2021 International Symposium on Medical Robotics (ISMR)最新文献_第3页

Design of a 6 DoF Parallel Robot for MRI-guided Interventions 六自由度mri引导干预并联机器人的设计

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661513

Mishek Musa, Saikat Sengupta, Yue Chen

引用次数: 4

Lymph Node Detection Using Robot Assisted Electrical Impedance Scanning and an Artificial Neural Network 利用机器人辅助电阻抗扫描和人工神经网络进行淋巴结检测

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661502

Alex Tinggaard Årsvold, Andreas Sørensen Zeltner, Zhuoqi Cheng, K. Schwaner, Pernille Tine Jensen, T. Savarimuthu

引用次数: 2

Model-to-Image Registration via Deep Learning towards Image-Guided Endovascular Interventions 基于深度学习的模型-图像配准，用于图像引导的血管内介入

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661511

Zhen Li, M. Mancini, G. Monizzi, D. Andreini, G. Ferrigno, J. Dankelman, E. Momi

{"title":"Model-to-Image Registration via Deep Learning towards Image-Guided Endovascular Interventions","authors":"Zhen Li, M. Mancini, G. Monizzi, D. Andreini, G. Ferrigno, J. Dankelman, E. Momi","doi":"10.1109/ismr48346.2021.9661511","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661511","url":null,"abstract":"Cardiologists highlight the need for an intra-operative 3D visualization to assist interventions. The intra-operative 2D X-ray/Digital Subtraction Angiography (DSA) images in the standard clinical workflow limit cardiologists’ views significantly. Compared with image-to-image registration, model-to-image registration is an essential approach taking advantage of the reuse of pre-operative 3D models reconstructed from Computed Tomography Angiography (CTA) images. Traditional optimized-based registration methods suffer severely from high computational complexity. Moreover, the consequence of lacking ground truth for learning-based registration approaches should not be neglected. To overcome these challenges, we introduce a model-to-image registration framework via deep learning for image-guided endovascular catheterization. This work performs autonomous vessel segmentation from intra-operative fluoroscopy images via a deep residual U-net and a model-to-image matching via a convolutional neural network. For this study, image data were collected from 10 patients who performed Transcatheter Aortic Valve Implantation (TAVI) procedures. It was found that vessel segmentation of test data results in median values of Dice Similarity Coefficient, Precision, and Recall of (0.75, 0.58, 0.67) for femoral artery, and (0.71, 0.56, 0.74) for aortic root. The segmentation network behaves better than manual annotation, and it recognizes part of vessels that were not labeled manually. Image matching between the transformed moving image and the fixed image results in a median value of Recall of 0.90. The proposed approach achieves a good accuracy of vessel segmentation and a good recall value of model-to-image matching.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126053316","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

A Compliant Robotic Wrist Orthosis Driven by Twisted String Actuators 一种由扭弦驱动器驱动的柔性机器人腕部矫形器

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661492

Thulani Tsabedze, Erik Hartman, Cianan Brennan, Jun Zhang

引用次数: 3

Plate-and-Cable (PAC) Haptic Device for Orthopaedic Training 矫形外科训练用板缆触觉装置

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661545

Naghmeh Zamani, Ashkan Pourkand, Heather Culbertson, David I. Grow

{"title":"Plate-and-Cable (PAC) Haptic Device for Orthopaedic Training","authors":"Naghmeh Zamani, Ashkan Pourkand, Heather Culbertson, David I. Grow","doi":"10.1109/ismr48346.2021.9661545","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661545","url":null,"abstract":"This paper presents the design of a 6-DOF hybrid impedance/admittance haptic device that targets simulation of bone drilling and related tasks. We present a prototype optimized for applications like bone drilling, cutting bone, spinal awl probe use, and other surgical techniques where a combination of high force and low impedance is required in different directions. The required performance cannot be satisfied by existing, off-the-shelf haptic devices. This design may allow critical improvements in simulator fidelity for surgery training. The device consists of two low-mass (carbon fiber) plates with a rod passing through them and constrained to move in only 2 DOF, allowing axial torque to be displayed to the user’s hand. These two parallel plates are controlled by four cables pulled by motors. We derive the forward kinematic equations and present the predicted distribution of location error, cable velocity, cable tension, and output force. These results and hardware tests indicate that this design may provide a revolutionary approach for the haptic display of many surgical procedures by means of an architecture that allows arbitrary workspace scaling.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127234223","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: 2

Sensor Fusion for Force and Position Calibration of a Motorized Surgical Smart Grasper 基于传感器融合的机动外科智能抓取器力与位置标定

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661520

Jack Kaplan, Yana Sosnovskaya, M. Arnold, B. Hannaford

引用次数: 1

MOPS: A Modular and Open Platform for Surgical Robotics Research MOPS:手术机器人研究的模块化和开放式平台

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661539

K. Schwaner, Iñigo Iturrate, J. K. Andersen, C. R. Dam, Pernille Tine Jensen, T. Savarimuthu

引用次数: 7

Development of a 6 Degrees of Freedom Prostate Brachytherapy Robot with Integrated Gravity Compensation System 集成重力补偿系统的6自由度前列腺近距离放射治疗机器人的研制

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661571

A. B. Halima, J. Bert, J.-F. Clément, D. Visvikis

{"title":"Development of a 6 Degrees of Freedom Prostate Brachytherapy Robot with Integrated Gravity Compensation System","authors":"A. B. Halima, J. Bert, J.-F. Clément, D. Visvikis","doi":"10.1109/ismr48346.2021.9661571","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661571","url":null,"abstract":"Low-dose rate prostate brachytherapy is one of the most widely used radiotherapy techniques for early stage cancer treatment due to its high benefits and low side effects. This method consists in manually inserting small radioactive seeds within the prostate through the perineum under ultrasound image guidance. This implantation is often inaccurate leading to mis-distributed dosimetry. Different robotic devices were proposed to improve the accuracy of seeds implantation. However, most of them are not well suitable for clinical conditions, especially considering bulk and size. Thus, in this paper we developed a 6 degrees of freedom compact and lightweight co-manipulated robot for prostate brachytherapy easy to install in the operating room thanks to its parallel design. The proposed robotic architecture impacts the accuracy of seeds placement along the gravity axis. Therefore, a gear spring mechanism is added into each leg of the robotic system in order to minimize the gravitational torques. The spring stiffness required to compensate gravity forces was calculated by determining the kinematic model and establishing the approximate perfect balancing condition. The final robot fits in a cube of 300×300×300 mm3 and permits to the needle to reach any point within the prostate in a singularity-free workspace superior to 55×55×150 mm3 with an average torque reduction rate of 82%.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117041127","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: 2

A Bi-directional User Interface for a Prosthetic Hand Using a Head-Mounted Display 使用头戴式显示器的假手双向用户界面

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661504

Dayeon Kim, Su-Bin Joo, Joonho Seo, P. Kazanzides

{"title":"A Bi-directional User Interface for a Prosthetic Hand Using a Head-Mounted Display","authors":"Dayeon Kim, Su-Bin Joo, Joonho Seo, P. Kazanzides","doi":"10.1109/ismr48346.2021.9661504","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661504","url":null,"abstract":"Prosthetic hands have the potential to restore functionality to humans who have lost their hands, but it remains challenging to design a prosthetic hand that mimics a biological hand and then to effectively integrate that mechanical hand with the human brain for both sensing and control. We focus on the human/prosthesis integration and propose an Augmented Reality Manipulation Interface (ARMI) to facilitate that bi-directional integration. ARMI enables the user to specify intent (control) to the prosthesis while providing guidance (feedback) to the user through perception of the environment via artificial intelligence. Specifically, ARMI identifies objects in the environment and automatically determines the grasping configuration and timing; once the user selects an object, ARMI provides guidance for the user to correctly position the prosthesis with respect to the object and then initiate an autonomous grasp. We perform preliminary experiments with the Microsoft HoloLens head-mounted display (HMD) and a robotic hand to demonstrate the concept. Results suggest that ARMI would currently provide the greatest benefit for novice users who have not yet mastered the prosthetic hand, whereas further system improvements are necessary to provide a benefit for more experienced users.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133152292","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

Surgical Skill Evaluation From Robot-Assisted Surgery Recordings 从机器人辅助手术记录中评估手术技能

2021 International Symposium on Medical Robotics (ISMR) Pub Date : 2021-11-17 DOI: 10.1109/ismr48346.2021.9661527

A. Soleymani, A. A. S. Asl, Mojtaba Yeganejou, Scott Dick, M. Tavakoli, Xingyu Li

{"title":"Surgical Skill Evaluation From Robot-Assisted Surgery Recordings","authors":"A. Soleymani, A. A. S. Asl, Mojtaba Yeganejou, Scott Dick, M. Tavakoli, Xingyu Li","doi":"10.1109/ismr48346.2021.9661527","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661527","url":null,"abstract":"Quality and safety are critical elements in the performance of surgeries. Therefore, surgical trainees need to obtain the required degrees of expertise before operating on patients. Conventionally, a trainee’s performance is evaluated by qualitative methods that are time-consuming and prone to bias. Using autonomous and quantitative surgical skill assessment improves the consistency, repeatability, and reliability of the evaluation. To this end, this paper proposes a video-based deep learning framework for surgical skill assessment. By incorporating prior knowledge on surgeon’s activity in the system design, we decompose the complex task of spatio-temporal representation learning from video recordings into two independent, relatively-simple learning processes, which greatly reduces the model size. We evaluate the proposed framework using the publicly available JIGSAWS robotic surgery dataset and demonstrate its capability to learn the underlying features of surgical maneuvers and the dynamic interplay between sequences of actions effectively. The skill level classification accuracy of 97.27% on the public dataset demonstrates the superiority of the proposed model over prior video-based skill assessment methods. The code of this paper will be available on Github at link: ${color{blue}{text{sourceCode}}}$.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114846855","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: 8