Searched for: subject%3A%22Follow%255C-The%255C-Leader%22
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Dullaart, Daan (author)
Minimally invasive surgery (MIS) has several advantages over conventional surgery, including reduced damage to the body, less pain, lower infection risk, and faster recovery. However, MIS reduces the amount of space in which clinicians can operate within the body. This often forces them to work around delicate anatomical structures. A new type...
master thesis 2023
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Piaggio, Benedetto (author), Garofano, V. (author), Donnarumma, Silvia (author), Alessandri, Angelo (author), Negenborn, R.R. (author), Martelli, Michele (author)
A novel follow-the-leader approach for azimuth-driven vessels is devised and experimentally tested in a model-scale outdoor scenario. The vessels are equipped with global navigation satellite and inertial navigation systems. A line-of-sight algorithm ensures the yaw-check ability of the follower vessel along the leader's path, while a speed...
journal article 2023
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Culmone, C. (author), Jager, D.J. (author), Breedveld, P. (author)
With the increase in Natural Orifice Transluminal Endoscopic Surgery procedures, there is an increasing demand for surgical instruments with additional degrees of freedom, able to travel along tortuous pathways and guarantee dexterity and high accuracy without compromising the surrounding environment. The implementation of follow-the-leader...
journal article 2022
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Yikilmaz, Semih (author)
Developments in minimally invasive surgery such as natural orifice transluminal endoscopic surgery and single port laparoscopic surgery have pushed medical devices to be higher articulated and more dexterous. These surgery methods have proven to greatly decrease bleeding, scar tissue, hospital time, and cost. The procedures involve the...
master thesis 2021
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van Zaanen, Pam (author)
In the history of medicine and surgery, a slow transition is made from open surgery to minimally invasive surgery. Nowadays, natural orifice transluminal endoscopic surgery (NOTES) is investigated and tested. A NOTES procedure includes flexible instruments, which are inserted through natural orifices such as the mouth, nose, anus or vagina. The...
master thesis 2021
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Henselmans, P.W.J. (author), Culmone, C. (author), Jager, D.J. (author), van Starkenburg, R.I.B. (author), Breedveld, P. (author)
The fields of Minimally Invasive Surgery (MIS) and Natural Orifices Transluminal Endoscopic Surgery (NOTES) strive to reduce the level of invasiveness by entering the body through smaller incisions and natural orifices. Hyper-redundant snake-like instruments can help in this pursuit of reducing invasiveness. Such instruments can pass along...
journal article 2020
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Piaggio, B. (author), Garofano, V. (author), Donnarumma, S. (author), Alessandri, A. (author), Negenborn, R.R. (author), Martelli, M. (author)
This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along the path....
journal article 2020
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Henselmans, P.W.J. (author), Smit, G. (author), Breedveld, P. (author)
One of the most prominent drivers in the development of surgical procedures is the will to reduce their invasiveness, attested by minimally invasive surgery being the gold standards in many surgical procedures and natural orifices transluminal endoscopic surgery gaining acceptance. A logical next step in this pursuit is the introduction of...
journal article 2019
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Romagnuolo, Marco (author)
The cooperative output regulation problem has attracted considerable attention due to its wide applications in several real life problems; in the past decade, the cooperative control of multi-agent systems has become a trendy topic in the control community.<br/>In the cooperative output regulation problem the main purpose consists in achieving...
master thesis 2018
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Vieveen, Sander (author)
Background: Delft University of Technology has developed two working prototypes of flexible instruments for surgery, together with a master-slave system. The master-slave system is compatible with the simple parallel cable configuration and the more complex parallel and diagonal cable configuration. It is assumed that the instrument with a...
master thesis 2018
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Henselmans, P.W.J. (author), Gottenbos, Stefan (author), Smit, G. (author), Breedveld, P. (author)
Follow-the-leader propagation allows for the insertion of flexible surgical instruments along curved paths, reducing the access required for natural orifice transluminal endoscopic surgery. Currently, the most promising follow-the-leader instruments use the alternating memory method containing two mechanical memory-banks for controlling the...
journal article 2017
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Gottenbos, S. (author)
Surgical procedures are shifting towards Minimal Invasive Surgery (MIS). Surgeons are currently limited in their actions by the straight rigid instruments available to them. Devices capable of navigating along curved trajectories increase a surgeon's workspace, which can benefit surgical performance. This paper shortly goes over the state of the...
master thesis 2016
Searched for: subject%3A%22Follow%255C-The%255C-Leader%22
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