular parking is based on geometric constraints of a parking spot and a vehicle. The procedure of perpendicular parking includes driving until a first free parking spot is found, setting a vehicle into an initial pose, performing a rear-drive parking with steeri...Show More
The transparency of a telerobotic system indicates a measure of how the human feels the remote system. Haptic perception plays a very important role in improving such system transparency. It enables the operator to feel the environment properties, evaluate object structures, and allow him/her to commit appropriate force control actions for safe manipulation. However, the typical approach to acquir...Show More
Lumbar puncture surgeries are common clinical operations that are imperative for major diseases. Current blind surgeries troubles surgeons a lot, mainly because of the difficulty in sensing the penetration event. In pediatric cases, such problem is even exacerbated. Surgeons can benefit from robot assistant cooperation during the execution of precise insertion tasks. Based on the compact robot-ass...Show More
Delicate perception to the loss-of-resistance signal is crucial for a successful children lumbar puncture. However, the skill development for residents in such complex and precise procedure is primarily performed directly on pediatric patients. Serious mistakes may lead to major complications, such as nerve damage, cerebrospinal fluid leakage. In this study, a haptic feedback lumbar puncture simul...Show More
Manual medical palpation task performed by a human doctor is characterized by complexity of multiple source data fusion and decision subjectivity, which significantly depends on a doctor experience and sensitivity. Therefore automated robotized approach could provide more reliable and independent results relative to a manual palpation. This paper presents a model and the Gazebo simulation of an au...Show More
Long time of data encoding with software encoding mechanisms might become a significant problem when transferring digital data from cameras of mobile robots. At the same time, processor manufacturers claim that an encoding process is significantly accelerated by using a hardware encoding. This work is dedicated to a hardware and a software video encoding comparison of two state-of-the-art codecs, ...Show More
This paper presents a robotic surgical system model that has a robot arm holding an instrument. Designed for performing a minimally invasive surgical procedure, control system for ROS framework is controlling movement of the arm and its instrument. The control system enhances control using joint observers that estimate joint position, velocity and acceleration of executed joint position commands w...Show More
When wave-variable-based methods is used in passivity-based bilateral teleoperation, the systems are often subject to a position drift. During carrying out interaction tasks in such master-slave teleoperation systems, the size of this position drift may be prominent notable. In this study, we propose a passivity-based method to patch piece up such position drift problems in delayed master-slave ro...Show More
Haptic feedback has been proved the importance in the surgical robot system, however, such function is missing in current commercially available minimally invasive surgical robot system. To address this issue, many surgical forceps have been designed and developed to provide the sense of contact forces to the surgeon during surgical manipulation. However, to data, there are no commercially availab...Show More
Peg-in-hole assembly focuses on the alignment of hole and peg in industry. However, un-centripetal holes on a complex stereo workpiece are still assembled mainly by human. A combination method with robotic alignment and coaxial machine vision is generated to assist the monocular camera to make visual alignment. Multi-DOF robot is employed to adjust the positions and attitudes of each un-centripeta...Show More
A fiducial marker is a system of unique planar markers, that are placed in an environment and should be automatically detected with a camera through marker-specific detection procedures. Their application varies greatly, while the most popular are industrial systems, augmented reality, and robot navigation. All these applications imply that a marker system must be robust to such factors as view an...Show More
Minimally invasive surgery gives surgeons the ability to operator through a few small incisions made in the patient's body. During the surgery, the forceps and laparoscope are inserted into the visceral cavity through the trocar that is fixed on the abdominal wall. Conventional instruments are constrained, however, through having only five degrees of freedom (DOF), as well as having scaled and mir...Show More
In this paper, we present experimental results of a Position-Error-Based bilateral control force reflecting control scheme, which is widely used for electro-mechanical systems. The aim of the present work is to investigate the applicability of this control scheme and compare its performances on a common used teleoperation system for compliance environment. The controller is compared on position, f...Show More
The model based passivity controller has been proved to be an useful method to deal with the time delay problem in teleoperation systems. However, this method is optimal only when attaching the controller to a single degree of freedom master slave teleoperation system. In the present paper, an extension of the controller to a multi degree of freedom master slave system is presented. By composing a...Show More
Wave-variable-based control is an attractive approach for teleoperation systems that are subject to substantial time delays. However, this approach can potentially introduce wave reflections which can significantly disorient the user. In this paper, we aim to improve the operator's perception through an augmented wave-variable controller based on impedance matching that achieves stable signal trac...Show More
Many minimally invasive surgical procedures are now performed using teleoperated robotic systems. However, such commercially available systems do not provide significant force feedback to the surgeon. This reduces surgeon's dexterity and increases tissue trauma when performing the operation. In this paper, a compact and lightweight forceps' manipulator using pneumatic artificial muscles (PAMs) for...Show More
Many minimally invasive surgical procedures are now performed using teleoperated robotic systems. However, such commercially available systems do not provide significant force feedback to the surgeon. In this paper, the design of a robotic master-slave system for laparoscopic surgery is discussed. A compact and light weight forceps's manipulator using pneumatic artificial muscles (PAMs) is used on...Show More