Computer Assisted Surgery最新文献_第8页

Intuitive control algorithm of a novel minimally invasive surgical robot 一种新型微创手术机器人的直观控制算法

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-10-25 DOI: 10.1080/24699322.2016.1240296

Guojun Niu, Bo Pan, Yue Ai, Yili Fu

{"title":"Intuitive control algorithm of a novel minimally invasive surgical robot","authors":"Guojun Niu, Bo Pan, Yue Ai, Yili Fu","doi":"10.1080/24699322.2016.1240296","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240296","url":null,"abstract":"Abstract Background: Minimally invasive surgery (MIS) based on computer and robot-assisted technology is becoming more and more popular. Methods: Intuitive motion control implemented by kinematic algorithm of the slave manipulator based on the 3D Display (DD) is proposed to eliminate absonant hand-eye coordination, kinematic dissimilarity and workspace mismatch of the master-slave manipulator and is applied in the novel minimally invasive surgical (MIS) robot developed in our lab. Forward and inverse kinematics of MIS robot are analyzed based on the screw theory. The kinematic algorithm of MIS robot based on the DD is achieved. Results: The trajectory tracking results that the movement trends between the master and slave manipulators consistently validate the effectiveness of forward and inverse kinematics. The simulation results of the kinematic algorithm by virtue of Simulink and SimMechanics sub-modules of the MATLAB and intuitive control experiment that the root mean square error of cumulative position increments is less than 0.5 mm validate effectiveness of intuitive control algorithm. Conclusion: Successful animal experiments furthermore validate the effectiveness of intuitive control algorithm.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"101 - 92"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240296","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 4

Long-term effects of robotic hippotherapy on dynamic postural stability in cerebral palsy 机器人海马疗法对脑瘫动态姿势稳定性的长期影响

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-10-25 DOI: 10.1080/24699322.2016.1240297

Youngjoo Cha, Megan Stanley, T. Shurtleff, J. H. You

{"title":"Long-term effects of robotic hippotherapy on dynamic postural stability in cerebral palsy","authors":"Youngjoo Cha, Megan Stanley, T. Shurtleff, J. H. You","doi":"10.1080/24699322.2016.1240297","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240297","url":null,"abstract":"Abstract Background: Dynamic postural instability is a common neuromuscular impairment in cerebral palsy (CP), which often includes balance dysfunction and an associated risk of serious falls. Robotic hippotherapy has recently become a widespread clinical application to facilitate postural core stabilization, strength, and endurance through repetitive vestibular and proprioceptive stimulation to the spine via the sensorimotor system pathways. However, the long-term effects of robotic hippotherapy on dynamic postural instability in CP remain unclear. Objective: To examine the long-term effects of robotic hippotherapy on dynamic postural stability in CP. Methods: An advanced three-dimensional biomechanical eight-camera video motion capture (VMC) system was used to compute the center of mass (COM) pathway, which represents intervention-related spinal core instability. The robotic hippotherapy system was used to improve dynamic postural stability and associated balance performance. Robotic hippotherapy exercise was provided for 45 minutes/session, 2–3 times a week over the 12-week period. Results: Abnormal mean COM pathway length, standard deviation, and range substantially decreased after 12 weeks of robotic hippotherapy. The initial x-axis COM was greater than that of the y-axis. However, the amount of abnormal anterior–posterior and medio-lateral postural sway substantially decreased after robotic hippotherapy. Conclusions: This study provides the first compelling evidence that the robotic hippotherapy is safe and effective for postural instability control and sitting balance dysfunction that mitigates the risk of falls in CP.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"111 - 115"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240297","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 4

Mental workload prediction model based on information entropy 基于信息熵的心理工作量预测模型

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-10-25 DOI: 10.1080/24699322.2016.1240298

Xiang Li, Weining Fang, Ying-jie Zhou

{"title":"Mental workload prediction model based on information entropy","authors":"Xiang Li, Weining Fang, Ying-jie Zhou","doi":"10.1080/24699322.2016.1240298","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240298","url":null,"abstract":"Abstract This paper introduces the concept of information entropy in studying mental workloads to predict the mental workload of an urban railway dispatcher and thereby ensure safe rail system operation. This study combines factors that can influence mental workload, including visual behaviors required for dispatchers to obtain information, information display duration, and the amount of information in order to establish a comprehensive mental workload prediction model. Experimental monitoring tasks were carried out on a simulation dispatch interface platform to verify the model’s validity. Three assessment methods (task performance assessment, subjective assessment, and physiological assessment) were adopted to measure the mental workload levels of dispatchers under different task conditions. The results demonstrate that the model’s theoretical prediction value significantly correlates with the various experimental results, thereby verifying the model validity and indicating that it can be used to predict the mental workload for different dispatch tasks, to provide a reference for work performance evaluation, and in designing optimized dispatch display interfaces.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"116 - 123"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240298","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125969","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 3

Application of bonebed-malleus short process registration in minimally invasive cochlear implantation 骨-踝短突配准在微创人工耳蜗植入中的应用

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-10-25 DOI: 10.1080/24699322.2016.1240306

J. Ke, Shaoxing Zhang, Changsheng Li, Yun-Feng Zhu, Lei Hu, Furong Ma

{"title":"Application of bonebed-malleus short process registration in minimally invasive cochlear implantation","authors":"J. Ke, Shaoxing Zhang, Changsheng Li, Yun-Feng Zhu, Lei Hu, Furong Ma","doi":"10.1080/24699322.2016.1240306","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240306","url":null,"abstract":"Abstract Purpose: This article proposed and investigated the application of bonebed-malleus short process registration in minimally invasive cochlear implantation, and assessed the value of the proposed strategy for image-guided otologic surgery. Materials and methods: Ten temporal bone specimens were marked with both shallow and deep targets in order to measure registration resolutions. Two registration methods were applied. Method A (a new registration method) consisted of bonebed-malleus short process registration, while method B (traditional registration method) comprised registration using four titanium screws attached at the mastoid surface. The target registration errors (TRE) were measured at both the shallow and deep fiducial targets. After registration achieved by method A, percutaneous cochlear drilling was conducted on the other eight temporal bone specimens in order to observe the deviation from the target point and entry point. Results: Using method A, the error observed at the shallow fiducial markers of specimens was less than 1 mm, while the error observed at the deep fiducial markers was approximately equal to 1 mm. No significant difference was observed when results were compared with the application of method B. In eight studied cases using method A, drilling operations were successfully conducted. The deviations from the target point and the entry point were 0.84 ± 0.30 and 0.66 ± 0.51 mm, respectively. Conclusions: Results of the present study indicated that the new registration method demonstrated identical accuracy when compared to traditional registration method, achieved less invasiveness. Thus, the proposed method might be a feasible registration method for image-guided otologic surgery due to its mild invasiveness and high accuracy.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"30 - 36"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240306","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126162","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 3

Computerized analysis of acceleration parameter for the non-stress test normal and potentially abnormal fetuses 无应力试验正常胎儿和潜在异常胎儿加速度参数的计算机分析

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-10-24 DOI: 10.1080/24699322.2016.1240293

Guangfei Li, Song Zhang, Lin Yang, Shufang Li, Yan Wang, Dongmei Hao, Yimin Yang, Xuwen Li, Lei Zhang, Mingzhou Xu

{"title":"Computerized analysis of acceleration parameter for the non-stress test normal and potentially abnormal fetuses","authors":"Guangfei Li, Song Zhang, Lin Yang, Shufang Li, Yan Wang, Dongmei Hao, Yimin Yang, Xuwen Li, Lei Zhang, Mingzhou Xu","doi":"10.1080/24699322.2016.1240293","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240293","url":null,"abstract":"Abstract Non-stress testing (NST) is the primary method of determining fetal condition during the perinatal period, and as such, has high specificity. However, short-term monitoring and visual inspection of the cardiotocogram demonstrates several limitations in understanding fetal status which can be mistaken as predictors of neonatal asphyxia. Fetal electrocardiography (FECG) is a novel, long-term monitoring method which can reflect more objective and accurate fetal information. This article presents experimental results of four fetal heart rate (FHR) acceleration features of 44 fetuses extracted from FECG. The novelty of this approach lies in its combined use of parameters which can express both duration and amplitude of heart rate acceleration. Results demonstrate that most parameters significantly differ between normal fetuses and fetuses with suspected abnormalities. Results are promising for the identification of a set or parameters which may be used as classifiers to improve the success rate when distinguishing between normal and abnormal fetuses.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"1 - 5"},"PeriodicalIF":2.1,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240293","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126334","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 2

A first step in finite-element simulation of a grasping task 抓握任务有限元模拟的第一步

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-10-24 DOI: 10.1080/24699322.2016.1240294

D. Chamoret, M. Bodo, S. Roth

引用次数: 16

A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking 计算机辅助的血管手术机器人平台，利用基于美国的3D跟踪

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-01-01 DOI: 10.1080/24699322.2016.1185467

Marco Mura, S. Parrini, G. Ciuti, V. Ferrari, C. Freschi, M. Ferrari, P. Dario, A. Menciassi

{"title":"A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking","authors":"Marco Mura, S. Parrini, G. Ciuti, V. Ferrari, C. Freschi, M. Ferrari, P. Dario, A. Menciassi","doi":"10.1080/24699322.2016.1185467","DOIUrl":"https://doi.org/10.1080/24699322.2016.1185467","url":null,"abstract":"Abstract Background: Cardiovascular diseases are the first cause of death globally: an estimated 17.5 million people died in 2012. By combining the benefits of magnetic navigation and ultrasound (US) imaging, the authors proposed a robotic platform (i.e. the MicroVAST platform) for intravascular medical procedures. Methods: A 3D imaging US-based tracking algorithm is implemented for the navigation of a magnetic-dragged soft-tethered device. Tests were performed to evaluate the algorithm in terms of tracking error and precision of locomotion. Results: The 3D imaging US-based algorithm tracked the endovascular device with an error of 6.4 ± 2.8 pixels and a mean displacement between the endovascular device and the preoperative path of 13.6 ± 4.5 mm (computational time of 12.2 ± 1.5 ms and 30.7 ± 6.1 matched features). Conclusions: The MicroVAST platform includes innovative solutions for navigation allowing for an assisted magnetic locomotion of medical devices in the cardiovascular district by combining a 3D imaging US-based tracking algorithm with pre-operative data.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"63 - 79"},"PeriodicalIF":2.1,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1185467","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 7

A computer-assisted navigation technique to perform bone tumor resection without dedicated software 一种计算机辅助导航技术，在没有专用软件的情况下进行骨肿瘤切除术

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-01-01 DOI: 10.1080/24699322.2016.1253774

C. Zoccali, Christina M. Walter, L. Favale, A. Di Francesco, B. Rossi

{"title":"A computer-assisted navigation technique to perform bone tumor resection without dedicated software","authors":"C. Zoccali, Christina M. Walter, L. Favale, A. Di Francesco, B. Rossi","doi":"10.1080/24699322.2016.1253774","DOIUrl":"https://doi.org/10.1080/24699322.2016.1253774","url":null,"abstract":"Abstract Purpose: In oncological orthopedics, navigation systems are limited to use in specialized centers, because specific, expensive, software is necessary. To resolve this problem, we present a technique using general spine navigation software to resect tumors located in different segments. Materials and Methods: This technique requires a primary surgery during which screws are inserted in the segment where the bone tumor is; next, a CT scan of the entire segment is used as a guide in a second surgery where a resection is performed under navigation control. We applied this technique in four selected cases. To evaluate the procedure, we considered resolution obtained, quality of the margin and its control. Results: In all cases, 1 mm resolution was obtained; navigation allowed perfect control of the osteotomies, reaching the minimum wide margin when desired. No complications were reported and all patients were free of disease at follow-up (average 25.5 months). Conclusions: This technique allows any bone segment to be recognized by the navigation system thanks to the introduction of screws as landmarks. The minimum number of screws required is four, but the higher the number of screws, the greater the accuracy and resolution. In our experience, five landmarks, placed distant from one another, is a good compromise. Possible disadvantages include the necessity to perform two surgeries and the need of a major surgical exposure; nevertheless, in our opinion, the advantages of better margin control justify the application of this technique in centers where an intraoperative CT scanner, synchronized with a navigation system or a dedicated software for bone tumor removal were not available.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"28 1","pages":"166 - 171"},"PeriodicalIF":2.1,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1253774","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126183","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 1

How does adding anatomical landmarks as fiducial points in the point-matching registration of neuronavigation influence registration accuracy? 在神经导航点匹配配准中加入解剖地标作为基准点对配准精度有何影响?

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-01-01 DOI: 10.1080/24699322.2016.1180429

Manning Wang, Zhijian Song

引用次数: 6

Application of preoperative registration and automatic tracking technique for image-guided maxillofacial surgery 图像引导颌面外科手术术前配准与自动跟踪技术的应用

IF 2.1 4区医学

Computer Assisted Surgery Pub Date : 2016-01-01 DOI: 10.1080/24699322.2016.1187767

Wenbin Zhang, Xudong Wang, Jianfei Zhang, G. Shen

{"title":"Application of preoperative registration and automatic tracking technique for image-guided maxillofacial surgery","authors":"Wenbin Zhang, Xudong Wang, Jianfei Zhang, G. Shen","doi":"10.1080/24699322.2016.1187767","DOIUrl":"https://doi.org/10.1080/24699322.2016.1187767","url":null,"abstract":"Abstract Objective: To investigate the practicality of preoperative registration technique in navigational surgery of facial skeleton. Methods: Five cases were underwent navigational surgery with the preoperative registration technique. The accuracy of registration process was determined, and the deviation between planning model and postoperative computed tomography (CT) model was detected. Results: In each case, the preoperative registration was successful for navigational surgery. Preoperative registration and automatic tracking enabled registration free in the operation procedure. The registration precision measured by the system was less than 0.8 mm. The deviation between the intraoperative anatomy and the CT image was less than 1.5 mm. Conclusions: Preoperative registration technique demonstrates the potential for improved workflow and accuracy in navigational surgery procedures. This technique was found to be particularly advantageous in cases of mandible navigational surgery in which the dynamic reference frame's hard to be fixed.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"137 - 142"},"PeriodicalIF":2.1,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1187767","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125822","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 8