... International Symposium on Medical Robotics. International Symposium on Medical Robotics最新文献

Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections. ct引导下脊髓注射中带EM跟踪的针头操作系统的设计与评估。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2025-05-01 Epub Date: 2025-06-13 DOI: 10.1109/ismr67322.2025.11025983

Chang Chang, Junling Mei, Yanzhou Wang, Lidia Al-Zogbi, Simon Leonard, Amit Jain, Iulian Iordachita

引用次数: 0

Mobile Robotic Optical Coherence Tomography System for Ophthalmic Imaging in Clinical Environments. 用于临床环境眼科成像的移动机器人光学相干断层成像系统。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2025-05-01 Epub Date: 2025-06-13 DOI: 10.1109/ismr67322.2025.11025963

Genggeng Zhou, Haochi Pan, Samantha Staudinger, Yuchen Wang, Jiawei Liu, Salma Fleifil, Catherine Jin, Nita Valikodath, Ryan P McNabb, Anthony N Kuo, Mark Draelos

{"title":"Mobile Robotic Optical Coherence Tomography System for Ophthalmic Imaging in Clinical Environments.","authors":"Genggeng Zhou, Haochi Pan, Samantha Staudinger, Yuchen Wang, Jiawei Liu, Salma Fleifil, Catherine Jin, Nita Valikodath, Ryan P McNabb, Anthony N Kuo, Mark Draelos","doi":"10.1109/ismr67322.2025.11025963","DOIUrl":"10.1109/ismr67322.2025.11025963","url":null,"abstract":"Optical coherence tomography (OCT) is an indispensable imaging modality for the diagnosis and management of many common eye diseases. We previously presented a fixed-base robotic OCT system to enable automated imaging and alleviate the necessity for restricted patient posture required by traditional clinical OCT. To adapt our system to diverse clinic environments, we introduce a mobile robotic OCT system designed for imaging patients in diverse clinical configurations. Our system includes a robot arm, a vertical motorized lift, and a wheeled cart housing essential components for the entire system, and is equipped with real-time motion planning algorithms for head movement tracking and obstacle avoidance during imaging sessions. We validate the system's workspace through robot kinematics and clinical simulation, evaluate dynamic tracking accuracy in real world experiments, and demonstrate obstacle avoidance capability in both simulation and real world. These features will allow us to perform OCT imaging in real clinical settings in the near future.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2025 ","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12308690/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144762390","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Towards Motion Compensation in Autonomous Robotic Subretinal Injections. 自主机器人视网膜下注射的运动补偿研究。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2025-05-01 Epub Date: 2025-06-13 DOI: 10.1109/ismr67322.2025.11025990

Demir Arikan, Mojtaba Esfandiari, Peiyao Zhang, Michael Sommersperger, Shervin Dehghani, Russell H Taylor, M Ali Nasseri, Peter Gehlbach, Nassir Navab, Iulian Iordachita

{"title":"Towards Motion Compensation in Autonomous Robotic Subretinal Injections.","authors":"Demir Arikan, Mojtaba Esfandiari, Peiyao Zhang, Michael Sommersperger, Shervin Dehghani, Russell H Taylor, M Ali Nasseri, Peter Gehlbach, Nassir Navab, Iulian Iordachita","doi":"10.1109/ismr67322.2025.11025990","DOIUrl":"10.1109/ismr67322.2025.11025990","url":null,"abstract":"Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such as subretinal injections of stem cells, gene therapy, small molecules and RPE cells require precise delivery to avoid damaging delicate retinal structures. Robotic systems can potentially offer the necessary precision for these procedures. This paper presents a novel approach for motion compensation in robotic subretinal injections, utilizing real time Optical Coherence Tomography (OCT). The proposed method leverages B5-scans, a rapid acquisition of small-volume OCT data, for dynamic tracking of retinal motion along the Z-axis, compensating for physiological movements such as breathing and heartbeat. Validation experiments on ex vivo porcine eyes revealed challenges in maintaining a consistent tool-to-retina distance, with deviations of up to 200 μm for 100 μm amplitude motions and over 80 μm for 25 μm amplitude motions over one minute. Subretinal injections faced additional difficulties, with phase shifts causing the needle to move off-target and inject into the vitreous. These results highlight the need for improved motion prediction and horizontal stability to enhance the accuracy and safety of robotic subretinal procedures.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2025 ","pages":"66-72"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12337253/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144823287","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cannula-mounted Robots for Semi-autonomous Vertebroplasty: A Comparison of Piezo-based and Screw-based Inchworm Drive Designs. 用于半自主椎体成形术的套管式机器人：基于压电和基于螺钉的尺蠖驱动设计的比较。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2025-05-01 Epub Date: 2025-06-13 DOI: 10.1109/ismr67322.2025.11025971

Michelle J Song, Benjamin D Killeen, Justin D Opfermann, Blanca Inigo, Christopher Bailey, Ali Uneri, Mathias Unberath, Axel Krieger

{"title":"Cannula-mounted Robots for Semi-autonomous Vertebroplasty: A Comparison of Piezo-based and Screw-based Inchworm Drive Designs.","authors":"Michelle J Song, Benjamin D Killeen, Justin D Opfermann, Blanca Inigo, Christopher Bailey, Ali Uneri, Mathias Unberath, Axel Krieger","doi":"10.1109/ismr67322.2025.11025971","DOIUrl":"10.1109/ismr67322.2025.11025971","url":null,"abstract":"Vertebral compression fractures are estimated to affect over 200 million people globally. Percutaneous vertebroplasty is a widely accepted minimally invasive treatment, but it has limitations including prolonged radiation exposure for providers and a steep learning curve. To address these challenges, we present two cannula-mounted robot designs for semi-autonomous, high-precision cannula insertion. Both designs are based on an inchworm mechanism, with one using an amplified piezoelectric actuator and the other using a linear actuator inspired approach. Each design is designed to generate at least 150 N of thrust force with submillimeter accuracy to reliably insert the cannula into the vertebral body. Finite element analysis shows that the material deformations of the baseplates, 42 ± 12 μm for the piezo inchworm design and 7.7±3.2 μm for the screw inchworm design, are substantially lower than the corresponding stroke lengths, confirming the feasibility of generating linear motion. An in silico imaging trial reveals the screw inchworm design's 44.4% smaller surgical footprint enables superior cannula insertion trajectory visualization compared to the piezo inchworm design. These results indicate that while both designs meet clinical design requirements for cannula insertion, the screw inchworm robot is better suited for a semi-autonomous approach to vertebroplasty.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2025 ","pages":"164-171"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12395539/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144980644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Evaluation of Needle Manipulation Controller Subject to Uncertainty of Tip Pose Feedback: A Simulation Study. 针尖位姿反馈不确定性下的针操控制器评价仿真研究。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2025-05-01 Epub Date: 2025-06-13 DOI: 10.1109/ismr67322.2025.11025973

Junling Mei, Chang Chang, Yanzhou Wang, Simon Leonard, Iulian Iordachita

引用次数: 0

A Data-Driven Model with Hysteresis Compensation for I²RIS Robot. 用于 I2RIS 机器人的具有滞后补偿功能的数据驱动模型

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2024-06-01 Epub Date: 2024-07-12 DOI: 10.1109/ismr63436.2024.10585958

Mojtaba Esfandiari, Yanlin Zhou, Shervin Dehghani, Muhammad Hadi, Adnan Munawar, Henry Phalen, David E Usevitch, Peter Gehlbach, Iulian Iordachita

{"title":"A Data-Driven Model with Hysteresis Compensation for I2RIS Robot.","authors":"Mojtaba Esfandiari, Yanlin Zhou, Shervin Dehghani, Muhammad Hadi, Adnan Munawar, Henry Phalen, David E Usevitch, Peter Gehlbach, Iulian Iordachita","doi":"10.1109/ismr63436.2024.10585958","DOIUrl":"10.1109/ismr63436.2024.10585958","url":null,"abstract":"Retinal microsurgery is a high-precision surgery performed on a delicate tissue requiring the skill of highly trained surgeons. Given the restricted range of instrument motion in the confined intraocular space, snake-like robots may prove to be a promising technology to provide surgeons with greater flexibility, dexterity, and positioning accuracy during retinal procedures such as retinal vein cannulation and epiretinal membrane peeling. Kinematics modeling of these robots is an essential step toward accurate position control. Unlike conventional manipulators, modeling these robots does not follow a straightforward method due to their complex mechanical structure and actuation mechanisms. The hysteresis problem can especially impact the positioning accuracy significantly in wire-driven snake-like robots. In this paper, we propose a data-driven kinematics model using a probabilistic Gaussian mixture model (GMM) and Gaussian mixture regression (GMR) approach with a hysteresis compensation algorithm. Experimental results on the two-degree-of-freedom (DOF) integrated robotic intraocular snake (I2RIS) show that the proposed model with the hysteresis compensation can predict the snake tip bending angle for pitch and yaw with 0.45° and 0.39° root mean square error (RMSE), respectively. This results in overall 60% and 70% improvements of accuracy for yaw and pitch over the same model without the hysteresis compensation.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2024 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11486515/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142482165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Towards a Robotically Steerable Laser Ablation Probe. 实现可机器人转向的激光烧蚀探针

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2024-06-01 Epub Date: 2024-07-12 DOI: 10.1109/ismr63436.2024.10586060

Julio Adrian Ceja, Saeed Rezaeian, J Rodrigo Vélez-Cordero, Juan Hernández-Cordero, Behnam Badie, Jun Sheng

{"title":"Towards a Robotically Steerable Laser Ablation Probe.","authors":"Julio Adrian Ceja, Saeed Rezaeian, J Rodrigo Vélez-Cordero, Juan Hernández-Cordero, Behnam Badie, Jun Sheng","doi":"10.1109/ismr63436.2024.10586060","DOIUrl":"10.1109/ismr63436.2024.10586060","url":null,"abstract":"In this paper, we present a robotically steerable laser ablation probe with application to interstitial thermal therapy. Existing laser interstitial thermal therapy (LITT) methods utilize a straight probe to deliver laser energy around the tip or to the side of the tip. These methods are inadequate to provide effective treatment for large, irregularly shaped tumors. Our robotic probe can be manipulated inside soft tissue to perform ablation at multiple locations, thus enabling conformable ablation for large and complicated tumors. Instead of directly firing laser into soft tissue, a Polydimethylsiloxane (PDMS)/Carbon nanoparticles (CNPs) mixture hosts a multi-mode optical fiber at the probe tip to work as a heater when laser is activated to improve the procedural safety. This paper presents the design and fabrication of the robotic ablation probe, simulation of laser thermal transformation using finite element analysis, and experimental studies that characterize the robot motion and heating effects and demonstrate in vitro ablation.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2024 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11326281/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142001464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bayesian Optimization Based Preprocedural Planning For Robotic Left Atrial Appendage Occlusion. 基于贝叶斯优化的机器人左心耳闭塞术前规划。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2024-06-01 Epub Date: 2024-07-12 DOI: 10.1109/ismr63436.2024.10585608

Ran Hao, Yuttana Itsarachaiyot, M Cenk Çavuşoğlu

{"title":"Bayesian Optimization Based Preprocedural Planning For Robotic Left Atrial Appendage Occlusion.","authors":"Ran Hao, Yuttana Itsarachaiyot, M Cenk Çavuşoğlu","doi":"10.1109/ismr63436.2024.10585608","DOIUrl":"10.1109/ismr63436.2024.10585608","url":null,"abstract":"Left atrial appendage occlusion is a procedure to reduce the risk of thromboembolism in atrial fibrillation patients by blocking the left atrial appendage ostium using an occlusion device implanted by an intra-vascular delivery catheter. The preprocedural planning of the left atrial appendage occlusion procedure aims to identify an optimal implantation trajectory for a successful occlusion implant delivery from a structural understanding of the left atrial appendage. In this paper, a Bayesian Optimization based preprocedural planning approach is proposed for the robotic left atrial appendage occlusion procedure. The preprocedural planner efficiently samples transseptal puncture positions over the fossa ovalis and sequentially optimizes the transseptal puncture location. The iterative linear-quadratic-regulator is employed by the Bayesian Optimization planner for locally optimizing the occlusion trajectory for a given transseptal puncture location. The performance of the proposed Bayesian Optimization based preprocedural planner is evaluated in a simulation environment using a real cardiac anatomy model.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2024 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11611301/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142775110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. 手术同心推拉机器人传动管的设计。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2024-06-01 Epub Date: 2024-07-12 DOI: 10.1109/ismr63436.2024.10585572

Khoa T Dang, Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J Webster, Caleb Rucker

{"title":"Design of Transmission Tubes for Surgical Concentric Push-Pull Robots.","authors":"Khoa T Dang, Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J Webster, Caleb Rucker","doi":"10.1109/ismr63436.2024.10585572","DOIUrl":"10.1109/ismr63436.2024.10585572","url":null,"abstract":"The performance of concentric push-pull robots passing through endoscopes is best if their laser-cut transmission tubes exhibit high axial stiffness, high torsional stiffness, and low bending stiffness. In this paper we simultaneously consider all three output stiffness values in the design problem, explicitly considering axial stiffness, whereas prior work has focused on the bending/torsional stiffness ratio. We show that it is very challenging for existing laser-cut patterns to simultaneously achieve high axial stiffness and low bending stiffness because these stiffnesses are tightly coupled. To break this coupling and balance all three stiffness factors independently, we propose a new laser material removal design approach that leverages local stiffness asymmetry <math> <mfenced><mrow><mi>E</mi> <msub><mrow><mi>I</mi></mrow> <mrow><mi>x</mi></mrow> </msub> <mo>≠</mo> <mi>E</mi> <msub><mrow><mi>I</mi></mrow> <mrow><mi>y</mi></mrow> </msub> </mrow> </mfenced> </math> in discrete bending segments separated by segments of solid tube. These discrete asymmetric segments are then rifled down the tube to achieve global stiffness symmetry. We parameterize the design and provide a study of the properties through finite-element analysis. We also consider the effect of interference between the tubes when the discrete segments are not aligned. Results show that our discrete asymmetric segment concept can achieve high axial stiffness and torsional stiffness better than previously suggested laser patterns while maintaining equally low bending stiffness.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2024 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11866326/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143544651","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Active Motion Cancellation for Robotic Optical Coherence Tomography of Moving Eyes: A Nystagmus Phantom Study. 运动眼的机器人光学相干断层扫描主动运动抵消：眼球震颤幻影研究。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2024-06-01 Epub Date: 2024-07-12 DOI: 10.1109/ismr63436.2024.10585590

Haochi Pan, Chae Woo Lim, Katelyn King, Renxiang Guan, Mark Draelos

{"title":"Active Motion Cancellation for Robotic Optical Coherence Tomography of Moving Eyes: A Nystagmus Phantom Study.","authors":"Haochi Pan, Chae Woo Lim, Katelyn King, Renxiang Guan, Mark Draelos","doi":"10.1109/ismr63436.2024.10585590","DOIUrl":"10.1109/ismr63436.2024.10585590","url":null,"abstract":"Optical coherence tomography (OCT) is a preferred imaging technology in ophthalmology for diagnosis and management of eye disease. Standard-of-care clinical OCT systems require patients to sit upright, brace their head against the instrument, and fix their gaze into its sensing aperture. These limitations exclude those with involuntary head and eye movements, such as those present in Parkinson's disease and nystagmus, respectively, from undergoing OCT imaging. To overcome these restrictions, we combine our robotic OCT paradigm, which allows flexible patient positioning during imaging, with active cancellation of periodic motion to reduce image artifact during acquisition. We accomplish this by measuring eye motion with on-board pupil cameras, fitting the movement profile in real-time, and augmenting OCT scan waveforms using the predicted eye position. We evaluate this predictive imaging scheme with eye phantoms to precisely simulate motions typical of head and eye movement disorders and compare it to real-time scan aiming. Using registration shift in captured OCT images to quantify residual motion artifact, we demonstrate motion reduction by up to 98.5 % for typical nystagmus frequencies and an average 3.4 × reduction in residual motion compared to scan aiming alone. This approach may provide access to accurate OCT imaging for those with involuntary eye and head movement.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2024 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12040409/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144035604","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0