Development of assistive robotic arm system with Robot Technology Middleware (RTM)

The robot technology (RT) application is expected to spread out over a huge field, such as service robot application, medical / welfare application, etc. Depending on the application, various kinds of robot systems should be developed and customized for their own tasks. However, the cost of developing and customizing each robot system is high enough to prevent the market growth of such robot systems. To overcome this problem, we propose a concept of a hierarchical approach to robot system development. First, RT components are integrated as RT units, which respectively have basic functions for robot systems, so that their users can utilize them without special knowledge about its components. The robot system can then be constructed as a combination of RT units with necessary functions. We have developed some RT units and proved the effectiveness of this approach constructing an experimental system SmartPal from these units.

The intelligent home service robotic system has been developed in order to assist the aged or the disabled people in the population-aging society. The developed robotic system was demonstrated from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. The purpose of our research is developing robotic system to provide daily services such as bringing some objects to the elderly or disabled wheelchair users. Network distributed monitoring system was also developed in order to monitor the state of robotic system working and the state of the aged or disabled. The developed system uses Robot Technology Middleware (RTM), which was developed by AIST (Agency of Industrial Science and Technology, Japan) to promote application of Robot Technology (RT) in various fields. RTM is based on CORBA, so has high scaling and inter-operating ability and facilitates network distributed software and sharing. Using Middleware, we can develop robotic functional elements as RT software component, which makes application and system integration easier. This paper introduces the architecture of the developed demonstration robotic system and the results of a demonstration conducted at the exhibition.

In this paper, a network distributed monitoring system for human assistance robot system was developed to improve the interaction among the users and local service robotic system and enable a remote user to get a better understanding of what is going on in the local environment. Home integration robot system and network monitoring system using QuickCam Orbit cameras were developed and demonstrated from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. Improvements of network distributed monitoring system using IEEE1394 cameras with high performance and high resolution have been done in order to extend the application of system. Robot Technology Middleware (RTM) was used in the developed system. By using RTM, we can develop cameras functional elements as “RT software components” that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. It is also easy to create comprehensive robot system application by re-using existing modules thus facilitating network-distributed software sharing and improving the cost of writing and maintaining software.

Robot systems are comprised of several elements working together as a whole. The specific task of the robot system determines which elements are required. These reusable, fungible elements can be implemented as components which connect each other via communication channels and well-defined interfaces. The behavior of the components and the manner of interaction among them can be standardized by the Robotic Technology Component (RTC) specification. One promising implementation of the RTC specification called OpenRTM-aist is a software platform assisting to the component-oriented robot system development. In OpenRTM-aist both the specification and the implementation is based on the Common Object Request Broker Architecture (CORBA) and its remote method invocation. The first version of CORBA was released in 1991. In spite of the updates CORBA is getting more and more out of date. Several solutions exist which can replace or extend CORBA. Our ultimate goal is replacing the CORBA and setting up a modern distributed robot system development framework which is based on the original OpenRTM-aist specification. To be the first step of this task in this paper we suggest some practical extensions of the existing OpenRTM-aist robot middleware. These modifications are the adaptation of the Internet Communication Engine (ICE) for inter-component communication and as a new scheme, the introduction of the web application concept. After these structural modifications the resulting system became more powerful, and thanks to the web application concept much more user friendly.

Robotic systems have significantly transformed the landscape of minimally invasive surgery, offering enhanced precision, reduced recovery times, and improved patient outcomes. These systems have evolved from simple mechanical tools to sophisticated platforms integrating advanced control algorithms and real-time feedback mechanisms. This paper provides a comprehensive overview of the role of robotic systems in minimally invasive surgery, exploring the various benefits, inherent risks, and the challenges associated with their adoption and development. We examine the technical aspects of robotic control systems, such as kinematics, force control, and haptic feedback, which enable greater surgical accuracy. Despite these advantages, challenges such as system complexity, high costs, and ethical concerns remain significant barriers to widespread adoption. The future of robotic surgery lies in overcoming these obstacles, with advancements in system miniaturization and further refinement of control systems poised to enhance the efficacy and accessibility of robotic platforms. This paper explores the role of robotic systems in minimally invasive surgery, focusing on three key areas: bronchoscopy and ureteroscopy. By reviewing the benefits, risks, case studies, and future directions of these technologies, the paper seeks to provide an in-depth understanding of how robotic systems are shaping the future of surgery. Key words: Robotic Surgery, Minimally Invasive Surgery, Robotic Control Systems, Surgical Precision, PID Control, Kinematics, Inverse Kinematics, Forward Kinematics, Dynamic Control, Force Control, Impedance Control, Surgical Robotics, Haptic Feedback, Robotic Arm, Robotic Surgery Benefits, Robotic Surgery Risks, Robot-Assisted Surgery, Surgeon Console, Real-Time Feedback, Surgical Training, Robotic System Development, System Testing, Clinical Trials, Surgical Robot Performance, Robotics in Urology, Telepresence Surgery, Robotic Surgery Cost, Robotic Surgery Future Directions.

A single-center randomized controlled study. The objective of this study was to introduce a novel robotic system with an independent arm ("Orthbot Intelligent Orthopedic Minimally Invasive System"; Xin Junte Surgical Technologies) that has been developed and tested as a surgical assistant for autoplacement of the Kirschner wire (K-wire) in lumbar fusion, and to evaluate its accuracy by comparing it with the conventional free-hand instrumentation. Robotic technology has performed excellently in spine surgeries and has demonstrated high clinical value and potential. Robot-assisted spinal surgery is now being promoted as a paradigm for technology-led advancement. A total of 24 patients were recruited and assigned randomly to the robotic arm group (RG) or the free-hand group (FG). Deviation distance and deviation angle (DA) of K-wire placement were measured and compared between the RG and the FG. The average deviation distance was 0.88±0.08 mm in the RG and 5.13±1.68 mm in the FG (P<0.001). In both coronal and sagittal radiographs, the average DA of K-wire placement was smaller in the RG (P<0.05), and in both axial and sagittal computed tomography scans, the average DA of pedicle screw placement was also lower in the RG (P<0.05), which indicated higher accuracy of the robotic system. The novel robotic system in this study has shown certain advantages over the conventional free-hand approach in K-wire placement for lumbar fusion, including being more accurate in K-wire placement, fully automatic, and more adaptive to preoperative plans. Although the robotic arm proves to be promising in our results, the small sample size in this clinical study necessitates further multicenter, large sample follow-up studies to verify its advantages.

Robotic laparoscope positioners are now expected as assisting devices for solo surgery among endoscopic surgeons. In such robotic systems, the human-machine (surgeon-robot) interface is of paramount importance because it is the means by which the surgeon communicates with and controls the robotic camera assistant. We have designed a novel human-machine interface, called MOUSe, for controlling the position of a laparoscope. The proposed human interface is an image-based system which tracks the surgeon's facial motions robustly in real time and does not require the use of any body-contact devices, such as head-mounted sensing devices. The surgeon can easily and precisely control the motion of the laparoscope by simply making the appropriate face gesture, without hand or foot switches or voice input. Based on the FAce MOUSe interface, we have developed a new robotic laparoscope positioning system for solo surgery. Our system allows nonintrusive, nonverbal, hands off and feet off laparoscope operations, which seem more convenient for the surgeon. To evaluate the performance of the proposed system and its applicability in clinical use, we set up an in vivo experiment, in which the surgeon used the system to perform a laparoscopic cholecystectomy on a pig.

The robot middleware is a key concept in developing complex robot systems even in geographically distributed environment. Giving a handy API, reusable standardized components and communication channels together with some automatism, the robot middleware helps the user to build easily reconfigurable systems. The behavior of the components and the manner of interaction among them are standardized by the Robotic Technology Component (RTC) specification. One implementation of the RTC specification is the OpenRTM-aist. It is a well written and convenient modular system built upon the Common Object Request Broker Architecture (CORBA). The first version of CORBA is released in 1991. Nowadays the CORBA is getting more and more out of date. Our ultimate goal is developing a new robot middleware in which we apply a modern distributed framework instead of CORBA. As a first step of the substitution we suggest some practical extensions of the OpenRTM-aist by the adaptation of the Internet Communication Engine (ICE) for component communication and the introduction of the web application concept for system editing and control. Having these structural modifications the resulting system became more powerful than the original system has been. The chapter introduces some structural and implementation details of the OpenRTM-aist together with the results of the experiments done for the performance comparison of the original and extended system.

In the present study, the role of robot-assistance in dentistry and the main ways of its further development are analyzed. The basic structures of mechatronic devices and the features of their application in dentistry were reviewed. A retro-prospective analysis of the structures of robotic and robot-assisted systems used in dental practice was carried out. The development of robot-assisted and robotic systems should include the improvement of methods of intraoperative imaging, diagnostic tools, the improvement of surgical instruments, as well as the emergence of new robotic developments.

This video provides a step-by-step guide for performing the hybrid endoscopic thoracic discectomy using navigation and robotic arm for addressing high migrated calcified disc herniation. With the development of techniques, endoscopic spine surgery has emerged as a reliable treatment for thoracic myelopathy. This approach offers high-resolution, off-axis visualization of the surgical field. The field is poised to advance further as endoscopic instruments are refined, becoming less invasive and more precise through the integration of navigation and robot-assisted systems. A 62-year-old woman presented to us with chief complaints of both legs weakness. She had difficulty standing and walking after squatted due to weakness in her legs and her Oswestry Disability Index score was 66. On examination her both side knee extension and ankle dorsiflexion were grade 4 without dysesthesia. The imaging examination confirmed the diagnosis of thoracic myelopathy caused by a highly migrated calcified disc herniation at T5-6 level. The patient underwent an endoscopic thoracic discectomy using robotic arm and navigation for addressing highly migrated calcified disc herniation, resulting in an excellent outcome. The continuous development of navigation and robotic systems in endoscopic thoracic surgery enhanced accuracy in surgical incisions and instrument placement, as well as improved efficiency in locating pathology and achieving precise decompression. Endoscopic thoracic discectomy combines full-endoscopy and unilateral biportal endoscopic (UBE) techniques to leverage the benefits of both approaches, including the cross-viewing of full-endoscopy cannula and the use of larger Kerrison rongeurs under UBE.

Majority of the advancements, which have been made in the field of robotics are employed in household applications. Surveillance systems are used in guarding and security applications of household and workplaces. This paper presents an advanced surveillance system which integrates sensor system, robot technology and intelligent programming. Robotic surveillance system can be used to replace human guards in dangerous surveillance conditions. Several robots have been developed to assist in these operations. But the full scale employment of robots in crucial fields such as surveillance, security in defence industries and military bases is very limited. The system's overall structure is described, along with descriptions of each component. The robotic system consists of robot eyes, which are capable of sensing an object through IR sensor capability. This robotic system helps in the identification of human presence and alerting respective owners. These operations, performed by the robotic system are achieved using sensors, several number of servo motors, Arduino microcontroller. These components are placed in their respective locations, within a body which is fabricated using the 3D printing technology. The sensors in the robotic system capture the movements of objects. The robotic eyes are fitted with cameras which capture the movements. The robotic system is programmed in such a way that the robotic eyes, move in the direction of object which has been sensed by the sensors and focus on it. If there are multiple moving objects, then one robotic eye focuses on one object, while the other robotic eye focuses on another object. The captured surveillance footage can be viewed through a monitor connected to the robotic system.

Considering the real employment situation of the disabled, it was concluded that there is demand for a robot system that can be used in a real manufacturing environment. To derive our mission statement, we conducted a survey with three criteria: `A. to assist the disabled as much as possible'; `B. to consider the real situation of employment for the disabled'; and `C. to provide assistance for the most necessary tasks for the disabled in the work space'. Based on the survey results, our goal can be stated as follows: To develop work assistive mobile robots to help persons with limb disabilities obtain jobs in manufacturing environments where they can perform simple manual labor. Here, simple labor includes such tasks as circuit inspection and moving boxes. For our goal, we developed two types of work assistive mobile robots, which are small enough to work in the confined environments of real factories. Work assistive mobile robot type I is equipped with a forklift to move boxes and a robotic arm to help with jobs requiring more dexterity. Robot type II is compact in size, adopting an omni-wheel driving mechanism, and is equipped with a lift having a foldable fork. We gathered feedback from empirical work done on the two robots.

The use of robotics technology in healthcare has quickly changed clinical practices for the better in terms of accuracy, consistency, and outcomes for many disciplines. In orthopaedic surgery, robotic-assisted systems help facilitate a better approach by allowing surgeons to perform less invasive procedures with higher precision. In even more advanced systems like the MAKO, NAVIO, and ROSA, real-time imaging coupled with AI haptic-feedback systems, and other AI algorithms help orthopaedic surgeons improve accuracy in implant positioning, error reduction, and patient recovery time. Robotic systems technology goes beyond orthopaedics and advances robotic systems in telemedicine and diagnostic automation. Collaborative robotic systems specifically designed for cooperation with humans, autonomous navigation, and predictive AI systems for real-time surgery observation are current gaps in robotic assisted telemedicine. The introduction of AI predictive systems, AR, super connectivity, and advanced clinical robotics will reinvent most procedures in precision and personal medicine. This paper looks at current robotic technology in use in orthopaedic surgery, the technology being developed, and the transition to fully autonomous and intelligent surgical robots.

Minimally invasive surgery (MIS) has become an important technique in practical surgical procedures. Compared with manually operated MIS procedures, surgical robot systems provide more accuracy, enhance dexterity, and make more difficult surgical procedures feasible. In this paper, a prototype teleoperated robotic surgical system which is modular, compact and easy to use is tested with human operators. Two evaluation tasks were performed by participants using manual MIS instruments and this teleoperated robotic surgical system. The task data were analyzed and compared between the manual and robot instrument operation. The results show that compared with typical manual instrument operation, the teleoperated robotic system in this paper has advantages in ease of use, decreased task time, and better accuracy with smooth motions and less tremor.

In this paper, an interactive robotic anthropomorphic hand system is presented, which was developed as an important tool for the educational outreach activities. The robotic anthropomorphic hand incorporates 15 degrees of freedom, providing sufficient mobility in the demonstration of various postures. To increase the attractiveness of the robotic hand, pneumatic muscle actuators are used to drive the robotic hand motion through artificial tendons. The interaction of the robotic hand with a human is enabled with a control device, which allows the human operator to control the hand motion in a natural way. The robotic hand system has been successfully demonstrated in a recent engineering education outreach event, in which over 100 children at all ages operated the robotic hand through the control device.