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Publications: |
[1] Ivanova, V., Boneva, A., Vasilev, P., Family Intelligent Devices to Robots as a response to MIS Robotic Challenges, Proceedings of the International Scientific
Conference “Robotics & Mechatronics 2023”, 25 - 26 april
2023, Sofia, Journal
Complex Control Systems, ISSN 1310-8255, ISSN
2603-4697(Online), Institute of Robotics, Bulgarian Academy of Sciences, 2023, pp. 1-6 https://robomed.bg/wp-content/uploads/2023/04/Family-Intelligent-Devices-to-Robots-as-a-response-to-MIS-Robotic-Challenges.pdf Abstract:
Minimally-Invasive Surgery (MIS) is modern technology for diagnostics and
repaired of many surgical problems, ensuring excellent results and care for
patients. In order to increase the applicability of MIS in surgical practice,
the use of robots is beginning to improve operational efficiency. The scope
of this work is to present the design of novel family devices to MIS Robots
with better technical characteristics than ever including compact,
convenient, simplified, better possibilities and suitable price thereby and
the small hospitals to can apply similar technical solutions and patient
benefit from it. The paper may to give some good ideas about how robotic
technology can response to MIS challenges and this will lead to a new generation surgical robots able to meet the patient's
needs and surgeon facilitates [2]. Boneva Ani, Ivanova Veronika and Boneva Yordanka, The Application Mk4Tcl for Work with Data Structures,
Georgian Electronic Scientific Journal (GESJ): Computer Sciences and
Telecommunications, ISSN 1512-1232,
Reviewed Electronic Scientific Journal, Georgian Technical University and Muskhelishvili Institute of Computational Mathematics ID:
3333, 2020, No.1(58) , pp. 35-45, http://gesj.internet-academy.org.ge/download.php?id=3333.pdf Abstract: The article discusses an
application for working and processing databases - MetaKit
for Tcl (Mk4Tcl). It is a standalone application
for the Tcl language and has the ability to work in
operating environments Windows, Linux and Unix. One of the advantages of this
application is that it does not require a special installation, but is
"loaded" into the program code and then compiled with the entire
program. The article gives the basic rules for working with the package and
some basic commands. Some applications using Mk4Tcl are also considered. [3]. Ivanova Veronika, Ani Boneva, Ivilin
Stoianov, Operating
Station for Control and Monitoring of Tactile Tools with Application in
Minimally–Invasive Surgery, ŐXIX International Scientific and
Technical Conference Automation of Discrete Production Engineering,“ADP
– 2020”, June 29, 2020 ÷ July 2, 2020, TU-Sofia, j. Automation of
Discrete Production Engineering, ISSN: 2682-9584, Issue 2, July 2020,
Publishing house of TU-Sofia, pp. 119-124, https://mf.tu-sofia.bg/mntkadp/includes/archive/2020.pdf Abstract: The main target of this work is to design an
operating station which has to be a compact, convenient, simplified, with good
possibilities and suitable for control and monitoring of a group of tactile
instruments. In difference to other software platforms the presented
operation station possesses some advantages the main of which is a
hierarchical structure with more than one interpreter, every one of each
poses an own set of operators and addressing space. As a result of this a
control process and monitoring of the group of tactile tools is fast and
easy. The computer program is designed to control several laparoscopic instruments
which can work together or individually. [4] Ivanova V.,
Bachvarov D.V, Boneva A., Harware and Sofware for Mechtronics
Therapeutics Tool. Application of Minimally-Invasive Surgary, ŐXVIII International
Scientific and Technical Conference AUTOMATION OF DISCRETE PRODUCTION
ENGINEERING “ADP – 2019””, 29 June ÷ 02 July 2019 ă., TU Recreation
Facilities Sozopol, j. Automation of
Discrete Production Engineering, ISSN:
2682-9584, Issue 1, July 2019, Publishing house of TU-Sofia, Sofia, pp. 260 – 266, https://mf.tu-sofia.bg/mntkadp/includes/archive/2019.pdf Abstract:
The purpose of this work is to bring radical improvements to the
quality and efficiency of healthcare. In contrast commercial robotic systems
which instruments are designed for manipulation and video observation we
offer a novel modular mechatronics device with additional functions as a
local therapy of tumors. We have decided two main problems i) we ware designed and
produced an original construction of an adequate experimental module and ii)
we ware realized hardware and program resources for
control and monitoring of this module which is the object of this work [5]. Ivanova Veronika, Ditchko BatchvarovV, Zlatoliliya
Ilcheva, Ani Boneva, Svetozar Ilchev, Alexander Alexandrov, Rumen Andreev, Experimental Studies of the Structure of Biological Tissues Through
Mechanical Effects with a Smart Laparoscopic Instrument, j. MATEC
Web of Conferences, eISSN: 2261-236X, Published by: EDP Sciences, Volume 287,
No. 07005, pp., 1-7, (Published online: 14 August 2019), DOI:
https://doi.org/10.1051/matecconf/201928707005 (SJR2018 – 0,169) https://www.matec-conferences.org/articles/matecconf/pdf/2019/36/matecconf_pt2019_07005.pdf
https://www.bapt.eu/sbornik/3-2019.pdf Abstract.
The article presents investigations in the area of the analysis of heterogeneous
biological tissues using tools based on mechanical stimulations. Some known
tissue mechanical models are presented along with one approach for specifying
the tissue internal structure by measuring mechanical macro parameters of the
research tools. The methodology of micro and macro stimulation is described
and the construction of an experimental model of a smart laparoscopic tool
for its realization is presented [6]. Ivanova Veronika, Ditchko
BatchvarovV, Ani Boneva, Zlatoliliya
Ilcheva, A
Basic Platform and Electronics Interfaces Board for Family Therapeutics Tools
to Surgical Robots, Journal
PROCEEDINGS IN MANUFACTURING SYSTEMS, Romanian Academy Publishing House,
Volume 14, Issue 1, 2019, ISSN-L 2067-9238., ISSN 2343–7472, pp. 21-26 http://www.icmas.eu/Journal_archive_files/Vol_14-Issue1-2019_PDF/21-26+IVANOVA.pdf Abstract: Robotic technologies are advancing in the field
of minimally invasive surgery. The last decade, more than 1.5 million
laparoscopic surgical procedures, including gynecologic, cardiac, urology,
thoracic, and general surgery, have been performed by popular robotic and
mechatronic systems for minimally invasive surgery. In contrast to big
popular robot systems, which are designed for manipulation and video
observation, this paper describes a novel instrument for therapy. The purpose
of the paper is to present the design of a compact, convenient, simplified,
better, and affordable priced device, so that small hospitals can access and
benefit from these systems. The ultimate goal is to radically improve the
quality and efficiency of healthcare. [7]. IVANOVA Veronika, Dichko
BACHVAROV, Ani BONEVA, Smart Surgical Instruments for Robots, International Conference “Robotics &
Mechatronics and Social Implementations”2018, 28.08. – 01.09.2018, Varna, j.
Scientific Announcements, ISSN 1310-3946, ISSN 2603-4697 (Online), /Year
XXVI, Volume 4, Issue 225, Of The Scientific – Technical Union on Machine - Bilding, August 2018, Sofia, pp. 98 – 103, http://ir.bas.bg/ccs/2018/19_ivanova.pdf Abstract:
Robotic and mechatronic systems
already are making their way into the operating room The objective of this work
is design of a compact , convenient ,simplified, with better possibilities
and at suitable price intelligent instruments for robots with application in
laparoscopic surgery thereby and the small hospitals to have accesses and
patient benefit from it. The ultimate aim of the work is radical improvements
to the quality and efficiency of our healthcare. In contrast to daVinchi by Intuitive Surgical Incorporation and Zeus by
Computer Motion which instruments are designed for manipulation and video
observation this paper describes novel instrument with wide possibilities
including diagnostics and local therapy of carcinoma. The presented smart
instruments for robot are an attempt to offer a solution that satisfies in
some extent the complex requirements towards the computer-assisted
microsurgery. Practical experiments have been conducted with different soft
and elastic materials. The purpose of the carried out experiments is to
verify the working capacity of the instruments [8]. Bachvarov Dichko,
Ani Boneva, Veronika Ivanova, Yordanka Boneva, Boian Kirov, Katya Georgieva, Scientific Data Processing from Remote Objects, Proceedings for International Conference on
Big Data, Knowledge and Control Systems Engineering BdKCSE'2018, (21 November
2018), ISSN:2367-6450, IICT-BAS, John Atanasoff Society of Automatics and
Informatics, Sofia, Bulgaria, pp. 49 – 58. http://conference.ott-iict.bas.bg/wp-content/uploads/2018/12/BdKCSE'2018_site.pdf Abstract: The article presents some methods
and tools used for data processing of scientific data from remote objects.
“Remote objects” will be named all observed objects for which direct contact
of the researcher with them is impossible due to remoteness, unfavorable
conditions for a person's life or technological limitations. For such objects
it is typically that the researcher uses specialized intelligent electronic
devices, controlled remotely and designed for data collection. Examples are
Space scientific instruments, Autonomous research systems exploring the
world's oceans, Nuclear reactor monitors, Medical robotic systems, and other
scientific equipment operating autonomously and intended for control of
activities of great responsibility. Several basic stages (for the acquisition
and analysis of scientific data from remote objects) can be pointed out, each
of which involves the realization of specific information processing. This
article discusses scientific experiment infrastructure, communication methods,
specific noise proofing protocols, and relevant data structures that ensure
the execution of these stages. [9] Ivanova Veronika, Zlatoliliya
Ilcheva, Dichko
Bachvarov, Ani Boneva, Nesim Baruh, Control
system and sofware package for an experimental
module for robots applied in laparoscopyc surgery, Journal PROCEEDINGS IN MANUFACTURING
SYSTEMS, Romanian Academy Publishing House, Volume 13, Issue 1, 2018, ISSN
2067-9238., pp 3-10, /which is indexed and included in Index Copernicus
International, Ulrichsweb Global Serial Directory,
Google Scholar, and ProQuest/, http://www.icmas.eu/Volume13_Issue1_2018.htm#pp._113-118 Abstract: The
main target of everyone engineering work associated with minimally-invasive
surgery is to provide adequate tool-tissue force information to the surgeons
so that they can regain the "sense of touch" that has been lost
through laparoscopic surgery. In contrast to daVinchi
robots by Intuitive Surgical Incorporation which instruments are designed for
manipulation and video observation our institute developed family tools with
additional functions. Therefore, two main problems were solved: i) an original construction of an adequate experimental
module for robots was designed and produced, in which two force sensors was
incorporated to provide tool-tissue information (some of which were described
and discussed in a previous work), and ii) hardware and program resources for
control and monitoring of this module were achieved, this being the object of
this work. The computer program includes information about various
measurements of the tip tool-contact surface interactions and data obtained
from the experimental module that is used to find the difference between data
from previous measurement and information received in real time. Another
signification advantage of the proposed program solution is the graphical
visualization of the measurements and comparison of the results. Therefore,
the surgeon can give the adequate command to force interaction between the
instrument and tissue. For verification of the functionality and working
capacity of the experimental module with force feedback capabilities of
robots, different experiments with the designed control system were
conducted. [10]. Bachvarov D., Ivanova V., Ilcheva Z., Boneva A., Baruh N., Technology
for Implementation of Operating Station with TCL-TK Based Structures.
Applications,
Proceedings: III International Scientific Conference “HIGH TECHNOLOGIES.
BUSINESS. SOCIETY 2018” – HTBS’18, 12 - 15 March, 2018, Borovets, Bulgaria, ,
ISSN 2535-0005 (Print), ISSN 2535-0013 (Online), Vol.1, issue1(3), Publ.
Scientific Technical Union of Mechanical Engineering Industry - 4.0,
pp.48-51, http://www.hightechsociety.eu/sbornik/1-2018.pdf Abstract: In this
publication is presented a method for design of an operating station based on
a TCL / TK - portable open source programmed platform, implemented for
different operating systems (Windows, Unix, Linux, Solaris, Android). In the
article three possible approaches to building an operator station are
considered: (1)
Classical approach which is realized by using of “event processing”, “call back” and
“graphical tools” features of TCL/TK; (2) The
"Multi- interpreters" realisation using a
number of interpreters of TCL; (3)
“Multi- threads" mode, including cooperative working of one or more
program threads. The
described approaches are illustrated by presented implementation of an
operating station to wireless control system for a group of intelligent
instruments which are designed for laparoscopic surgery. [11].
Bachvarov Dichko, Ani Boneva, Nesim Baruh, Simeon Angelov, Yordanka Boneva, Zlatoliliya Ilcheva, Veronika
Ivanova, Integrated system for managing microclimate, lighting
and energy consumption in technological premises WMCS 100,
Proceedings for International Conference on Big Data, Knowledge and Control Systems
Engineering - BdKCSE'2017 , (7 December 2017), ISSN:2367-6450, IICT-BAS, John
Atanasoff Society of Automatics and Informatics, 2018, Sofia, Bulgaria, pp.
61-70, http://conference.ott-iict.bas.bg/ [12].
D. Batchvarov, A. Boneva, Z. Ilcheva,
S. Angelov , V. Ivanova, TOOLS FOR CONTROL
OF MECHATRONIC OBJECTS USING THE WIRELESS NETWORK STACK uMAC,
Proceedings for International Conference AUTOMATICS AND INFORMATICS’2017 4-6
October 2017, 2. Session ROBOTICS AND
MECHATRONICS, ISSN 1313-1850, CD: ISSN 1313-1869, JOHN ATANASOFF
SOCIETY OF AUTOMATICS AND INFORMATICS, ,Sofia, Bulgaria, pp. 77 – 80. Abstract: A realization of wireless tools
for control of mechatronic objects is
presented in this article. They are based on the wireless stack uMAC and use wireless microcontrollers designed for NXP
chips (JN5148 or JN5168). The control system includes two functional types of
communication devices – Gateway and Controller. They are working as IEEE
802.15.4 coordinators of empty wireless LANs (only the coordinator is
included). A forward and backward conversion of the serial channel (3.3V)
into a USB channel is realized in the Gateway device. The Gateway consists of
a Communicator based on the JN5168-001-M00 microcontroller and an embedded
USB-adapter chip. Each one of the Controllers consists of a Communicator,
based on JN5148-001-M00 and a periphery module attached to it. The latter
module controls the sensors and the actuators connected to the controlled
object. An Operating station based on a PC is also designed. It has the
ability to set the microcontroller states and to monitor the controlled objects
states. Two logical channels are enabled for command control and
communications: (1) On-Line working with the Operating station and using its
abilities; (2)In-Line working directly with the USB
using a specially designed command language. [13]. Boneva A., Z. Ilcheva, D.
Bachvarov, S. Angelov, N. Baruh, G. Isaev , USE
OF THE HIGHWAY '“1-wire bus” "AS A TRANSPORT LAYER IN THE IMPLEMENTATION
OF COMMUNICATION PROTOCOLS FOR INTELLIGENT DEVICES. Abstract: In the article is
present one method for design of Distributed Data Acquisition Remote Sensors
System, using “1- wire bus” as transport layer for emulation of different
sensors interfaces. There are defined requirements to the “basic” and “emulated”
interfaces and software and hardware solutions for BPMIO system. [14]. Bachvarov D, Z. Ilcheva,
A Boneva, S. Angelov, N. Baruh,G.Isaev, RS485+:
EXTENSION OF THE STANDARD RS485 HIGHWAY THROUGH INCLUSION GROUPS OF WIRED AND
WIRELESS (RADIO) MODULES IN ITS TOPOLOGICAL STRUCTURE. Abstract: The
article presents an extension of the standard RS485 highway by adding groups
of wired and wireless modules, discusses hardware and software realisations
of networks based on this approach in BPMIO systems and the changes in the
standard protocol for their support. In the text are referred the advantages
of using RS485+ when building network structures. [15].
Ani Boneva, Dichko Bachvarov, Simeon Angelov, Nesim Baruh, Ilko Stojanov,
Jordan Doshev, FIRMWARE
OF WIRELESS SENSOR MODULE SEN-100
Abstract: The article presents one hardware/software
solution for upgrading of basic JN5148 firmware to build a SEN-100 firmware.
Features of the software design are defining of two new objects – sensor
drivers and extended functions and the extension with their use of the
program memory size and flexibility of the system. It is described the
structure of the objects and are shown their applications to solve a number
of SEN-100 firmware design
difficulties.
[16]. Ditchko Batchvarov,
Ani Boneva, Simeon Angelov SYSTEM FOR MONITORING AND DOCUMENTATION OF TEMPERATURE AND HUMIDITY IN
THE MANUFACTURING FACILITIES OF A COMPANY Abstract: The article presents the developed and
implemented "System for monitoring and documentation of temperature and
humidity in the manufacturing facilities of a company. PAL There are
presented system architecture and special designed software. [17]. Ditchko Batchvarov,
Ani Boneva, Simeon Angelov WIRELESS SYSTEM FOR CONTROL OF MECHATRONIC OBJECTS Abstract: In the article is presented the
realization of “Wireless system for control of mechatronic objects”. It is
based on IEEE 802.15.4 and uses wireless microcontrollers, designed for chips
of NXP (JN5139, JN5148 or JN5168). The control system includes two types of
communication devices –“Coordinator” and “End Device”. They are working as
nodes in the wireless LAN. In the device “Coordinator” is realized a gateway
–for a conversion of the serial channel (3.3V RS232) into “USB”.
“Coordinator” consists of “Communicator module”, based on
JN5139/48/68-001-M00 microcontroller, and a “dongle module” with embedded
“USB-adapter” chip. “End Device” consists of “Communicator module” and
coupled by it “periphery module”. The last module is controlling the sensors
and actuators, connected to the controlled object. It is designed “Operating
station” based on PC. It has ability for setting the microcontroller states
and monitoring of the controlled objects states. Two logical channels are
included for command communications: (1)”On-Line”, working with the “Operating station” and using it
abilities; (2)”In-Line”, working with “USB” and special designed command
language only. [18]. Dichko Bachvarov, Ani Boneva, Yordanka
Boneva, Simeon Angelov, Simple
wireless stack, based on IEEE 802.15.4, used for process - control
applications Abstract: The article presents a simple wireless
networking stack (based on IEEE 802.15.4). This stack is the extension of the
popular IEEE 802.15.4, and provides developers design capabilities of
managing wireless networks, bypassing the complexity of software structures
typical of other stacks. The structure of the stack meet
the requirements of process- control and design of multi-network-specific
industrial applications. Included are options such as "routng" and "tree- topology" not supported
by IEEE 802.15.4 (typical for large stacks). In the stack is implemented
logical "multi-wire" processing, which enables the construction of
multi wireless networks. |