Human-assisted virtual reality for a magnetic-haptic micromanipulation platform

Mehrtash, Moein; Khamesee, Mir Behrad; Tarao, Susumu; Tsuda, Naoaki; Chang, Jui‐Yoa

doi:10.1007/s00542-012-1560-7

Cited by 6 publications

(3 citation statements)

References 9 publications

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“…In the field of control of magnets more generally, telemanipulation of magnets using external electromagnets has been achieved with a linear quadratic gaussian controller, haptic feedback with virtual fixtures, and force sensing using hall effect sensors on a capsule [111,112,113].…”

Section: Capsule Locomotionmentioning

confidence: 99%

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Simaan

Yasin

Wang

2018

Annu. Rev. Control Robot. Auton. Syst.

154

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Emerging paradigms furthering the reach of medical technology deeper into human anatomy present unique modeling, control and sensing problems. This paper discusses a brief history of medical robotics leading to the current trend of minimally invasive intervention and diagnostics in confined spaces. Robotics for natural orifice and single port access surgery, capsule and magnetically actuated robotics and microrobotics are discussed with the aim of elucidating the state of the art. Works on modeling, sensing and control of mechanical architectures of robots for natural orifice and single port access surgery are discussed, followed by a presentation of works on magnetic actuation, sensing and localization for capsule robotics and microrobotics. Finally challenges and open problems in each one of these areas are presented.

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Section: Capsule Locomotionmentioning

confidence: 99%

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Simaan

Yasin

Wang

2018

Annu. Rev. Control Robot. Auton. Syst.

154

View full text Add to dashboard Cite

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“…In this context, authors in [60] outline the convenience of VR systems combined with web-based technologies, in which VR technologies enable engineers to study assembly sequences automatically generated for micro-assembly processes as an answer to a globally changing customer requirements of micro-devices. For a complete immersion of operators in the virtual environment, Chiou and Kwon [61] include a grip force collection for remote force feedback control, acting as a haptic system as developed in [62].…”

Section: Introducing the Human Factor In Micro-/nanomanufacturingmentioning

confidence: 99%

Cyber-Physical Systems for Micro-/Nano-assembly Operations: a Survey

Alberola

Fassi

2021

Curr Robot Rep

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Purpose of Review Latest requirements of the global market force manufacturing systems to a change for a new production paradigm (Industry 4.0). Cyber-Physical Systems (CPS) appear as a solution to be deployed in different manufacturing fields, especially those with high added value and technological complexity, high product variants, and short time to market. In this sense, this paper aims at reviewing the introduction level of CPS technologies in micro/nano-manufacturing and how these technologies could cope with these challenging manufacturing requirements. Recent Findings The introduction of CPS is still in its infancy on many industrial applications, but it actually demonstrates its potential to support future manufacturing paradigm. However, only few research works in micro/nano-manufacturing considered CPS frameworks, since the concept barely appeared a decade ago. Summary Some contributions have revealed the potential of CPS technologies to improve manufacturing performance which may be scaled to the micro/nano-manufacturing. IoT-based frameworks with VR/AR technologies allow distributed and collaborative systems, or agent-based architectures with advance algorithm implementations that improve the flexibility and performance of micro-/nano-assembly operations. Future research of CPS in micro-/nano-assembly operations should be followed by more studies of its technical deployment showing its implications under other perspectives, i.e. sustainable, economic, and social point of views, to take full advance of all its features.

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“…Ni et al (2014) recently extended this approach to multitrap OT. Mehrtash et al (2012) developed a haptic-enabled virtual reality interface for a magnetic-haptic micromanipulation platform. It is composed of a magnetic untethered microrobotic station and a Phantom Omni haptic interface.…”

Section: Atomic Force Microscopymentioning

confidence: 99%

Haptic Feedback for Microrobotics Applications: A Review

et al. 2016

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Microrobotics systems are showing promising results in several applications and scenarios, such as targeted drug delivery and screening, biopsy, environmental control, surgery, and assembly. While most of the systems presented in the literature consider autonomous techniques, there is a growing interest in human-in-the-loop approaches. For reasons of responsibility, safety, and public acceptance, it is in fact beneficial to provide a human with intuitive and effective means for directly controlling these microrobotic systems. In this respect, haptic feedback is widely believed to be a valuable tool in human-in-the-loop teleoperation systems. This article presents a review of the literature on haptic feedback systems for microrobotics, categorizing it according to the type of haptic technology employed. In particular, we considered both tethered and untethered systems, including applications of micropositioning, microassembly, minimally invasive surgery, delivery of objects, micromanipulation, and injection of cells. One of the main challenges for an effective implementation is stability control. In fact, the high scaling factors introduced to match variables in the macro and the micro worlds may introduce instabilities. Another challenge lies in the measurement of position and force signals in the remote environment. The integration of microsized sensors may significantly increase the complexity and cost of tools fabrication. To overcome the lack of force-sensing, vision seems a promising solution. Finally, although the literature on haptic feedback for untethered microrobotics is still quite small, we foreseen a great development of this field of research, thanks to its flexible applications in biomedical engineering scenarios.

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Human-assisted virtual reality for a magnetic-haptic micromanipulation platform

Cited by 6 publications

References 9 publications

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Cyber-Physical Systems for Micro-/Nano-assembly Operations: a Survey

Haptic Feedback for Microrobotics Applications: A Review

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