Publications de Hannes Bleuler

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Real-time simulation of thread and knot-tying with visual and force feedback is an essential part of virtual reality laparoscopic training. This paper presents a physics-based thread simulator that enables realistic knot tying at haptic rendering rate. The ...

An external manipulator for positioning surgical instruments within the abdominal cavity, comprising a hybrid kinematics with a parallel structure, able to provide four, active or passive, positional degrees of freedom to a endoscopic unit, placed in the d ...

A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several ...

Increasing the capability of automated driving vehicles is motivated by environmental, productivity, and traffic safety benefits. But over-reliance on the automation system is known to cause accidents. The role of the driver cannot be underestimated as it ...

Collective and swarm robotics explores scenarios involving many robots running at the same time. A good platform for collective-robotic experiments should provide certain features among others: it should have a large battery life, it should be able to perc ...

Magnetic wheels are a powerful solution to design inspection climbing robots with excellent mobility. Magnetic wheels optimization based on simulations and the results that were obtained on prototypes are presented. The measured adhesion was doubled betwee ...

Visual amplification of kinematic errors has successfully been applied to improve performance for upper limb movements. In this study, we investigated whether visual error augmentation can promote faster adaptation during a full-body balance task. Healthy ...

In this study, the role of different 3D vision systems on the patient safety in the context of robotic surgery was studied. Clearly safety is the foremost importance in all surgical procedures. It is well studied in the clinical surgical procedures but the ...

Recent advances in virtual reality and robotic technologies have allowed researchers to explore the mechanisms underlying bodily aspects of self-consciousness which are largely attributed to the multisensory and sensorimotor processing of bodily signals (b ...

TREMO is a compact magnetic climbing inchworm with the capability to move in complex ferromagnetic environments. The robot fits inside a cylinder of 500 mm in height and 120 mm in diameter for an approximate weight of 800 g. It has a modular configuration ...

Recent advances in the field of brain-machine interfaces (BMIs) have demonstrated enormous potential to shape the future of rehabilitation and prosthetic devices. Here, a lower-limb exoskeleton controlled by the intracortical activity of an awake behaving ...

The mechanism leading to the onset of the electrode effects is still under discussion in the literature. In this contribution it is proposed that the main mechanism responsible of the electrode effects is the formation of a gas film isolating the electrode. This gas film is formed because of a high population density of bubbles on the electrode surface. A simple model considering the bubble evolution as a stochastic renewal process is presented. By introducing some phenomenological relations, the model allo

Minimally invasive surgical approaches have revolutionized surgical care and considerably improved surgical outcomes. The instrumentation has changed significantly from open to laparoscopic and robotic surgery with various usability and ergonomics qualitie ...

This paper describes the effect of Muller-Lyer illusion on a reaching movement just after the visual and haptic/kinesthetic cues are simultaneously presented. First, a standard experiment on this visual illusion is conducted by means of the most typical way so as to make sure that participants can experience this illusion; the result shows that all the subjects are deceived by the illusion figure as in many previous results. As the next step, the subjects are asked to physically trace one of three lines-nor

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve wit ...

A Magnetic Switchable Device (MSD) is a ferromagnetic circuit using permanent magnets where the flux can circulate between different paths when its configuration is changed. This routes or cancels the flux through specific surfaces, and thus turns on or of ...

Using haptic interfaces in combination with functional magnetic resonance imaging (fMRI) could lead to important insights into the brain mechanisms of human motor control and related dysfunctions. However, in addition to the usual requirements for haptic i ...

A cluster of small cooperative robots capable of executing measurement and manipulation tasks is being developed within the scope of a European project. The robots are autonomous and have an overall dimension in the order of 1 cm/sup 3/. In this paper we p ...

Diamagnetic levitation is the only passive levitation at room temperature. It is interesting to use this principle for a contactless conveyor in applications where friction and wear-particle contamination should be avoided such as in a microfactory. Using ...

Component loosening and instability are common causes of dysfunction after Total Knee Arthroplasty (TKA) and it is generally assumed that such complications are due to tibio-femoral misalignment or ligamentous imbalance. During the surgery, the ligamentous force balance is currently qualitatively assessed by the surgeon through manual trial movements of the limb. In order to improve this procedure, we developed a force-sensing device to intraoperatively measure knee joint forces and moments. The aim of this

Hannes Bleuler

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Knot-tying with Visual and Force Feedback for VR Laparoscopic Training

Mechanical positioning system for surgical instruments

Mechanical manipulator for surgical instruments

Haptics based multi-level collaborative steering control for automated driving

The MarXbot, a Miniature Mobile Robot Opening new Perspectives for the Collective-robotic Research

Magnetic wheels optimization and application to the MagneBike climbing robot

Error Augmentation Improves Visuomotor Adaptation during a Full-Body Balance Task

Role of Holographic Displays and Stereovision Displays in Patient Safety and Robotic Surgery

Cogno-Vest: A Torso-Worn, Force Display to Experimentally Induce Specific Hallucinations and Related Bodily Sensations

Tremo: an inspection climbing inchworm based on magnetic switchable device

EXiO-A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques

A stochastic model for electrode effects

Survey on Surgical Instrument Handle Design: Ergonomics and Acceptance

Muller-Lyer Illusion Effect on a Reaching Movement in Simultaneous Presentation of Visual and Haptic/Kinesthetic Cues

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Design of Magnetic Switchable Device (MSD) and applications in climbing robot

Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering

Position Feedback for Microrobots based on Scanning Probe Microscopy

Preliminary Investigations on a Diamagnetically Levitated Linear Conveyor

In-vitro evaluation of a force-sensing device for ligament balancing in TKA