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A triple-jaw actuated and sensorized instrument for grasping large organs during minimally invasive robotic surgery
, Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 9, Issue 1 , 2013 , Pages 83-93 ; 14785951 (ISSN) ; Farahmand, F ; Sharif University of Technology
2013
Abstract
Background: Secure grasping and effective manipulation of delicate large organs during robotic surgery operations needs especially designed instruments that can enclose a large amount of tissue and feed back the pinch forces. Methods: A large organ triple-jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto-grasping of large organs during robotic teleoperation surgery. An on-site force commanding/reflecting mechanism was also implemented to use the device as an independent hand-held robotic instrument. The efficacy of the robotic grasper was examined in phantom tests. Results: The instrument grasped large...
The effects of supervised and non-supervised upper limb virtual reality exercises on upper limb sensory-motor functions in patients with idiopathic Parkinson's disease
, Article Human Movement Science ; Volume 85 , 2022 ; 01679457 (ISSN) ; Taghizadeh, G ; Azad, A ; Behzadipour, S ; Sharif University of Technology
Elsevier B.V
2022
Abstract
Background: Impairments of upper limb (UL) sensory-motor functions are common in Parkinson's disease (PD). Virtual reality exercises may improve sensory-motor functions in a safe environment and can be used in tele-rehabilitation. This study aimed to investigate the effects of supervised and non-supervised UL virtual reality exercises (ULVRE) on UL sensory-motor functions in patients with idiopathic PD. Methods: In this clinical trial study, 45 patients with idiopathic PD (29 male) by mean ± SD age of 58.64 ± 8.69 years were randomly allocated to either the control group (conventional rehabilitation exercises), supervised ULVRE or non-supervised ULVRE. Interventions were 24 sessions, 3...