EQUIPMENT
MicrUs EXT-1H – Ultrasound Probe
The Ultrasound Device is composed of two parts, “MicrUs EXT-1H” is the data acquisition card, and “L12-5L40S-3 Linear Probe” is the probe for collecting US images. MicrUs EXT-1H Portable Ultrasound Diagnostic System Less than 300g B-mode, PWD, M-Mode Digital beamformer Min/max scanning depth: from 2 to 31 cm OS: Windows, Android Libraries: DLLs for MATLAB and Python (data and image acquisition) Applications: Primary Care, Vascular Access, Anesthesia, AndrologyBrest, Vascular, Surgery, Musculoskeletal, Abdominal, Urology, OB/GYN, Pediatrics, Lungs Image and video save/load formats: Images (JPG, BMP, PNG, TIFF, XLSX, DOCX, PDF, DICOM-JPEG, DICOM); Videos(AVI, DCM, PNG-multiple images) L12-5L40S-3 Linear Probe – 40mm Linear Probe Multifrequency: 5.0-12.0 MHz 40mm Field of view: 40mm Applications: Vascular, MASK/Neurol, Pediatrics, Small parts Year of purchase – 2023Approximate value – 7K
Olympus PCF-H180AL
This advanced endoscopic system is equipped with high-resolution HDTV and Narrow Band Imaging (NBI) capabilities, optimizing image quality for endoscopes. The NBI feature enhances capillary and mucosal tissue visibility in gastrointestinal applications. The setup includes an Olympus CV-180 Evis EXERA II video processor integrating a light source with a xenon lamp, as well as cables and bottles to inflate air and flush water. The endoscope is an Olympus PCF-H180AL, a pediatric colonoscope with a 160 cm length and 11.8 mm diameter. The system also offers electronic magnification, HD/SD SDI output, digital-to-digital recording, automatic iris adjustment, picture-in-picture display, index display for documentation, and a Scope ID function for streamlined endoscopy suite management and future system expansion.
KuKa iiwa LBR7
Collaborative robotic manipulator with 7 degrees of freedom (DoFs). It consists of:
- one robotic arm.
- one controller.
- one teaching pendant.
The robot can be programmed using the KUKA Sunrise Workbench, a software suite provided by KUKA. It is also controllable via the Fast Robot Interface (FRI) using an Ethernet connection.
The rated payload of the LBR iiwa 7 is 7 kg, with a pose repeatability accuracy within 0.1 mm. Each joint is equipped with a torque sensor, enhancing its sensitivity and control capabilities.
Year of purchase – 2023
Approximate value – 70K €
HoloLens2
Resolution: 2048 x 1080 (per eye)
Weight: 566g
SoC: Qualcomm Snapdragon 850
Memory: 8 GB RAM
Head tracking: 4 visible light cameras, both hands
Eye tracking: 2 IR cameras
Depth: 1-MP time-of-flight (ToF) depth sensor
IMU: Accelerometer, gyroscope, magnetometer.
Camera: 8-MP stills, 1080p30 video.
Microphone array: 5 channels.
Speakers: Built-in spatial sound.
Battery life: 2–3 hours of active use
Approximate value 5K €
Device available number in our lab – 2
  | The Myo Gesture Control Armband – Black from Thalmic Labs is a wearable gesture control sensor: Using proprietary EMG sensors, the Myo armband measures electrical activity from your muscles to detect five gestures made by your hands. Using a 9-axis IMU, it also senses the motion, orientation and rotation of your forearm. The Myo armband transmits this information over a Bluetooth Smart connection to communicate with compatible devices. Myo also streams the raw EMG and IMU data for developers to utilize in the projects and applications!
It is made of:
Year of fabrication/purchase – 2018 Approximate value – 300$ Device available number in our lab – 2 |
6-axis force sensor (M8128C6)
 | The 6-axis force sensor (M8128C6) is from SRI, China, providing 3-axis force and 3-axis torque. It is utilized for measuring the force of human-robot physical interaction and achieving haptic feedback on during tele-operation.
It is made of:
The Interface Box M8128 provides bridge excitation, signal conditioning, data acquisition and digital communication to the user’s controller or PC via RS232 , CAN Bus or Ethernet. The data rate is up to 2KHz. A 6 axis loadcell is connected to the Interface Box via a 19 pin LEMO connector. Year of fabrication/purchase – 2018 Approximate value – 4K Device available number in our lab – 2 |
Kuka LWR4+
 | The Lightweight robot 4+ from KUKA Roboter is a 7 DoFs lightweight arm.
It is made of:
It can be programmed using its internal interface or it can be controlled using a computer over an Ethernet connection through the Fast Research Interface. Year of fabrication/purchase – 2011 Approximate value – 100K |
da Vinci Surgical System
 | The da Vinci® Surgical System enables surgeons to perform operations through a few small incisions and features several key features, including:
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Kawasaki FS03N
 | The FS03N is a compact multi-purpose robot from the Kawasaki Heavy Industries Ltd. Weighing just 20 kg, it is designed as a portable model at the smaller end of the range. Despite its size, the FS03N is an advanced 6-axis arm boasting the highest speed in its class. The maximum payload is 3 kg, for higher loads the behaviour of the arm is unpredictable. The Data-sheet indicates a repeatability of +/-0.05 mm while no accuracy value is stated; maximum vertical reach is 830 mm, horizontal is 700 mm. Standard equipment includes AS high-level robot language and the D70 digital controller with a teach pendant for manual control.
Remote managing of controller memory and programs is achieved with a host PC connected either via Ethernet or via serial communication (RS-232). Furthermore the controller can receive software or physical signals (TTL logic) to manage integration and synchronization with other devices (e.g. other robots or localization systems).Year of fabrication/purchase – 2008 Approximate value – 40K |
PathFinder
 | It is a 6 DoFs surgical robot for neurosurgery. It has an embedded optical localizer system with passive markers for autonomous targeting.
Year of fabrication/purchase – 2008 Approximate value – 150K |
NDI Optotrack Certus
 | Optotrak Certus by NDI (Canada) is an optical localization system based on active markers technology (InfraRed Emitting Diodes – IRED).
The system is made of:
The NDI Optotrak Certus Position Sensor is factory calibrated, optimizing accuracy in a volume of about 45 m3 with a maximum distance of 7.0 m from the position sensor. At an optimal measuring distance of 2.25 m, the system guarantees: The maximum update rate is 4600 Hz but the actual frame rate depends on the number of markers connected to the system: Real-time freq. per marker = 4600/(N+1.3), where N = number of markers The System Control Unit can manage up to 512 markers providing the host PC with the 3D position of each marker or with the position and the orientation of a set of at least 3 markers previously defined as a rigid body. Year of fabrication/purchase – 2008 Approximate value – 60K |
NDI Aurora
 | Electromagnetic localizer, it can track tool in 6 DoFs in a small workspace (0.125m3). It communicates with the host pc using a RS232 interface. The accuracy of the system is 0.5mm and the refresh rate is up to 40Hz.Year of fabrication/purchase – 2008Approximate value – 15K |
NDI Polaris Vicra
 | Small and compact optical localizer system, it can track both active and passive markers. It has a reduced workspace and an accuracy of 0.25mm with a 20Hz refresh rate. Communication with the host pc is achieved via USB.
Year of fabrication/purchase – 2008 Approximate value – 12K |
Sensable Phantom
 | Haptic interface
Year of fabrication/purchase – 2009 Approximate value – 2K |
SpineAssist Robot
 | It is a parallel kinematic robot with 6 DoFs. Its accuracy is 0.1mm and its payload is 0.5kg.
Year of fabrication/purchase – 2010 Approximate value – 40K |
BK Medical Falcon
 | Ultrasound system
Year of fabrication/purchase – 2008 Approximate value – 15K |
ForceDimension Sigma7
 | The sigma.7 haptic device features some unique characteristic that make it the interface of choice for the most advanced multiple point-of-contact touch-enabled applications. Force Feedback: the Sigma7 features a delta-based parallel structure and custom-designed motors dedicated to high-performance force-feedback. Torque Feedback: the Sigma7 features an active wrist that produces high-fidelity torque feedback, as well as active gravity compensation. Active grasping: the Sigma7 offers 7 active degree-of-freedom, including a grasping mechanism. Quality: the Sigma7 is designed for superior performance – no plastic components are used for any critical mechanical component of the device for unrivaled reliability and haptic quality. Accuracy: a dedicated procedure provides one-time, drift-free calibration. Stiffness: due to their unique patented parallel kinematics structure, the sigma.7 haptic device offers unequaled closed loop stiffness, allowing for crisper realism. Comfort: all Sigma7 causes minimal user fatigue, thanks to their ergonomic design and active gravity compensation. Safety: an onboard CPU monitors velocity in real time and enables electromagnetic damping on the haptic device if a problem occurs on the host computer. Ease-Of-Use: the Sigma7 comes with the Force Dimension SDK, which provides a simple, flexible and powerful way of developing haptic applications. |
MV BlueFox Camera
 | The mvBlueFOX is a compact industrial CCD & CMOS camera solution for any PC with USB ports. A superior image quality makes it suited for most applications. The driver in combination with the FPGA represents a perfect team which reduces the PC load to a minimum during preprocessings like binning. The standard Hi-Speed USB interface guarantees an easy integration without any additional interface board.
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FOCULUS Camera
 | NET GmbH’s FOCULUS T SERIES opens a new horizon to digital image processing providing more features in a small form factor still maintaining the cost effectiveness and high quality. FOCULUS T SERIES models are lined up by a wide range of resolution equipped with FIREWIRETM interface and trigger to suit the need for every application. The FOCULUS T SERIES offer the highest frame rate each in its resolution range compared with products from others. The small form factor design has expanded the usage by eliminating limits currently existing due to size and weight which has broaden the application area. Large selection of cameras is available and scheduled to be added to the FOCULUS T SERIES which consist of sensors sensor sizes (1/3”, 1/2”, 1/1.8”) and resolution(VGA, XGA, SXGA, UXGA) both in color and black and white.
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Microsoft Kinect
 | Kinect is a line of motion sensing input devices by Microsoft for Xbox 360 and Xbox One video game consoles and Windows PCs. Based around a webcam-style add-on peripheral, it enables users to control and interact with their console/computer without the need for a game controller, through a natural user interface using gestures and spoken commands. The first-generation Kinect was first introduced in November 2010 in an attempt to broaden Xbox 360’s audience beyond its typical gamer base. A version for Windows was released on February 1, 2012. Kinect competes with several motion controllers on other home consoles, such as Wii Remote Plus for Wii, PlayStation Move/PlayStation Eye for PlayStation 3, and PlayStation Camera for PlayStation 4. Microsoft released Kinect software development kit for Windows 7 on June 16, 2011. This SDK was meant to allow developers to write Kinecting apps in C++/CLI, C#, or Visual Basic .NET.
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Kinect 2 ( Kinect for XBOX one)
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The Kinect sensor for Xbox One was upgraded in comparison to its predecessor for Xbox 360. As with the original Kinect, the sensor uses infrared to read its environment, but has greater accuracy over its predecessor, processing 2 gigabits of data per second. The device features a 512×424 pixel time-of-flight camera the new sensor has an increased field of view, reducing the amount of distance needed between the player and the sensor needed for optimal Kinect performance. In comparison to the 8 feet (2.4 m) minimum of Kinect for Xbox 360, Microsoft recommended a minimum distance of 4 feet 6 inches (1.37 m). The new Kinect also includes a 1080p resolution video camera that can be used for video recording and chat, in comparison to the VGA resolution of the Xbox 360 version. Kinect for Xbox One can track up to 6 skeletons at once, read a player’s heart rate, track gestures performed with an Xbox One Controller, and scan QR codes to redeem Xbox gift cards. The device features a four-microphone array, and can enable more extensive voice command support across the Xbox One system software than the Xbox 360 version. When the Xbox One console is in sleep mode, Kinect’s microphone can remain active, so that it can reawaken the console with a voice command |
JVC everio
 | The GS-TD1B is a Full HD 3D camcorder with 64GB internal Flash memory and an SDXC card slot offering spectacular 3D recording with 5x optical zoom! Enjoy superb 3D playback on the 3.5 touch panel LCD without the need for special glasses! The F1.2 Super Bright “JVC 3D TWIN HD GT LENS” and two Back-illuminated CMOS Sensors offer stunning 3D video with superior low-light performance, while JVC’s unique BIPHONIC audio technology reproduces dynamic 3D SOUND. Packed with a range of features that provide easy 3D shooting for everyone.
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LEAP MOTION
 | The Leap Motion controller is a small USB peripheral device which is designed to be placed on a physical desktop, facing upward. It can also be mounted onto a virtual reality headset. Using two monochromatic IR cameras and three infrared LEDs, the device observes a roughly hemispherical area, to a distance of about 1 meter. The LEDs generate pattern-less IR light and the cameras generate almost 200 frames per second of reflected data. This is then sent through a USB cable to the host computer, where it is analyzed by the Leap Motion software using “complex maths” in a way that has not been disclosed by the company, in some way synthesizing 3D position data by comparing the 2D frames generated by the two cameras. In a 2013 study, the overall average accuracy of the controller was shown to be 0.7 millimeters.
The smaller observation area and higher resolution of the device differentiates the product from the Kinect, which is more suitable for whole-body tracking in a space the size of a living room. In a demonstration to CNET, the controller was shown to perform tasks such as navigating a website, using pinch-to-zoom gestures on maps, high-precision drawing, and manipulating complex 3D data visualizations |
PHILIPS 3D LED TV
 | The LED TV from Philips comes with the 3D support included. The active glasses allow the user to see the motion in 3D as it was in reality. It is a great improvement in microsurgery, where the small field of view could be enhanced without compromising the result, thanks to the 3D reproduction.
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