2023 International Symposium on Medical Robotics (ISMR)最新文献_第4页

dVPose: Automated Data Collection and Dataset for 6D Pose Estimation of Robotic Surgical Instruments dVPose:机器人手术器械6D姿态估计的自动数据收集和数据集

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130238

Nicholas Greene, Wenkai Luo, P. Kazanzides

{"title":"dVPose: Automated Data Collection and Dataset for 6D Pose Estimation of Robotic Surgical Instruments","authors":"Nicholas Greene, Wenkai Luo, P. Kazanzides","doi":"10.1109/ISMR57123.2023.10130238","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130238","url":null,"abstract":"We present dVPose, a realistic multi-modality dataset intended for use in the development and evaluation of real-time single-shot deep-learning based 6D pose estimation algorithms on a head mounted display (HMD). In addition to the dataset, our contribution includes an automated (robotic) data collection platform that integrates an accurate optical tracking system to provide the ground-truth poses. We collected a comprehensive set of data for vision-based 6D pose estimation, including images and poses of the extra-corporeal portions of the instruments and endoscope of a da Vinci surgical robot. The images are collected using the multi-camera rig of the Microsoft HoloLens 2 HMD, mounted on a UR10 robot, and the corresponding poses are collected by optically tracking both the instruments/endoscope and HMD. The intended application is to enable markerless localization of the HMD with respect to the da Vinci robot, considering that the instruments and endoscope are among the few robotic components that are not covered by sterile drapes. Our dataset features synchronized images from the RGB, depth, and grayscale cameras of the HoloLens 2 device. It is unique in that it provides medically focused images, provides images from a HoloLens 2 device where object tracking is a fundamental task, and provides data from multiple visible-light cameras in addition to depth. Furthermore, the automated data collection platform can be easily adapted to collect images and ground-truth poses of other objects.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120988519","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}

引用次数: 0

Towards Closed-loop Control of the Modified COAST Guidewire under Fluoroscopic Imaging for Endotracheal and Endovascular Interventions 改良COAST导丝在气管和血管内介入透视下的闭环控制研究

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130202

Sharan R. Ravigopal, Kirsten M. Williams, J. Desai

{"title":"Towards Closed-loop Control of the Modified COAST Guidewire under Fluoroscopic Imaging for Endotracheal and Endovascular Interventions","authors":"Sharan R. Ravigopal, Kirsten M. Williams, J. Desai","doi":"10.1109/ISMR57123.2023.10130202","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130202","url":null,"abstract":"Lung infections in children remain challenging to diagnose despite the use of bronchoalveolar lavage (BAL), in which sterile saline flushes a lung segment and a sample is tested for pathogens. The yield of BAL is low as less fluid can be inserted since the size of the children's lungs is small, and the site of infection is often far distal to the position of the bronchoscope. In addition, it poses additional risks or complications as the saline is also absorbed into the lung parenchyma. A smaller, robotic device could traverse further along the bronchial tree and guide to the site of infection, increasing the successful identification of the pathogen to decrease complications of the BAL procedure. Likewise, treatment of endovascular disease also often involves catheterization, which requires a highly experienced interventional cardiologist to place guidewires at the target location, typically using fluoroscopic imaging to localize the guidewire during the procedure. However, inaccurate placement of these robotic guidewires can lead to unsuccessful procedural outcomes. Robotic manipulation of guidewires could provide better control of the device. We propose an automated approach for closed-loop control of the modified COaxially Aligned STeerable (COAST) guidewire under fluoroscopic imaging in phantoms. Deep learning architectures are used to determine the workspace, position, and orientation of the guidewire in two dimensions. This information is used for path planning and traversal in a phantom. From the centerline of the guidewire, the parameters for the modified COAST guidewire are determined to generate estimated joint actuations, which are compared to the actual joint actuations to autonomously correct for the error in the guidewire tip position for closed-loop control.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128395471","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}

引用次数: 0

Mixed Reality Based Teleoperation of Surgical Robotics 基于混合现实的外科机器人远程操作

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130178

An Chi Chen, Muhammad Hadi, P. Kazanzides, Ehsan Azimi

引用次数: 0

Deep Kernel and Image Quality Estimators for Optimizing Robotic Ultrasound Controller using Bayesian Optimization 基于贝叶斯优化的机器人超声控制器的深度核和图像质量估计

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130193

Deepak Raina, S. Chandrashekhara, R. Voyles, J. Wachs, S. Saha

{"title":"Deep Kernel and Image Quality Estimators for Optimizing Robotic Ultrasound Controller using Bayesian Optimization","authors":"Deepak Raina, S. Chandrashekhara, R. Voyles, J. Wachs, S. Saha","doi":"10.1109/ISMR57123.2023.10130193","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130193","url":null,"abstract":"Ultrasound is a commonly used medical imaging modality that requires expert sonographers to manually maneuver the ultrasound probe based on the acquired image. Autonomous Robotic Ultrasound (A-RUS) is an appealing alternative to this manual procedure in order to reduce sonographers' workload. The key challenge to A-RUS is optimizing the ultrasound image quality for the region of interest across different patients. This requires knowledge of anatomy, recognition of error sources and precise probe position, orientation and pressure. Sample efficiency is important while optimizing these parameters associated with the robotized probe controller. Bayesian Optimization (BO), a sample-efficient optimization framework, has recently been applied to optimize the 2D motion of the probe. Nevertheless, further improvements are needed to improve the sample efficiency for high-dimensional control of the probe. We aim to overcome this problem by using a neural network to learn a low-dimensional kernel in BO, termed as Deep Kernel (DK). The neural network of DK is trained using probe and image data acquired during the procedure. The two image quality estimators are proposed that use a deep convolution neural network and provide real-time feedback to the BO. We validated our framework using these two feedback functions on three urinary bladder phantoms. We obtained over 50% increase in sample efficiency for 6D control of the robotized probe. Furthermore, our results indicate that this performance enhancement in BO is independent of the specific training dataset, demonstrating inter-patient adaptability.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115823356","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}

引用次数: 1

Physiological Motion Compensation in Patch Clamping using Electrical Bio-impedance Sensing 基于电生物阻抗传感的贴片夹持中的生理运动补偿

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130269

Kaat Van Assche, Yao-ping Zhang, M. Ourak, Eric Verschooten, P. Joris, E. V. Poorten

{"title":"Physiological Motion Compensation in Patch Clamping using Electrical Bio-impedance Sensing","authors":"Kaat Van Assche, Yao-ping Zhang, M. Ourak, Eric Verschooten, P. Joris, E. V. Poorten","doi":"10.1109/ISMR57123.2023.10130269","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130269","url":null,"abstract":"Patch clamping of neurons is a powerful technique used to understand the electrophysiological signals of the brain and advance research into neurological disorders. In in vivo patch clamping, a micropipette is clamped onto the membrane of a neuronal cell body. This technique is difficult and time-consuming to perform due to the challenges in approaching neurons because of their small size, the absence of visual feedback, and physiologically induced movement caused by heartbeat and breathing. This paper presents a model-based motion compensation algorithm relying solely on electrical bio-impedance (EBI) sensing. The ultimate goal is to cancel out the relative motion between the patch-pipette and the neuron to increase in vivo patch clamping efficiency. In the proposed algorithm, EBI-pipette measurements in response to physiologically induced motions are used to impose on the pipette a motion similar to that of the neuron. The model is based on the assumption that physiological motion can be approximated by a sinusoidal model with three parameters: frequency, phase, and amplitude. The developed compensation algorithm was evaluated in an experimental setup and results yielded a compensation efficiency of $(85.5pm 3.6)%,(81.9 pm 4.0)%,(75.9pm 1.8)%$ for artificially imposed motions of 1 Hz, 2 Hz and 3 Hz with an amplitude of $31 upmu mathrm{m}$. The algorithm also demonstrated that it can adjust its motion characterization in real time to changes in amplitude, phase, and also frequency.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127085945","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}

引用次数: 1

Towards Safe and Efficient Reinforcement Learning for Surgical Robots Using Real-Time Human Supervision and Demonstration 利用实时人类监督和演示实现手术机器人安全高效的强化学习

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130214

Yafei Ou, M. Tavakoli

引用次数: 2

Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws 柔性椎弓根螺钉脊柱固定可操纵钻孔机器人的生物力学感知设计

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130273

Susheela Sharma, Yuewan Sun, Sarah Go, J. Amadio, Mohsen Khadem, A. Eskandari, F. Alambeigi

引用次数: 2

Towards an MRI-Compatible Flexible Endoscopic Robot for Transsphenoidal Neurosurgery 用于经蝶神经外科的核磁共振兼容柔性内窥镜机器人

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130235

Boshen Qi, Hengjie Chen, J. Langley, B. Badie, Xiaoping Hu, Jun Sheng

引用次数: 0

Velocity Control for the da Vinci Research Kit 达芬奇研究套件的速度控制

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130265

Jintan Zhang, P. Kazanzides

{"title":"Velocity Control for the da Vinci Research Kit","authors":"Jintan Zhang, P. Kazanzides","doi":"10.1109/ISMR57123.2023.10130265","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130265","url":null,"abstract":"The da Vinci Research Kit (dVRK) consists of open-source electronics and software that provides access to all levels of control but, until now, has relied primarily on an inner motor current control loop in analog hardware and an outer position control loop on the PC. In this work, we present a low-level velocity control loop, implemented on the FPGA, as an alternative to the PC-based (existing) position controller or (potential) velocity controller. The proposed velocity controller takes advantage of hardware-based measurement of the encoder period, which is inversely proportional to velocity. To avoid division on the FPGA, we implement closed loop control of the encoder period. Our implementation requires the controller gains to be adjusted based on the reference period; thus, the PC supplies both the reference period and the adjusted gains. We evaluate the proposed controller against a conventional implementation of a velocity control loop wrapped around the existing position control loop on the PC. The results demonstrate that the proposed controller yields improvements in tracking performance and disturbance rejection. The proposed velocity controller will be released open source to the dVRK community.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133181262","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}

引用次数: 0

Enabling Higher Performance Concentric Tube Robots Via Multiple Constant-Curvature Tubes 通过多个恒定曲率管实现更高性能的同心管机器人

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130226

Alex Lu, Felipe Ramos, JuiTeng Lin, Tania. K. Morimoto

引用次数: 0