International Journal of Medical Robotics and Computer Assisted Surgery最新文献_第8页

Design and evaluation of a wearable vascular interventional surgical robot system 可穿戴式血管介入手术机器人系统的设计与评估。

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-22 DOI: 10.1002/rcs.2616

Haoyang Yu, Hongbo Wang, Yu Rong, Junyu Fang, Jianye Niu

{"title":"Design and evaluation of a wearable vascular interventional surgical robot system","authors":"Haoyang Yu, Hongbo Wang, Yu Rong, Junyu Fang, Jianye Niu","doi":"10.1002/rcs.2616","DOIUrl":"10.1002/rcs.2616","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Remote-controlled robotic vascular interventional surgery can reduce radiation exposure to interventional physicians and improve safety. However, inconvenient operation and lack of force feedback limit its application.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>A new wearable robotic system for vascular interventional surgery is designed, which is more flexible in operation. It ensures the safety of surgery through haptic force feedback. The system was evaluated by human vascular models and animal experiments.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The average static error of the system is 0.048 mm when the axial motion is 250 mm and 1.259° when the rotational motion is 400°. The average error of the force feedback is 0.021 N. The results of vascular model experiments and animal experiments demonstrate the feasibility and safety of the system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed robotic system can assist physicians in remotely delivering standard catheters or guidewires. The system is more flexible and uses haptic force feedback to ensure surgical safety.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Experiences of robot assisted thrombectomy with 2-year follow-up 机器人辅助血栓切除术的两年随访经验。

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-22 DOI: 10.1002/rcs.2611

Gong Cheng, Xiaoping Zhang

{"title":"Experiences of robot assisted thrombectomy with 2-year follow-up","authors":"Gong Cheng, Xiaoping Zhang","doi":"10.1002/rcs.2611","DOIUrl":"10.1002/rcs.2611","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>No consensus has been reached on operative procedures since a limited case series of robot-assisted inferior vena cava thrombectomy (RA-IVCT) and robot-assisted radical nephrectomy (RA-RN) have been described.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The clinical data of 21 patients who underwent RA-IVCT and RA-RN were retrieved from the database. Preoperative preparation was used for assessment of the tumour. Surgical procedures were recorded, and operative skills were summarised.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The median IVC clamping time was 23 min, and IVC wall invasion was pathologically found in 2 cases. The mean postoperative hospital stay was 8.4 days and most patients recovered to full ambulation and oral feeding on the fourth day. None of the patients had liver or kidney dysfunction at the last follow-up (median, 24 months).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>RA-IVCT presents technical challenges to surgeons. IVC control is an important part of the surgical process and different sides require different techniques.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Preliminary study of a new macro-micro robot system for dental implant surgery: Design, development and control 用于牙科植入手术的新型宏微型机器人系统的初步研究：设计、开发和控制

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-21 DOI: 10.1002/rcs.2614

Yan Wang, Wei Wang, Yueri Cai, Qiming Zhao, Yuyang Wang

{"title":"Preliminary study of a new macro-micro robot system for dental implant surgery: Design, development and control","authors":"Yan Wang, Wei Wang, Yueri Cai, Qiming Zhao, Yuyang Wang","doi":"10.1002/rcs.2614","DOIUrl":"10.1002/rcs.2614","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aims to develop a new dental implant robotic system (DIRS) to relieve the burden and enhance the quality of dental implant surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The implanting actuator and system controller are two parts. The implanting actuator is designed on the basis of the RCM mechanism, with its kinematics modelled. Besides, a multi-DOF admittance control strategy and a hybrid position-admittance control strategy were designed, endowing the actuator with environmental compliance.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In force sensing, about 97% of mixed force/torque are eliminated. Then, 30 groups of implantation are done, of which 15 groups are simple implantation, while another 15 groups are force-based implantation. The results show that the average contact force/torque can be reduced by 73.03% and 62.66%, and the peak contact force/torque can be reduced by 68.26% and 50.46%.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The results of preliminary experiments validate the effectiveness of DIRS, which has great potential to assist dentists with higher efficiency, better quality, and lower burden.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138826589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A spatial registration method based on 2D–3D registration for an augmented reality spinal surgery navigation system 用于增强现实脊柱手术导航系统的基于 2D-3D 注册的空间注册方法。

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-19 DOI: 10.1002/rcs.2612

Jingqi Zhang, Zhiyong Yang, Shan Jiang, Zeyang Zhou

{"title":"A spatial registration method based on 2D–3D registration for an augmented reality spinal surgery navigation system","authors":"Jingqi Zhang, Zhiyong Yang, Shan Jiang, Zeyang Zhou","doi":"10.1002/rcs.2612","DOIUrl":"10.1002/rcs.2612","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In order to provide accurate and reliable image guidance for augmented reality (AR) spinal surgery navigation, a spatial registration method has been proposed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In the AR spinal surgery navigation system, grayscale-based 2D/3D registration technology has been used to register preoperative computed tomography images with intraoperative X-ray images to complete the spatial registration, and then the fusion of virtual image and real spine has been realised.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In the image registration experiment, the success rate of spine model registration was 90%. In the spinal model verification experiment, the surface registration error of the spinal model ranged from 0.361 to 0.612 mm, and the total average surface registration error was 0.501 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The spatial registration method based on 2D/3D registration technology can be used in AR spinal surgery navigation systems and is highly accurate and minimally invasive.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138815167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Real-time auto-segmentation of the ureter in video sequences of gynaecological laparoscopic surgery 妇科腹腔镜手术视频序列中输尿管的实时自动分割。

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-19 DOI: 10.1002/rcs.2604

Zhixiang Wang, Chongdong Liu, Zhen Zhang, Yupeng Deng, Meizhu Xiao, Zhiqiang Zhang, Andre Dekker, Shuzhen Wang, Yujiang Liu, LinXue Qian, Zhenyu Zhang, Alberto Traverso, Ying Feng

{"title":"Real-time auto-segmentation of the ureter in video sequences of gynaecological laparoscopic surgery","authors":"Zhixiang Wang, Chongdong Liu, Zhen Zhang, Yupeng Deng, Meizhu Xiao, Zhiqiang Zhang, Andre Dekker, Shuzhen Wang, Yujiang Liu, LinXue Qian, Zhenyu Zhang, Alberto Traverso, Ying Feng","doi":"10.1002/rcs.2604","DOIUrl":"10.1002/rcs.2604","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Ureteral injury is common during gynaecological laparoscopic surgery. Real-time auto-segmentation can assist gynaecologists in identifying the ureter and reduce intraoperative injury risk.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A deep learning segmentation model was crafted for ureter recognition in surgical videos, utilising 3368 frames from 11 laparoscopic surgeries. Class activation maps enhanced the model's interpretability, showing its areas. The model's clinical relevance was validated through an End-User Turing test and verified by three gynaecological surgeons.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The model registered a Dice score of 0.86, a Hausdorff 95 distance of 22.60, and processed images in 0.008 s on average. In complex surgeries, it pinpointed the ureter's position in real-time. Fifty five surgeons across eight institutions found the model's accuracy, specificity, and sensitivity comparable to human performance. Yet, artificial intelligence experience influenced some subjective ratings.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The model offers precise real-time ureter segmentation in laparoscopic surgery and can be a significant tool for gynaecologists to mitigate ureteral injuries.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138815168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Initial stability of cementless acetabular cups using robotic-assisted total hip arthroplasty compared with the conventional manual technique: An in vitro biomechanical study 使用机器人辅助全髋关节成形术与传统人工技术相比，无骨水泥髋臼杯的初始稳定性：体外生物力学研究

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-18 DOI: 10.1002/rcs.2613

Ryo Hidaka, Kenta Matsuda, Hidetaka Mochizuki, Hirotaka Kawano

{"title":"Initial stability of cementless acetabular cups using robotic-assisted total hip arthroplasty compared with the conventional manual technique: An in vitro biomechanical study","authors":"Ryo Hidaka, Kenta Matsuda, Hidetaka Mochizuki, Hirotaka Kawano","doi":"10.1002/rcs.2613","DOIUrl":"10.1002/rcs.2613","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The aim of this study is to determine whether the initial stability of a cementless cup with the Mako system is superior to that of a conventional manual technique using bone models.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The bone models were prepared using a polyurethane foam block. Two hemispherical cementless cups (highly porous titanium cup [Trident II Tritanium, Stryker] and hydroxyapatite-coated titanium cup [Trident HA, Stryker]) were implanted using the Mako system. The torque of the cups was measured by rotational and lever-out torque testing and compared with that of a conventional manual technique.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The two types of cups that were implanted using the Mako system demonstrated significantly higher mean rotational torque than that of the manual technique (<i>p</i> < 0.01, <i>p</i> = 0.01, respectively).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>This study provides the advantage of the initial stability of a cementless hemispherical cup implanted by the Mako system compared with that of the conventional manual technique.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138715208","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Early experiences in robotic single-site plus one port platform for complex hepatobiliary and pancreatic surgery 用于复杂肝胆胰手术的机器人单部位加单孔平台的早期经验

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-16 DOI: 10.1002/rcs.2602

Jae Uk Chong, Ju Yeon Lee, Jin Hong Lim

{"title":"Early experiences in robotic single-site plus one port platform for complex hepatobiliary and pancreatic surgery","authors":"Jae Uk Chong, Ju Yeon Lee, Jin Hong Lim","doi":"10.1002/rcs.2602","DOIUrl":"10.1002/rcs.2602","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Minimal invasive surgery in hepatobiliary and pancreatic (HBP) surgery has been accepted worldwide in recent years. However, applications of single-site laparoscopic surgery in complex HBP surgery have been limited due to difficulty in manoeuvring instruments and the limited range of motion resulting from clashing instruments.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>To overcome the limitations, we have used the Da Vinci single-site surgical platform with one additional port in a Da Vinci Xi system to perform donor right hepatectomy, pancreaticoduodenectomy, and combined resection of the common bile duct and spleen vessels preserving distal pancreatectomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In selected patients, using a robotic single-site plus one port system allowed the successful completion of complex HBP surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Discussion</h3>\u0000 \u0000 <p>Complex HBP surgery can be performed safely in a stable environment using the robotic single-site plus one port system. Further exploration of a robotic single-site plus one port in complex HBP surgery is necessary.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.2602","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138715472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Application accuracy of Neuromate robot-guided deep brain stimulation procedures using the non-invasive frameless Neurolocate registration system 使用无创无框架 Neurolocate 注册系统的 Neuromate 机器人引导深部脑刺激程序的应用准确性

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-13 DOI: 10.1002/rcs.2610

Denys Fontaine, Fabien Almairac, Bruno Chiapello, Aurélie Leplus

{"title":"Application accuracy of Neuromate robot-guided deep brain stimulation procedures using the non-invasive frameless Neurolocate registration system","authors":"Denys Fontaine, Fabien Almairac, Bruno Chiapello, Aurélie Leplus","doi":"10.1002/rcs.2610","DOIUrl":"10.1002/rcs.2610","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Objective</h3>\u0000 \u0000 <p>to measure the in vivo application accuracy of Neuromate robot-assisted deep brain stimulation procedures (DBS) using the new, non-invasive, frameless Neurolocate registration method.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Neurolocate accuracy was measured in 17 patients undergoing DBS (32 leads). The registration was obtained by automatic recognition of the spatial location of the Neurolocate fiducials, fixed on the robot arm, on 3D intraoperative computerized tomography (CT) images relative to the patient's skull contours. Application accuracy was measured as the Euclidian distance between the points theoretically targeted on preoperative magnetic resonance imagingand the tip of the guiding tube visible on intraoperative CT images after merging images.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Mean robot inaccuracy was 0.72 mm (SD 0.40; range 0.2–1.7 mm). Inaccuracies ≥1.5 mm were observed in 2/32 cases.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our study confirms in vivo that the accuracy of the Neurolocate registration is compatible with the accuracy required for DBS procedures.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.2610","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138632043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Study on orthopaedic path planning of Taylor spatial frame 泰勒空间框架矫形路径规划研究

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-12 DOI: 10.1002/rcs.2606

Tao Liu, Yonghua Lu, Yun Zhu, Zhanxiang Cui, Ziyuan Wang

{"title":"Study on orthopaedic path planning of Taylor spatial frame","authors":"Tao Liu, Yonghua Lu, Yun Zhu, Zhanxiang Cui, Ziyuan Wang","doi":"10.1002/rcs.2606","DOIUrl":"10.1002/rcs.2606","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Aim</h3>\u0000 \u0000 <p>Taylor spatial frame (TSF) is a kind of six-axis external fixator based on Stewart platform, which is widely used in the fields of trauma orthopaedics and orthopaedic reconstruction.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Purpose</h3>\u0000 \u0000 <p>To reduce the irregular movement of TSF's moving platform during orthopaedic process and decrease the risk of complications caused by collision between bone and surrounding tissue.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Method</h3>\u0000 \u0000 <p>We combine the kinematics solutions with the multi-objective genetic algorithm and ant colony optimization to get the optimal solution for adjustment of strut length and order. We conduct simulation and physical experiment of orthodontic process respectively to prove the effectiveness of our method.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Result</h3>\u0000 \u0000 <p>After optimization, the average offset during a single adjustment is less than 1 mm, and the offset during the whole orthopaedic process is reduced by about 38.8%.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>It demonstrates that our method can effectively reduce the offset of moving platform while ensuring orthopaedic accuracy.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138632040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A fast, accurate and uncalibrated robotic puncture method 一种快速、准确且未经校准的机器人穿刺方法

IF 2.5 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-12-11 DOI: 10.1002/rcs.2601

ShangHong Li, Qiwan Wang, Biao Yan, Rongqian Yang, Yinwei Zhan

{"title":"A fast, accurate and uncalibrated robotic puncture method","authors":"ShangHong Li, Qiwan Wang, Biao Yan, Rongqian Yang, Yinwei Zhan","doi":"10.1002/rcs.2601","DOIUrl":"10.1002/rcs.2601","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic puncture system (RPS) consists of an optical tracking system (OTS) and a robotic arm gripping the puncture needle. Typically, the RPS requires hand-eye calibration before the surgery in order to obtain the relative position between the OTS and the robotic arm. However, if there is any displacement or angular deviation in either the robotic arm or the OTS, the calibration results become invalid, necessitating recalibration.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We propose an uncalibrated robotic puncture method that does not rely on the hand-eye relationship of the RPS. By constructing angle and position graph jacobian matrices respectively, and employing Square Root Cubature Kalman Filter for online estimation. This enables obtaining control variables for the robot to perform puncture operations.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In simulation experiments, our method achieves an average error of 1.3495 mm and an average time consumption of 39.331 s.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Experimental results indicate that our method possesses high accuracy, low time consumption, and strong robustness.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138632657","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0