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1.  A fractional derivative with non-singular kernel for interval-valued functions under uncertainty
S Salahshour, A Ahmadian, F Ismail, D Baleanu
Journal Paper
Optik - International Journal for Light and Electron Optics Volume 130, February 2017, Pages 273–286
Abstract: The purpose of the current investigation is to generalize the concept of fractional derivative in the sense of Caputo–Fabrizio derivative (CF-derivative) for interval-valued function under uncertainty. The reason to choose this new approach is originated from the non-singularity property of the kernel that is critical to interpret the memory aftermath of the system, which was not precisely illustrated in the previous definitions. We study the properties of CF-derivative for interval-valued functions under generalized Hukuhara-differentiability. Then, the fractional differential equations under this notion are presented in details. We also study three real-world systems such as the falling body problem, Basset and Decay problem under interval-valued CF-differentiability. Our cases involve a demonstration that this new notion is accurately applicable for the mechanical and viscoelastic models based on the interval CF-derivative equations.

2.  Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot
Keyvan Amini Khoiy, Alireza Mirbagheri, Farzam Farahmand
Journal Paper
Minimally Invasive Therapy & Allied Technologies, Volume 25, 2016 - Issue 3
Abstract:
Background: An automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery.
Material and methods The procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in laparoscopic images. A compound measure of Saturation and Value components of HSV color space was incorporated that was enhanced further using the Hue component and some essential characteristics of the instrument segment, e.g., crossing the image boundaries. The procedure was then integrated into the controlling system of the RoboLens cameraman robot, within a triple-thread parallel processing scheme, such that the tip is always kept at the center of the image.
Results Assessment of the performance of the system on prerecorded real surgery movies revealed an accuracy rate of 97% for high quality images and about 80% for those suffering from poor lighting and/or blood, water and smoke noises. A reasonably satisfying performance was also observed when employing the system for autonomous control of the robot in a laparoscopic surgery phantom, with a mean time delay of 200ms.
Conclusion: It was concluded that with further developments, the proposed procedure can provide a practical solution for autonomous control of cameraman robots during laparoscopic surgery operations.
Keywords: Minimally invasive surgery, abdominal surgery, image guidance, robotic surgery

3.  A modular force‐controlled robotic instrument for minimally invasive surgery–efficacy for being used in autonomous grasping against a variable pull force
SM Khadem, S Behzadipour, A Mirbagheri, F Farahmand
Journal Paper
Int J Med Robot. 2016 Dec;12(4):620-633. doi: 10.1002/rcs.1727. Epub 2016 Jan 25.
Abstract:
Background: Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability.
Method: A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force-controlled grasping scheme.
Results: The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318 N; it was 0.402 N for a sinusoidal pull force, which dropped by 21% using a static friction compensation. A secure grasping condition was achieved, in spite of this error, by applying a sufficiently large margin from the slip boundary.
Conclusions: With a simple and practical design, the instrument enjoys affordability, versatility and autoclave sterilizability for clinical usage, with an acceptable performance for being used in an auto-grasping control scheme. Copyright © 2016 John Wiley & Sons, Ltd.

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Recent Articles

S Salahshour, A Ahmadian, F Ismail, D Baleanu, A fractional derivative with non-singular kernel for interval-valued functions under uncertainty Optik - International Journal for Light and Electron Optics Volume 130, February 2017, Pages 273–286


Keyvan Amini Khoiy, Alireza Mirbagheri, Farzam Farahmand, Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot Minimally Invasive Therapy & Allied Technologies, Volume 25, 2016 - Issue 3


SM Khadem, S Behzadipour, A Mirbagheri, F Farahmand, A modular force‐controlled robotic instrument for minimally invasive surgery–efficacy for being used in autonomous grasping against a variable pull force Int J Med Robot. 2016 Dec;12(4):620-633. doi: 10.1002/rcs.1727. Epub 2016 Jan 25.

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