Motion analysis of a robotic assisted surgery and microsurgery system - experimental verification

Motion analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) and the control structures enabling it to achieve milli/micromanipulations under the constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) are presented in this article. Two control algorithms are proposed suitable for minimally invasive surgery (MIS) with submillimeter accuracy and for minimally invasive micro-surgery (MIMS) with submicrometer accuracy. The RCM constraint is performed without having any mechanical constraint. Control algorithms also apply orientation constraint preventing the tip to orient relative to the soft tissues due to the robot movements. Experiments were conducted to verify accuracy and effectiveness of the proposed control algorithms for MIS and MIMS operations. The experimental results demonstrate accuracy and performance of the proposed position control algorithms.

A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

The peg-in-hole insertion and adjustment operation is one of the most common tasks in the robotic and automatic assembly processes. Fine motion strategies associated with adjustment operations on a peg-in-hole are fundamental manipulations that can be utilised in dynamic assembly and reconfigurable workholding or fixturing systems. This paper presents a comprehensive study of robotic-based height adjustment of a cylindrical pair based on maintaining minimum contact forces between the links. The outer link is held by the end-effector of a six-DOF (Degrees of freedom) serial articulated robot manipulator. The environment represented by the inner link can be either static or dynamic. A force-based approach and a d value approach are established to determine the type of contact that exists between the links of a cylindrical pair, and to extract control parameters. Based on the comparison and analysis of these two approaches, a hybrid methodology is established by combining a d value approach with a force-based approach for contact state determination. Formulations capable of extracting necessary control parameters, which ensure minimum contact forces between the links, are established from both planar and spatial viewpoints under both static and dynamic environmental conditions. Experimental results demonstrate the effectiveness of the proposed methodology.

Integrated depression management: a proposed trial of a new model of care in a low vision rehabilitation setting

Purpose:
Depression is a common problem among people with visual impairment and contributes to functional decline. This article presents a study protocol to evaluate a new model of care for those patients with depressive symptoms in which psychological treatment is integrated into low vision rehabilitation services. Low vision staff will be trained to deliver "problem solving therapy for primary care" (PST-PC), an effective psychological treatment developed specifically for delivery by non-mental health care staff. PST-PC is delivered in 8 weekly telephone sessions of 30-45 minutes duration and 4 monthly maintenance sessions. We predict this new integrated model of care will significantly reduce depressive symptoms and improve the quality of life for people with visual impairment.

Methods and Design:
A randomized controlled trial of PST-PC will be implemented nationally across low vision rehabilitation services provided by Vision Australia. Clients who screen positive for depressive symptoms and meet study criteria will be randomized to receive PST-PC or usual care, consisting of a referral to their general practitioner for more detailed assessment and treatment. Outcome measures include depressive symptoms and behaviors, quality of life, coping and psychological adjustment to visual impairment. Masked assessments will take place pre- and post-intervention as well as at 6- and 12-month follow-up.

Conclusion:
We anticipate that this innovative service delivery model will lead to sustained improvements in clients' quality of life in a cost effective manner and provide an innovative service delivery model suitable for other health care areas in which depression is co-morbid.