Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023最新文献

{"title":"Integrating a Real-time Surgical Robot Dynamic Simulator with 3D Slicer","authors":"Hongyi Fan, A. Munawar, M. Sahu, Russell Taylor, P. Kazanzides","doi":"10.31256/hsmr2023.45","DOIUrl":"https://doi.org/10.31256/hsmr2023.45","url":null,"abstract":"Background Medical robotics, particularly image- guided robotic systems, have revolutionized the surgical field by improving precision and accuracy. 3D Slicer(1), an open-source platform, has become a crucial tool in this field as it allows for visualization, processing, and registration of 2D and 3D medical imaging data, making it an essential component in current research in robotic intervention(2) (3). However, there is a missing compo- nent in 3D Slicer - a native physics engine for simulating the interaction of a robot with the anatomy. AMBF(4), an open-source software, was designed to address this issue by simulating the kinematics, dynamics, and in- teraction of complex surgical robots. By integrating 3D Slicer and AMBF using Robot Operating System (ROS), we can empower researchers to utilize both the extensive capabilities of 3D Slicer for visualization, processing, and registration of medical imaging data, and the physics- based constraint of AMBF for simulating the interac- tion of a robot with the anatomy. By combining these two platforms, researchers will have a comprehensive tool to study and develop projects in medical robotics, ulti- mately contributing to the advancement of the field.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115611135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Deep Learning Model for Tip Force Estimation on Steerable Catheters Via Learning-From-Simulation","authors":"M. Roshanfar, Pedram Fekri, J. Dargahi","doi":"10.31256/hsmr2023.17","DOIUrl":"https://doi.org/10.31256/hsmr2023.17","url":null,"abstract":"Atrial Fibrillation (AFib) is the most common arrhyth- mia among the elderly population, where electrical activity becomes chaotic, leading to blood clots and strokes. During Radio Frequency Ablation (RFA), the arrhythmogenic sites within the cardiac tissue are burned off to reduce the undesired pulsation. Manual catheters are used for most atrial ablations, however, robotic catheter intervention systems provide more precise map- ping. Several studies showed excessive contact forces (> 0.45 N) increase the incidence of tissue perforation, while inadequate force (< 0.1 N) results in ineffective ablation. Fig.1 shows a schematic of a cardiac RFA catheter used for AFib treatment. For robot-assisted RFA to be safe and effective, real-time force estimation of catheter’s tip is required. As a solution, finite element (FE) analysis can provide a useful tool to estimate the real-time tip contact force. In this work, a nonlinear planar FE model of a steerable catheter was first developed with parametric material properties in ANSYS software. After that, a series of simulations based on each mechanical property was performed, and the deformed shape of the catheter was recorded. Next, validation was conducted by comparing the results of the simulation with experimental results between the range of 0-0.45 N to determine the material properties. Despite the previous work, which was a study to estimate the tip contact force of a catheter using a deep convolutional neural network [1], [2], the main contribution of this study was proposing a synthetic data generation, so as to train a light deep learning (DL) architecture for tip force estimation according to the FE simulations. Due to the availability of real-time X-ray images during RFA procedures (fluoroscopy), the shape of the catheter is available intraoperatively. The proposed solution not only feeds the data-hungry methods based on DL with a sufficient amount of data, but also shows the feasibility of replacing the fast, accurate, and light-weight learning-based methods with slow simulations.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121208196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Computational Predictive Model for Full Body Controlled Soft Continuum Magnetic Robots under Hybrid Actuation","authors":"Kiana Abolfathi, J. Chandler, K. Ashkan, L. Citi, P. Valdastri, A. K. Hoshiar","doi":"10.31256/hsmr2023.50","DOIUrl":"https://doi.org/10.31256/hsmr2023.50","url":null,"abstract":"In recent years, medical microrobots have emerged as a non-invasive solution to many medical interventions [1, 2]. Soft continuum magnetic robots (SCMRs), a class of soft robots, were introduced as a promising method for endovascular intervention [1]. The small scale, adaptability, flexibility, and high controllability of SCMRs made them well suited for the clinical applications. The SCMRs originally introduced for endovascular intervention [1, 3], however, utilised rigid permanent magnets within their structure, increasing the risk of vascular trauma during deployment. Therefore, fully soft continuum magnetic robots (FSCMRs), made of magneto-responsive soft material, were introduced to improve their clinical implementation [4]. Imparting a lengthwise magnetisation profile into FSCMRs, full body shape forming is possible under application of homogeneous magnetic fields, improving conformation to anatomical structures. Shapes have been predicted for homogeneous electromagnet (EM) generated fields using computational models [5], and through permanent magnet (PM) actuation with mathematical models [6]. However, the whole-body modelling of FSCMRs under actuation via combinations of PM- and EM-generated fields has not been explored.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122395494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Novel Handheld Robotic System for Endoscopic Neurosurgery: A Cadaver Pilot Study","authors":"E. Dimitrakakis, G. Dwyer, Nicola Newall, D. Khan, H. Marcus, D. Stoyanov","doi":"10.31256/hsmr2023.61","DOIUrl":"https://doi.org/10.31256/hsmr2023.61","url":null,"abstract":"Neurosurgery has always been in need of adapting new technologies. Endoscopic Endonasal Transsphenoidal Surgery (EETS), a common minimally invasive neurosurgical technique, is especially in the need of innovation. This approach is performed via an anterior sphenoidotomy and aims at the removal of sellar and parasellar lesions with the use of an endoscope and rigid instruments [1]. Although a promising alternative to open brain-surgery, it comes with its limitations, namely the lack of instrument articulation and the constrained operative space of the nasal channel [2]. This work presents a novel handheld robotic instrument for endoscopic neurosurgery. The system is comprised of a series of articulated spherical-joint tendondriven 3𝑚𝑚 end-effectors, paired with an ergonomically designed handheld controller which does not require the shaft to be resting against a trocar-port. This first-of-itskind robotic instrument for neurosurgery was evaluated during a cadaver pilot study with preliminary results suggesting feasibility within a clinical context.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129636401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}