J. Medical Robotics Res.最新文献_第8页

Integrative Upper-Limb Rehabilitation with BrightArm DuoTM in the Early Sub-Acute Phase of Recovery Post-Stroke 脑卒中后早期亚急性期康复的综合上肢康复

J. Medical Robotics Res. Pub Date : 2017-03-17 DOI: 10.1142/S2424905X17400049

G. House, G. Burdea, N. Grampurohit, K. Polistico, D. Roll, F. Damiani

引用次数: 3

Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation 最大覆盖脑出血引流管式机器人优化算法比较

J. Medical Robotics Res. Pub Date : 2017-02-26 DOI: 10.1142/S2424905X17500040

J. Granna, Yi Guo, K. Weaver, J. Burgner-Kahrs

引用次数: 9

Automated Task Load Detection with Electroencephalography: Towards Passive Brain-Computer Interfacing in Robotic Surgery 自动任务负荷检测与脑电图:迈向被动脑机接口在机器人手术

J. Medical Robotics Res. Pub Date : 2017-02-26 DOI: 10.1142/S2424905X17500039

T. Zander, K. Shetty, R. Lorenz, D. Leff, L. R. Krol, A. Darzi, K. Gramann, Guang-Zhong Yang

引用次数: 27

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks 复杂心脏消融任务连续统机器人的自主控制

J. Medical Robotics Res. Pub Date : 2017-02-26 DOI: 10.1142/S2424905X17500027

Michael C. Yip, Jake Sganga, David B. Camarillo

{"title":"Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks","authors":"Michael C. Yip, Jake Sganga, David B. Camarillo","doi":"10.1142/S2424905X17500027","DOIUrl":"https://doi.org/10.1142/S2424905X17500027","url":null,"abstract":"Continuum manipulators enable minimally-invasive surgery on the beating heart, but the challenges involved in manually controlling the manipulator’s tip position and contact force with the tissue result in failed procedures and complications. The objective of this work is to achieve autonomous robotic control of a continuum manipulator’s position and force in a beating heart model. We present a model-less hybrid control approach that regulates the tip position/force of manipulators with unknown kinematics/mechanics, under unknown constraints along the manipulator’s body. The algorithms estimate the Jacobian in the presence of heartbeat disturbances and sensor noise in real time, enabling closed-loop control. Using this model-less control approach, a robotic catheter autonomously traced clinically relevant paths on a simulated beating heart environment while regulating contact force. A gating procedure is used to tighten the treatment margins and improve precision. Experimental results demonstrate the capabilities of the robot (1.4±1.1mm–1.9±1.4mm tracking error) while user demonstrations show the difficulty of manually performing the same task (2.6±2.0mm–4.3±3.9mm tracking error). This new, robotically-enabled contiguous ablation method could reduce ablation path discontinuities, improve consistency of treatment, and therefore improve clinical outcomes.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128605918","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

Intraoperative Manufacturing of Patient-Specific Instrumentation for Shoulder Arthroplasty: A Novel Mechatronic Approach 肩关节置换术中制造患者专用器械:一种新的机电一体化方法

J. Medical Robotics Res. Pub Date : 2016-11-30 DOI: 10.1142/S2424905X16500057

A. Darwood, R. Secoli, Stuart A. Bowyer, A. Leibinger, R. Richards, P. Reilly, A. Dawood, A. Tambe, R. Emery, F. Baena

{"title":"Intraoperative Manufacturing of Patient-Specific Instrumentation for Shoulder Arthroplasty: A Novel Mechatronic Approach","authors":"A. Darwood, R. Secoli, Stuart A. Bowyer, A. Leibinger, R. Richards, P. Reilly, A. Dawood, A. Tambe, R. Emery, F. Baena","doi":"10.1142/S2424905X16500057","DOIUrl":"https://doi.org/10.1142/S2424905X16500057","url":null,"abstract":"Optimal orthopaedic implant placement is a major contributing factor to the long term success of all common joint arthroplasty procedures. Devices such as three-dimensional (3D) printed, bespoke guides and orthopaedic robots are extensively described in the literature and have been shown to enhance prosthesis placement accuracy. These technologies, however, have significant drawbacks, such as logistical and temporal inefficiency, high cost, cumbersome nature and difficult theatre integration. A new technology for the rapid intraoperative production of patient-specific instrumentation, which overcomes many of the disadvantages of existing technologies, is presented here. The technology comprises a reusable table side machine, bespoke software and a disposable element comprising a region of standard geometry and a body of moldable material. Anatomical data from computed tomography (CT) scans of 10 human scapulae was collected and, in each case, the optimal glenoid guidewire position was digitally planned and recorded. The achieved accuracy compared to the pre-operative bespoke plan was measured in all glenoids, from both a conventional group and a guided group (GG). The technology was successfully able to intraoperatively produce sterile, patient-specific guides according to a pre-operative plan in 5min, with no additional manufacturing required prior to surgery. Additionally, the average guidewire placement accuracy was 1.58mm and 6.82∘ in the manual group, and 0.55mm and 1.76∘ in the guided group, also demonstrating a statistically significant improvement.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133816781","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

A Four-DOF Laparo-Endoscopic Single Site Platform for Rapidly-Developing Next-Generation Surgical Robotics 用于快速发展的下一代手术机器人的四自由度腹腔镜内窥镜单点平台

J. Medical Robotics Res. Pub Date : 2016-11-30 DOI: 10.1142/S2424905X16500069

Lou Cubrich, Mark Reichenbach, Jay D. Carlson, Andrew Pracht, B. Terry, D. Oleynikov, S. Farritor

引用次数: 4

A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks 自主执行手术任务的认知机器人控制体系结构

J. Medical Robotics Res. Pub Date : 2016-11-30 DOI: 10.1142/S2424905X16500082

Nicola Preda, F. Ferraguti, G. Rossi, C. Secchi, R. Muradore, P. Fiorini, M. Bonfè

引用次数: 18

Using General-Purpose Serial-Link Manipulators for Laparoscopic Surgery with Moving Remote Center of Motion 应用通用串联机械手进行远程运动中心移动的腹腔镜手术

J. Medical Robotics Res. Pub Date : 2016-11-30 DOI: 10.1142/S2424905X16500070

M. M. Marinho, M. Bernardes, A. P. Bó

{"title":"Using General-Purpose Serial-Link Manipulators for Laparoscopic Surgery with Moving Remote Center of Motion","authors":"M. M. Marinho, M. Bernardes, A. P. Bó","doi":"10.1142/S2424905X16500070","DOIUrl":"https://doi.org/10.1142/S2424905X16500070","url":null,"abstract":"Minimally invasive surgical systems are being widely used to aid operating rooms across the globe. Although arguably successful in laparoscopic surgery, the da Vinci robotic system has limitations mostly regarding cost and lack of patient physiological motion compensation. To obtain a more cost-effective alternative, earlier works used general-purpose fully actuated serial-link robots to control instruments in laparoscopic research using constrained Jacobian techniques. In contrast with those works, we present a new technique to solve the laparoscopic constraints for the serial-link manipulator by using a constrained trajectory. This novel technique allows complex 3D remote center-of-motion trajectories to be taken into account. Moreover, it does not have problems related to drifting, and is less prone to singularity related issues as it can be used with redundant manipulators. The proof-of-concept experiments are done by performing artificial trajectories with static and moving trocar points using a physical robot manipulator. Furthermore, the system is tested using user input of 13 medically untrained personnel in an endoscope navigation task. The experiments show that the system can be operated reliably under arbitrary and unpredictable user inputs.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126403445","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: 16

An Automatic Registration Method for Radiation-Free Catheter Navigation Guidance 一种无辐射导尿管导航自动配准方法

J. Medical Robotics Res. Pub Date : 2016-09-27 DOI: 10.1142/S2424905X16400092

Caspar Gruijthuijsen, Benoît Rosa, P. T. Tran, J. Sloten, E. V. Poorten, D. Reynaerts

{"title":"An Automatic Registration Method for Radiation-Free Catheter Navigation Guidance","authors":"Caspar Gruijthuijsen, Benoît Rosa, P. T. Tran, J. Sloten, E. V. Poorten, D. Reynaerts","doi":"10.1142/S2424905X16400092","DOIUrl":"https://doi.org/10.1142/S2424905X16400092","url":null,"abstract":"Catheter navigation is typically based on fluoroscopy. This implies exposure to harmful radiation, lack of depth perception and limited soft-tissue contrast. Catheter navigation would benefit from guidance that makes better use of detailed pre-operatively acquired MR/CT images, while reducing radiation exposure and improving spatial awareness of the catheter pose and shape. A prerequisite for such guidance is an accurate registration between the catheter tracking system and the MR/CT scans. Existing registration methods are lengthy and cumbersome as they require a lot of user interaction. This forms a major obstacle for their adoption into clinical practice. This paper proposes a radiation-free registration method that minimizes the impact on the surgical workflow and avoids most user interaction. The method relies on catheters with embedded sensors that provide intra-operative data that can either belong to the vessel wall or to the lumen of the vessel. Based on the acquired surface and lumen points an accurate registration is computed automatically, with minimal user interaction. Validation of the proposed method is performed on a synthetic yet realistic aorta phantom. Input from electromagnetic tracking, force sensing, and intra-vascular ultrasound are used as intra-operative sensory data.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130485232","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

Cognitive AutonomouS CAtheters Operating in Dynamic Environments 动态环境下的认知自主导尿管

J. Medical Robotics Res. Pub Date : 2016-09-27 DOI: 10.1142/S2424905X16400110

E. V. Poorten, P. T. Tran, A. Devreker, Caspar Gruijthuijsen, S. Díez, G. Smoljkic, V. Strbac, N. Famaey, D. Reynaerts, J. Sloten, Abraham Temesgen Tibebu, Bingbin Yu, C. Rauch, Felix Bernard, Y. Kassahun, J. H. Metzen, S. Giannarou, Liang Zhao, Su-Lin Lee, Guang-Zhong Yang, E. Mazomenos, Ping-Lin Chang, D. Stoyanov, Maryna Kvasnytsia, J. Deun, E. Verhoelst, M. Sette, Anita Di Iasio, G. Leo, Fabian Hertner, D. Scherly, Leandro Chelini, Nicolai Häni, D. Seatovic, Benoît Rosa, H. Praetere, P. Herijgers

{"title":"Cognitive AutonomouS CAtheters Operating in Dynamic Environments","authors":"E. V. Poorten, P. T. Tran, A. Devreker, Caspar Gruijthuijsen, S. Díez, G. Smoljkic, V. Strbac, N. Famaey, D. Reynaerts, J. Sloten, Abraham Temesgen Tibebu, Bingbin Yu, C. Rauch, Felix Bernard, Y. Kassahun, J. H. Metzen, S. Giannarou, Liang Zhao, Su-Lin Lee, Guang-Zhong Yang, E. Mazomenos, Ping-Lin Chang, D. Stoyanov, Maryna Kvasnytsia, J. Deun, E. Verhoelst, M. Sette, Anita Di Iasio, G. Leo, Fabian Hertner, D. Scherly, Leandro Chelini, Nicolai Häni, D. Seatovic, Benoît Rosa, H. Praetere, P. Herijgers","doi":"10.1142/S2424905X16400110","DOIUrl":"https://doi.org/10.1142/S2424905X16400110","url":null,"abstract":"Advances in miniaturized surgical instrumentation are key to less demanding and safer medical interventions. In cardiovascular procedures interventionalists turn towards catheter-based interventions, treating patients considered unfit for more invasive approaches. A positive outcome is not guaranteed. The risk for calcium dislodgement, tissue damage or even vessel rupture cannot be eliminated when instruments are maneuvered through fragile and diseased vessels. This paper reports on the progress made in terms of catheter design, vessel reconstruction, catheter shape modeling, surgical skill analysis, decision making and control. These efforts are geared towards the development of the necessary technology to autonomously steer catheters through the vasculature, a target of the EU-funded project Cognitive AutonomouS CAtheters operating in Dynamic Environments (CASCADE). Whereas autonomous placement of an aortic valve implant forms the ultimate and concrete goal, the technology of individual building blocks to reach such ambitious goal is expected to be much sooner impacting and assisting interventionalists in their daily clinical practice.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116511208","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: 5