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Preface; Contents; 1 Design of a Needle Insertion Module for Robotic Assisted Transperineal Prostate Biopsy; Abstract; 1 Introduction; 2 Clinical Characteristics; 3 Model Design; 4 Conclusions; Acknowledgements; References; 2 Motion Analysis of the Left Ventricle of a Human Heart for Realization in a Cardiovascular Mock-Loop; Abstract; 1 Introduction; 2 Contraction of the Human Heart; 2.1 The Radial Contraction; 3 Structural and Dimensional Synthesis; 4 Evaluation; 5 Design; 6 Conclusions; 7 Outlook; Acknowledgements; References; 3 Improved Design of a Gait Rehabilitation Robot; Abstract
1 Introduction2 Design Requirements; 3 Initial Design; 3.1 Motion Scaling; 3.2 Gait-Like Motion; 3.3 Path Generation; 4 Shortcomings of Initial Design; 4.1 Deficiencies in the Initial Motion Scaling Design; 4.2 Limitations of Initial Path Generation Design; 5 Description of Revised Design; 5.1 Improved Motion Scaling Design; 5.2 Improved Path Generation Design; 6 Conclusions; References; 4 The Role of Technology in the Implementation and Learning of Minimally-Invasive Surgery; Abstract; 1 Introduction; 2 Impact of Advances in Technology on Surgical Procedures; 2.1 The 3D Visualization
2.1.1 Advantages for Challenging Procedures2.1.2 Advantages for the Learning Curve; 2.1.3 Advantages for the Ergonomy of the Surgeon; 2.2 Next Generation Instruments; 2.2.1 Articulated Instruments; 2.2.2 Magnetic Instruments; 2.3 Intraoperative Imaging; 2.4 Fluorescence; 3 Learning Minimally-Invasive Surgery; 3.1 Laparoscopy Learning Curve; 3.2 Robotic Surgery Learning Curve; 3.3 The Role of Laparoscopy in the Robotic Surgery Learning Curve; 3.4 The Role of Robotic Surgery in the Laparoscopy Learning Curve; 3.5 Simulators; 4 Personal Experience; 5 Conclusion; Acknowledgements; References
Bio-Kinematic Design of Individualized Lift-Assist Devices1 Introduction; 2 Bio-Kinematic Representation of Lower Limb and Lift-Assist Device; 3 Dimensional Finite Position Synthesis; 4 Individualized Computational Bio-Kinematic Design Procedure; 4.1 Definition of the Workspace and the Number of Task Positions; 4.2 Analysis of STS Motion and Definition of Task Positions; 4.3 Exhaustive Search and Kinematic Analysis; 5 Individualized Lift-Assist Device; 6 Discussion; References; Organising Bodyformation of Modular Autonomous Robots Using Virtual Embryogenesis; 1 Introduction
2 Materials and Methods2.1 Implementation; 2.2 Cellular Behaviour; 2.3 Simulated Genetics; 2.4 Simulated Physics; 2.5 Evolution Controller; 2.6 Robotic Hardware; 3 Experiments and Results; 3.1 Virtual Embryogenesis; 3.2 Test of VE on Swarm of Real-World Robots to Control Body Formation Based on Artificial Evolution; 4 Discussion and Outlook; References; Sensor and Control Concept for a Wearable Robot for Manual Load Handling Assistance; 1 Introduction; 2 Sensor Concept; 3 Control Concept; 3.1 Admittance Control Approach; 3.2 Impedance Control Approach
1 Introduction2 Design Requirements; 3 Initial Design; 3.1 Motion Scaling; 3.2 Gait-Like Motion; 3.3 Path Generation; 4 Shortcomings of Initial Design; 4.1 Deficiencies in the Initial Motion Scaling Design; 4.2 Limitations of Initial Path Generation Design; 5 Description of Revised Design; 5.1 Improved Motion Scaling Design; 5.2 Improved Path Generation Design; 6 Conclusions; References; 4 The Role of Technology in the Implementation and Learning of Minimally-Invasive Surgery; Abstract; 1 Introduction; 2 Impact of Advances in Technology on Surgical Procedures; 2.1 The 3D Visualization
2.1.1 Advantages for Challenging Procedures2.1.2 Advantages for the Learning Curve; 2.1.3 Advantages for the Ergonomy of the Surgeon; 2.2 Next Generation Instruments; 2.2.1 Articulated Instruments; 2.2.2 Magnetic Instruments; 2.3 Intraoperative Imaging; 2.4 Fluorescence; 3 Learning Minimally-Invasive Surgery; 3.1 Laparoscopy Learning Curve; 3.2 Robotic Surgery Learning Curve; 3.3 The Role of Laparoscopy in the Robotic Surgery Learning Curve; 3.4 The Role of Robotic Surgery in the Laparoscopy Learning Curve; 3.5 Simulators; 4 Personal Experience; 5 Conclusion; Acknowledgements; References
Bio-Kinematic Design of Individualized Lift-Assist Devices1 Introduction; 2 Bio-Kinematic Representation of Lower Limb and Lift-Assist Device; 3 Dimensional Finite Position Synthesis; 4 Individualized Computational Bio-Kinematic Design Procedure; 4.1 Definition of the Workspace and the Number of Task Positions; 4.2 Analysis of STS Motion and Definition of Task Positions; 4.3 Exhaustive Search and Kinematic Analysis; 5 Individualized Lift-Assist Device; 6 Discussion; References; Organising Bodyformation of Modular Autonomous Robots Using Virtual Embryogenesis; 1 Introduction
2 Materials and Methods2.1 Implementation; 2.2 Cellular Behaviour; 2.3 Simulated Genetics; 2.4 Simulated Physics; 2.5 Evolution Controller; 2.6 Robotic Hardware; 3 Experiments and Results; 3.1 Virtual Embryogenesis; 3.2 Test of VE on Swarm of Real-World Robots to Control Body Formation Based on Artificial Evolution; 4 Discussion and Outlook; References; Sensor and Control Concept for a Wearable Robot for Manual Load Handling Assistance; 1 Introduction; 2 Sensor Concept; 3 Control Concept; 3.1 Admittance Control Approach; 3.2 Impedance Control Approach