Browsing by Author "Boneva A."

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    Design of a Multifunctional Operating Station Based on Augmented Reality (MOSAR)
    (2021-03-01) Ivanova V.; Vasilev P.; Stoianov I.; Andreev R.; Boneva A.
    Design principles of a novel Multifunctional Operation Station (MOS) using Augmented Reality (AR) technology (MOSAR) are proposed in this paper. AR-based design allows more ergonomic remote instrument control in real time in contrast to classical instrument-centered interfaces. Another advantage is its hierarchical software structure including multiple programming interpreters. The MOSAR approach is illustrated with a remote surgical operating station that controls intelligent surgical instruments. The implementation of the Operation Station (MOS) is based on the multiplatform open-source library Tcl/Tk, and an AR extension has been developed on a Unity platform, using Vuforia SDK.
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    Unified Modelling Language Application for Laparoscopic Instrument Design
    (2024-01-01) Ivanova V.; Boneva A.; Vasilev P.
    Laparoscopic surgery is a very popular medical intervention for the diagnosis and treatment of some abdominal problems and diseases. Compared with open surgery, laparoscopic procedures reduce patient trauma and recovery time. Still, at the same time, the surgeon’s dexterity is reduced as a result of the operation specificity and instrument construction. Correct behaviour of every device and instrument during its activities is an important condition for the proper operation of the whole system. The main purpose of this work is to model the operating behaviour of an instrument-organ interaction in an environment which is similar to the real one. The ultimate target of this study is focused on the development of a functionally operating model of a laparoscopic executive instrument for robots with improved engineering characteristics. To achieve the goals, the following main tasks are decided: i) Unified Modelling Language is applied to demonstrate the operating behaviour of a device in real-time. UseCase diagram and 3 Activity diagrams have been developed; ii) an original model of an instrument with 4 degrees of freedom for robot-assisted surgery is designed. In contrast to EndoWrist technology created by Intuitive Surgical Incorporation, USA for DaVinci instruments (with 3 orthogonal rotations), we offered other construction decisions. The designed instrument provides a kinematic structure with a combination of perpendicular and parallel rotations ((Formula presented)) which avoids additional rolls and allows obtaining the optimal working area of this instrument. This study is a continuation of previous work in the surgical robotics area.