Examinando por Autor "De Mauro, A."
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Ítem Robotic research platform for image-guided surgery assistance(2013-01-01) Cortes, C.A.; Barandiaran, I.; Ruiz, O.E.; De Mauro, A.; Universidad EAFIT. Departamento de Ingeniería Mecánica; Laboratorio CAD/CAM/CAEIn the context of surgery, it is very common to face challenging scenarios during the preoperative plan implementation. The surgical technique's complexity, the human anatomical variability and the occurrence of unexpected situations generate issues for the intervention's goals achievement. To support the surgeon, robotic systems are being integrated to the operating room. However, current commercial solutions are specialized for a particular technique or medical application, being difficult to integrate with other systems. Thus, versatile and modular systems are needed to conduct several procedures and to help solving the problems that surgeons face. This article aims to describe the implementation of a robotic research platform prototype that allows novel applications in the field of image-guided surgery. In particular, this research is focused on the topics of medical image acquisition during surgery, patient registration and surgical/medical equipment operation. In this paper, we address the implementation of the general purpose teleoperation and path following modes of the platform, which constitute the base of future developments. Also, we discuss relevant aspects of the system, as well as future directions and application fields to investigate.Ítem Upper Limb Posture Estimation in Robotic and Virtual Reality-based Rehabilitation.(Hindawi Publishing Corp., 2014-07-08) Cortez, Camilo; Ardanza, Aitor; Molina Rueda, F.; Cuesta Gomez, A.; Unzueta, L.; Epelde, G.; Ruiz Salguero, Oscar; De Mauro, A.; Florez, Julian; Universidad EAFIT. Departamento de Ingeniería Mecánica. Grupo de Investigación CAD CAM CAE, Carrera 49 7 Sur-50, Medellín, Colombia.; Universidad EAFIT. Departamento de Ingeniería Mecánica; Laboratorio CAD/CAM/CAENew motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, since the human and exoskeleton kinematic models differ. In response to this shortcoming, we propose a method to estimate the posture of the human limb attached to the exoskeleton. We use the exoskeleton joint angles measurements and the constraints of the exoskeleton on the limb to estimate the human limb joints angles. This paper presents (a) the mathematical formulation and solution to the problem, (b) the implementation of the proposed solution on a commercial exoskeleton system for the upper limb rehabilitation, (c) its integration into a rehabilitation VR game platform, and (d) the quantitative assessment of the method during elbow and wrist analytic training. Results show that this method properly estimates the limb posture to (i) animate avatars that represent the patient in VR games and (ii) obtain kinematic data for the patient assessment during elbow and wrist analytic rehabilitation.