ABSTRACT The last advances and researches have shown that intensive task-oriented therapy is high... more ABSTRACT The last advances and researches have shown that intensive task-oriented therapy is highly effective for improving the arm function of individuals after stroke, brain injury or other neurological and motor diseases and injuries. This paper studies different control and trajectory planning techniques used on human machine interaction, in order to make a robot behave in a more human compliant way. This work presents a novel method that let the system change its apparent dynamic parameters, by gathering and processing several physiological data online at rehabilitation time. This allows the robot to adapt to different patients and situations, maintaining the therapy as intensive as possible without compromising patients health or let the individual get stressed which would result in a decay of the task performance and loss of motivation.
XLIII Jornadas de Automática: libro de actas: 7, 8 y 9 de septiembre de 2022, Logroño (La Rioja)
La cirugía endoscópica endonasal transesfenoidal es una técnica mínimamente invasiva utilizada en... more La cirugía endoscópica endonasal transesfenoidal es una técnica mínimamente invasiva utilizada en la actualidad para tratar tumores hipofisarios. A pesar de sus ventajas, la tecnología actual requiere la participación de dos cirujanos que han de trabajar con un grado de precisión muy alto en una zona de tamaño muy reducido y extremadamente delicada. La automatización de ciertos procedimientos durante la intervención, como podría ser el manejo del endoscopio por parte de un asistente robótico, podría evitar la necesidad de un segundo cirujano. Para lograrlo, es necesario generar una trayectoria de referencia para el brazo robótico que sería el portador del endoscopio. En este artículo se propone un método para la generación de la trayectoria de forma manual con evaluación automática del riesgo de la misma mediante la detección de la ubicación de las estructuras anatómicas críticas segmentadas mediante deep learning.
Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas)... more Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas). In this type of procedure, the surgeon has to complete the surgical maneuvers for sarcoma resection with extreme precision, as there are many vital structures in this area. Therefore, the use of robots for this type of intervention could increase the success of the intervention by providing accurate movements. Research has focused on the development of teleoperated robots to handle a surgical instrument, including the use of virtual fixtures to delimit the working area. This paper aims to go a step further with a platform that includes a teleoperated robot and an autonomous robot dedicated to secondary tasks. In this way, the aim is to reduce the surgeon’s workload so that he can concentrate on his main task. Thus, the article focuses on the description and implementation of a navigator that coordinates both robots via a force/position control. Finally, both the navigation and control ...
Background: The development of rehabilitation robotic systems has experienced significant growth ... more Background: The development of rehabilitation robotic systems has experienced significant growth in recent years. Electromyography (EMG) is commonly used to drive this kind of robots. Although there are some studies that have assessed the effectiveness of EMG biofeedback in neurorehabilitation, none of them has applied this technique in combination with robotic platforms.Objectives: Our goal was to evaluate the influence of EMG biofeedback on the user performance, when individuals were asked to perform different hand gestures (open, rest and close) using an EMG-driven robotic hand exoskeleton rehabilitation platform. Methods: A total of 18 healthy subjects were enrolled in the study. The subjects were asked to perform 1-minute randomly generated sequences of hand gestures in four different conditions resulting from the combination of using or not (1) EMG-based visual biofeedback (2) kinesthetic feedback from the exoskeleton movement Results: The subject performance was statistical s...
Converging Clinical and Engineering Research on Neurorehabilitation III, 2018
A control strategy based on the application of the information on intention of movement, obtained... more A control strategy based on the application of the information on intention of movement, obtained through sEMG, to a Direct Force Control algorithm, for the bio-cooperative control of an exoskeleton for hand rehabilitation, is presented. The aim is to implement the assist-as-need paradigm and to provide the appropriate assistance to the patient while performing therapies to restore the capacity of opening and closing the hand. The results obtained from normalization and feature extraction of sEMG signals are satisfactory and will allow us to advance on the implementation of the designed controller.
Actas de las XXXVII Jornadas de Automática 7, 8 y 9 de septiembre de 2016, Madrid, 2022
La aplicación de la robótica en la medicina se ha incrementado de manera significativa en los últ... more La aplicación de la robótica en la medicina se ha incrementado de manera significativa en los últimos años. Sin embargo todavía existen procedimientos de diagnóstico, como la endoscopia, en los que existen limitaciones importantes. Esta técnica tiene todavía un gran margen de mejora siendo de gran interés el avance de sus capacidades de acceso y maniobrabilidad, la óptica, la calidad de imagen y el desarrollo de nuevos materiales y métodos. En el presente trabajo se analizará el comportamiento físico, en especial el aspecto dinámico que afecta a un robot de este tipo con el objetivo de comprobar las características de los distintos componentes que lo forman y tener la opción de variarlos buscando la optimización de cada uno de ellos.
Converging Clinical and Engineering Research on Neurorehabilitation II, 2016
In this paper we present the results of the first clinical trials conducted to evaluate the usefu... more In this paper we present the results of the first clinical trials conducted to evaluate the usefulness of the joint use of E2Rebot and Gradior to improve cognitive abilities in subjects with ABI, dementia and schizophrenia. E2Rebot is a cost-effective robotic platform for active assistance in the rehabilitation of patients suffering upper limb impairment as a consequence of ABI (Acquired Brain Injury). Gradior is a training and neuro-psychological rehabilitation software used in more than 450 centers at national and international level within the social and health sector. The results obtained in the quantitative study showed a general improvement in the average scores on cognitive tests although the differences are not statistically significant. This result encourages us to undertake a broader study with a greater number of subjects and longer in time.
Endonasal Endoscopic Approach (EEA) is a minimally invasive technique for interventions in the sk... more Endonasal Endoscopic Approach (EEA) is a minimally invasive technique for interventions in the skull base in which specific surgical tools and an endoscope are introduced directly through the nose and sinuses. This approach avoids scars in the patients face and reduces the recovering time compared with other techniques. However, it requires expertise and high accuracy movements, since in the operating area there are critical anatomical structures as well as displacements of the brain matter due to the change of the internal pressure during the craniotomy (brain-shift). The CRANEEAL proposal addresses the problem of developing a co-worker robotic system for minimally invasive neurosurgery, under a learning cognitive scheme. The system will provide assistance to the neurosurgeon with automatic, collaborative or shared-control behaviors, as well as providing an augmented reality environment. In this contribution we present the project fundamentals, with special detail in the functional...
Se presenta una aplicacion de procesamiento de imagen para un entorno robotizado destinado a asis... more Se presenta una aplicacion de procesamiento de imagen para un entorno robotizado destinado a asistir a un medico en operaciones de cirugia laparoscopica. Durante la operacion el robot, a traves del sistema de vision, debera detectar cuando aparece una situacion de sangrado dentro de la cavidad abdominal con objeto de ayudar al cirujano a atajar esta situacion. El sistema de procesamiento de imagenes se ha ampliado tambien a la deteccion de vendas para garantizar que se retiran todas al finalizar la operacion. Con objeto de permitir un procesamiento en tiempo real de las imagenes de video, el sistema desarrollado realiza un procesamiento en paralelo dividiendo las diferentes tareas entre todos los nucleos existentes en el procesador empleando la biblioteca Intel TBB.
ROBOT 2017: Third Iberian Robotics Conference, 2017
Hand-assisted laparoscopic surgery is a Minimally Invasive Surgery technique that is based on the... more Hand-assisted laparoscopic surgery is a Minimally Invasive Surgery technique that is based on the insertion of one surgeon’s hand inside the abdominal cavity. In this scenario, a robotic assistant can properly collaborate with the surgeon, working side by side with him/her. This paper presents a robotic system for this kind of technique, based on a cognitive architecture that makes possible an efficient collaboration with the surgeon, thanks to a better understanding of the environment and the learning mechanisms included. This architecture includes a hand gesture recognition module and two different autonomous movement of the robotic arms, one for the camera motion and the other for the tool movement. All of these modules take advantage of the cognitive learning mechanisms of the architecture, fitting their behavior to the current user and procedure.
The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and... more The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human safety, intensive task-oriented therapy, and assistive forces. Its implementation is a complex process that involves new developments in the mechanical, electronics, and control fields. This article presents the end-effector rehabilitation robot, a 2-degree-of-freedom planar robotic platform for upper limb rehabilitation in patients with neuromotor disability after a stroke. We describe the ergonomic mechanical design, the system control architecture, and the rehabilitation therapies that can be performed. The impedance-based haptic controller implemented in end-effector rehabilitation robot uses the information provided by a JR3 force sensor to achieve an efficient and friendly patient–robo...
15th Annual Conference of IEEE Industrial Electronics Society
ABSTRACT The authors describe the concept, development, and operation of an arc-welding industria... more ABSTRACT The authors describe the concept, development, and operation of an arc-welding industrial robot to which have been joined a vision system and a computer for controlling and synchronizing the integration. The vision system makes it possible to determine the exact point where the robot must perform the arc-weldings. A communications protocol makes it possible to communicate between the robot and the computer and to synchronize the operation of the vision system (robot-computer). It is concluded that the arc-welding robot integrated with a vision system allows improved control of the weld process and the total elimination of welding errors caused by deformations on the weld-piece geometry
ABSTRACT The last advances and researches have shown that intensive task-oriented therapy is high... more ABSTRACT The last advances and researches have shown that intensive task-oriented therapy is highly effective for improving the arm function of individuals after stroke, brain injury or other neurological and motor diseases and injuries. This paper studies different control and trajectory planning techniques used on human machine interaction, in order to make a robot behave in a more human compliant way. This work presents a novel method that let the system change its apparent dynamic parameters, by gathering and processing several physiological data online at rehabilitation time. This allows the robot to adapt to different patients and situations, maintaining the therapy as intensive as possible without compromising patients health or let the individual get stressed which would result in a decay of the task performance and loss of motivation.
XLIII Jornadas de Automática: libro de actas: 7, 8 y 9 de septiembre de 2022, Logroño (La Rioja)
La cirugía endoscópica endonasal transesfenoidal es una técnica mínimamente invasiva utilizada en... more La cirugía endoscópica endonasal transesfenoidal es una técnica mínimamente invasiva utilizada en la actualidad para tratar tumores hipofisarios. A pesar de sus ventajas, la tecnología actual requiere la participación de dos cirujanos que han de trabajar con un grado de precisión muy alto en una zona de tamaño muy reducido y extremadamente delicada. La automatización de ciertos procedimientos durante la intervención, como podría ser el manejo del endoscopio por parte de un asistente robótico, podría evitar la necesidad de un segundo cirujano. Para lograrlo, es necesario generar una trayectoria de referencia para el brazo robótico que sería el portador del endoscopio. En este artículo se propone un método para la generación de la trayectoria de forma manual con evaluación automática del riesgo de la misma mediante la detección de la ubicación de las estructuras anatómicas críticas segmentadas mediante deep learning.
Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas)... more Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas). In this type of procedure, the surgeon has to complete the surgical maneuvers for sarcoma resection with extreme precision, as there are many vital structures in this area. Therefore, the use of robots for this type of intervention could increase the success of the intervention by providing accurate movements. Research has focused on the development of teleoperated robots to handle a surgical instrument, including the use of virtual fixtures to delimit the working area. This paper aims to go a step further with a platform that includes a teleoperated robot and an autonomous robot dedicated to secondary tasks. In this way, the aim is to reduce the surgeon’s workload so that he can concentrate on his main task. Thus, the article focuses on the description and implementation of a navigator that coordinates both robots via a force/position control. Finally, both the navigation and control ...
Background: The development of rehabilitation robotic systems has experienced significant growth ... more Background: The development of rehabilitation robotic systems has experienced significant growth in recent years. Electromyography (EMG) is commonly used to drive this kind of robots. Although there are some studies that have assessed the effectiveness of EMG biofeedback in neurorehabilitation, none of them has applied this technique in combination with robotic platforms.Objectives: Our goal was to evaluate the influence of EMG biofeedback on the user performance, when individuals were asked to perform different hand gestures (open, rest and close) using an EMG-driven robotic hand exoskeleton rehabilitation platform. Methods: A total of 18 healthy subjects were enrolled in the study. The subjects were asked to perform 1-minute randomly generated sequences of hand gestures in four different conditions resulting from the combination of using or not (1) EMG-based visual biofeedback (2) kinesthetic feedback from the exoskeleton movement Results: The subject performance was statistical s...
Converging Clinical and Engineering Research on Neurorehabilitation III, 2018
A control strategy based on the application of the information on intention of movement, obtained... more A control strategy based on the application of the information on intention of movement, obtained through sEMG, to a Direct Force Control algorithm, for the bio-cooperative control of an exoskeleton for hand rehabilitation, is presented. The aim is to implement the assist-as-need paradigm and to provide the appropriate assistance to the patient while performing therapies to restore the capacity of opening and closing the hand. The results obtained from normalization and feature extraction of sEMG signals are satisfactory and will allow us to advance on the implementation of the designed controller.
Actas de las XXXVII Jornadas de Automática 7, 8 y 9 de septiembre de 2016, Madrid, 2022
La aplicación de la robótica en la medicina se ha incrementado de manera significativa en los últ... more La aplicación de la robótica en la medicina se ha incrementado de manera significativa en los últimos años. Sin embargo todavía existen procedimientos de diagnóstico, como la endoscopia, en los que existen limitaciones importantes. Esta técnica tiene todavía un gran margen de mejora siendo de gran interés el avance de sus capacidades de acceso y maniobrabilidad, la óptica, la calidad de imagen y el desarrollo de nuevos materiales y métodos. En el presente trabajo se analizará el comportamiento físico, en especial el aspecto dinámico que afecta a un robot de este tipo con el objetivo de comprobar las características de los distintos componentes que lo forman y tener la opción de variarlos buscando la optimización de cada uno de ellos.
Converging Clinical and Engineering Research on Neurorehabilitation II, 2016
In this paper we present the results of the first clinical trials conducted to evaluate the usefu... more In this paper we present the results of the first clinical trials conducted to evaluate the usefulness of the joint use of E2Rebot and Gradior to improve cognitive abilities in subjects with ABI, dementia and schizophrenia. E2Rebot is a cost-effective robotic platform for active assistance in the rehabilitation of patients suffering upper limb impairment as a consequence of ABI (Acquired Brain Injury). Gradior is a training and neuro-psychological rehabilitation software used in more than 450 centers at national and international level within the social and health sector. The results obtained in the quantitative study showed a general improvement in the average scores on cognitive tests although the differences are not statistically significant. This result encourages us to undertake a broader study with a greater number of subjects and longer in time.
Endonasal Endoscopic Approach (EEA) is a minimally invasive technique for interventions in the sk... more Endonasal Endoscopic Approach (EEA) is a minimally invasive technique for interventions in the skull base in which specific surgical tools and an endoscope are introduced directly through the nose and sinuses. This approach avoids scars in the patients face and reduces the recovering time compared with other techniques. However, it requires expertise and high accuracy movements, since in the operating area there are critical anatomical structures as well as displacements of the brain matter due to the change of the internal pressure during the craniotomy (brain-shift). The CRANEEAL proposal addresses the problem of developing a co-worker robotic system for minimally invasive neurosurgery, under a learning cognitive scheme. The system will provide assistance to the neurosurgeon with automatic, collaborative or shared-control behaviors, as well as providing an augmented reality environment. In this contribution we present the project fundamentals, with special detail in the functional...
Se presenta una aplicacion de procesamiento de imagen para un entorno robotizado destinado a asis... more Se presenta una aplicacion de procesamiento de imagen para un entorno robotizado destinado a asistir a un medico en operaciones de cirugia laparoscopica. Durante la operacion el robot, a traves del sistema de vision, debera detectar cuando aparece una situacion de sangrado dentro de la cavidad abdominal con objeto de ayudar al cirujano a atajar esta situacion. El sistema de procesamiento de imagenes se ha ampliado tambien a la deteccion de vendas para garantizar que se retiran todas al finalizar la operacion. Con objeto de permitir un procesamiento en tiempo real de las imagenes de video, el sistema desarrollado realiza un procesamiento en paralelo dividiendo las diferentes tareas entre todos los nucleos existentes en el procesador empleando la biblioteca Intel TBB.
ROBOT 2017: Third Iberian Robotics Conference, 2017
Hand-assisted laparoscopic surgery is a Minimally Invasive Surgery technique that is based on the... more Hand-assisted laparoscopic surgery is a Minimally Invasive Surgery technique that is based on the insertion of one surgeon’s hand inside the abdominal cavity. In this scenario, a robotic assistant can properly collaborate with the surgeon, working side by side with him/her. This paper presents a robotic system for this kind of technique, based on a cognitive architecture that makes possible an efficient collaboration with the surgeon, thanks to a better understanding of the environment and the learning mechanisms included. This architecture includes a hand gesture recognition module and two different autonomous movement of the robotic arms, one for the camera motion and the other for the tool movement. All of these modules take advantage of the cognitive learning mechanisms of the architecture, fitting their behavior to the current user and procedure.
The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and... more The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human safety, intensive task-oriented therapy, and assistive forces. Its implementation is a complex process that involves new developments in the mechanical, electronics, and control fields. This article presents the end-effector rehabilitation robot, a 2-degree-of-freedom planar robotic platform for upper limb rehabilitation in patients with neuromotor disability after a stroke. We describe the ergonomic mechanical design, the system control architecture, and the rehabilitation therapies that can be performed. The impedance-based haptic controller implemented in end-effector rehabilitation robot uses the information provided by a JR3 force sensor to achieve an efficient and friendly patient–robo...
15th Annual Conference of IEEE Industrial Electronics Society
ABSTRACT The authors describe the concept, development, and operation of an arc-welding industria... more ABSTRACT The authors describe the concept, development, and operation of an arc-welding industrial robot to which have been joined a vision system and a computer for controlling and synchronizing the integration. The vision system makes it possible to determine the exact point where the robot must perform the arc-weldings. A communications protocol makes it possible to communicate between the robot and the computer and to synchronize the operation of the vision system (robot-computer). It is concluded that the arc-welding robot integrated with a vision system allows improved control of the weld process and the total elimination of welding errors caused by deformations on the weld-piece geometry
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Papers by Juan-Carlos Fraile