J. Medical Robotics Res.最新文献_第10页

Ultrasound-Guided Model Predictive Control of Needle Steering in Biological Tissue 生物组织中针导向的超声引导模型预测控制

J. Medical Robotics Res. Pub Date : 2016-04-05 DOI: 10.1142/S2424905X16400079

Mohsen Khadem, C. Rossa, R. Sloboda, N. Usmani, M. Tavakoli

{"title":"Ultrasound-Guided Model Predictive Control of Needle Steering in Biological Tissue","authors":"Mohsen Khadem, C. Rossa, R. Sloboda, N. Usmani, M. Tavakoli","doi":"10.1142/S2424905X16400079","DOIUrl":"https://doi.org/10.1142/S2424905X16400079","url":null,"abstract":"In needle-based medical procedures, beveled tip flexible needles are steered inside soft tissue to reach the desired target locations. In this paper, we have developed an autonomous image-guided needle steering system that enhances targeting accuracy in needle insertion while minimizing tissue trauma. The system has three main components. First is a novel mechanics-based needle steering model that predicts needle deflection and accepts needle tip rotation as an input for needle steering. The second is a needle tip tracking system that determines needle deflection from the ultrasound images. The needle steering model employs the estimated needle deflection at the present time to predict needle tip trajectory in the future steps. The third component is a nonlinear model predictive controller (NMPC) that steers the needle inside the tissue by rotating the needle beveled tip. The MPC controller calculates control decisions based on iterative optimization of the predictions of the needle steering model. To validate the proposed ultrasound-guided needle steering system, needle insertion experiments in biological tissue phantoms are performed in two cases–with and without obstacle. The results demonstrate that our needle steering strategy guides the needle to the desired targets with the maximum error of 2.85mm.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132238129","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: 34

SpinoTemplate: A Platform for MRI-Guided Spinal Cord Injections SpinoTemplate: mri引导下的脊髓注射平台

J. Medical Robotics Res. Pub Date : 2016-04-05 DOI: 10.1142/S2424905X16400067

Alexander Squires, J. Oshinski, J. Lamanna, Z. Tse

引用次数: 3

An Immersive Virtual Reality Environment for Diagnostic Imaging 用于诊断成像的沉浸式虚拟现实环境

J. Medical Robotics Res. Pub Date : 2016-04-05 DOI: 10.1142/S2424905X16400031

Franklin King, J. Jayender, S. Bhagavatula, P. Shyn, Steven D. Pieper, T. Kapur, A. Lasso, G. Fichtinger

{"title":"An Immersive Virtual Reality Environment for Diagnostic Imaging","authors":"Franklin King, J. Jayender, S. Bhagavatula, P. Shyn, Steven D. Pieper, T. Kapur, A. Lasso, G. Fichtinger","doi":"10.1142/S2424905X16400031","DOIUrl":"https://doi.org/10.1142/S2424905X16400031","url":null,"abstract":"Purpose: Advancements in and adoption of consumer virtual reality (VR) are currently being propelled by numerous upcoming devices such as the Oculus Rift. Although applications are currently growing around the entertainment field, wide-spread adoption of VR devices opens up the potential for other applications that may have been unfeasible with past implementations of VR. A VR environment may provide an equal or larger screen area than what is provided with the use of multiple conventional displays while remaining comparatively cheaper and more portable making it an attractive option for diagnostic radiology applications. Methods A VR application for the viewing of multiple image slices was designed using: the Oculus Rift head-mounted display (HMD), Unity, and 3D Slicer. Volumes loaded within 3D Slicer are sent to a Unity application that proceeds to render a scene for the Oculus Rift HMD. Users may interact with the images adjusting windowing and leveling using a handheld gamepad controller. Multiple images may be brought closer to the user for detailed inspection. Results Application usage was demonstrated with the simultaneous visualization of longitudinal slices of a serial CT scan of a patient with a lung nodule. Pilot studies for validating usage of the VR system for differential diagnosis and remote collaboration were performed. Initial results suggest that using the VR system increased both task load and time taken to complete tasks, however, the resulting accuracy in assessing nodule growth of nodules was not significantly different than that achieved using a DICOM viewer application on a traditional display.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131510611","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: 42

Editorial - Special Issue on Image-Guided Intelligent Interventions 社论-图像引导智能干预特刊

J. Medical Robotics Res. Pub Date : 2016-04-05 DOI: 10.1142/S2424905X16010017

J. Jagadeesan, J. Tokuda

引用次数: 0

3D Catheter Shape Reconstruction Using Electromagnetic and Image Sensors 利用电磁和图像传感器进行三维导管形状重建

J. Medical Robotics Res. Pub Date : 2015-09-12 DOI: 10.1142/S2424905X17400098

P. T. Tran, Ping-Lin Chang, H. Praetere, Julie Maes, D. Reynaerts, J. Sloten, D. Stoyanov, E. V. Poorten

引用次数: 16

Real-Time Camera Localization during Robot-Assisted Telecystoscopy for Bladder Cancer Surveillance 机器人辅助远膀胱镜用于膀胱癌监测的实时摄像机定位

J. Medical Robotics Res. Pub Date : 1900-01-01 DOI: 10.1142/S2424905X22410021

Chen Gong, Yaxuan Zhou, Andrew Lewis, Pengcheng Chen, Jason R. Speich, Michael P. Porter, B. Hannaford, E. Seibel