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

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

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

Artificial intelligence (AI) for minimally invasive robotics 用于微创机器人的人工智能(AI)

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2023-04-28 DOI: 10.54844/mr.2022.0386

B. Maris

引用次数: 0

Brain-Mimicking Phantom for Photoablation and Visualization. 用于光消融和可视化的脑模拟幻影。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2023-04-01 DOI: 10.1109/ismr57123.2023.10130243

Ravi Prakash, Kent K Yamamoto, Siobhan R Oca, Weston Ross, Patrick J Codd

引用次数: 0

Optical Fiber -Based Needle Shape Sensing: Three-channel Single Core vs. Multicore Approaches. 基于光纤的针形传感:三通道单核与多核方法。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2023-04-01 DOI: 10.1109/ismr57123.2023.10130249

Alexandra Cheng, Dimitri A Lezcano, Jin Seob Kim, Iulian I Iordachita

{"title":"Optical Fiber -Based Needle Shape Sensing: Three-channel Single Core vs. Multicore Approaches.","authors":"Alexandra Cheng, Dimitri A Lezcano, Jin Seob Kim, Iulian I Iordachita","doi":"10.1109/ismr57123.2023.10130249","DOIUrl":"https://doi.org/10.1109/ismr57123.2023.10130249","url":null,"abstract":"Bevel-tip needles are commonly utilized in percutaneous medical interventions where a curved insertion trajectory is required. To avoid deviation from the intended trajectory, needle shape sensing and tip localization is crucial in providing the operator with feedback. There is an abundance of previous work that investigate the medical application of fiber Bragg grating (FBG) sensors, but most works select only one specific type of fiber among the many available sensor options to integrate into their hardware designs. In this work, we compare two different types of FBG sensors under identical conditions and application, namely, acting as the sensor for needle insertion shape reconstruction. We built a three-channel single core needle and a seven-channel multicore fiber (MCF) needle and discuss the pros and cons of both constructions for shape sensing experiments into constant curvature jigs. The overall needle tip error is 1.23 mm for the single core needle and 2.08 mm for the multicore needle.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2023 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10249955/pdf/nihms-1899085.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9672569","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: 1

Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery. 精确机器人辅助视网膜手术的Delta机器人运动学标定。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2022-04-01 Epub Date: 2022-06-28 DOI: 10.1109/ismr48347.2022.9807517

Boyang Xiao, Alireza Alamdar, Kefan Song, Ali Ebrahimi, Peter Gehlbach, Russell H Taylor, Iulian Iordachita

引用次数: 1

Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery. 基于优化的高灵巧玻璃体视网膜手术机器人并行控制。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2022-04-01 Epub Date: 2022-06-28 DOI: 10.1109/ismr48347.2022.9807485

Kaiyu Shi, Yishun Zhou, Ali Ebrahimi, Gang Li, Iulian Iordachita

{"title":"Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery.","authors":"Kaiyu Shi, Yishun Zhou, Ali Ebrahimi, Gang Li, Iulian Iordachita","doi":"10.1109/ismr48347.2022.9807485","DOIUrl":"https://doi.org/10.1109/ismr48347.2022.9807485","url":null,"abstract":"Vitreoretinal surgery requires dexterity and force sensitivity from the clinician. A system to cooperatively control an integrated surgical robot for high dexterity manipulation within the eye's vitreous space was developed and validated in simulation. The system is composed of a 2 degrees of freedom (DoF) snake-like continuum manipulator that is attached to the end-effector of a 5-DoF rigid robot arm. It is capable of receiving position and orientation commands from a 5-DoF input device in real-time, as well as following pre-planned trajectories. The manipulator is moved to each target pose in real-time, using an optimization method to calculate the inverse kinematics solution. Constraints on the position and orientation ensure the target pose does not harm the patient within the vitreous space, enabling the robot to safely assist the clinician with vitreoretinal surgery when operating in real-time. The simulation demonstrates the system's feasibility and benefits over the existing non-dexterous system.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9540340/pdf/nihms-1836538.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"33497182","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

Modeling and Operator Control of a Robotic Tool for Bidirectional Manipulation in Targeted Prostate Biopsy. 用于前列腺活检双向操作的机器人工具的建模和操作员控制。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2022-04-01 DOI: 10.1109/ismr48347.2022.9807514

Blayton Padasdao, Zolboo Batsaikhan, Samuel Lafreniere, Mahsa Rabiei, Bardia Konh

引用次数: 3

Steering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference. 在耻骨弓干扰患者的高剂量前列腺近距离治疗中使用肌腱驱动针。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2021-11-01 DOI: 10.1109/ismr48346.2021.9661565

Bardia Konh, Blayton Padasdao, Zolboo Batsaikhan, John Lederer

引用次数: 5

NeuroPlan: A Surgical Planning Toolkit for an MRI-Compatible Stereotactic Neurosurgery Robot. NeuroPlan: mri兼容立体定向神经外科机器人的手术计划工具包。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2021-11-01 Epub Date: 2022-01-03 DOI: 10.1109/ismr48346.2021.9661581

Farid Tavakkolmoghaddam, Dhruv Kool Rajamani, Benjamin Szewczyk, Zhanyue Zhao, Katie Gandomi, Shreyas Chandra Sekhar, Julie Pilitsis, Christopher Nycz, Gregory Fischer

{"title":"NeuroPlan: A Surgical Planning Toolkit for an MRI-Compatible Stereotactic Neurosurgery Robot.","authors":"Farid Tavakkolmoghaddam, Dhruv Kool Rajamani, Benjamin Szewczyk, Zhanyue Zhao, Katie Gandomi, Shreyas Chandra Sekhar, Julie Pilitsis, Christopher Nycz, Gregory Fischer","doi":"10.1109/ismr48346.2021.9661581","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661581","url":null,"abstract":"The adoption of robotic image-guided surgeries has enabled physicians to perform therapeutic and diagnostic procedures with less invasiveness and higher accuracy. One example is the MRI-guided stereotactic robotic-assisted surgery for conformal brain tumor ablation, where the robot is used to position and orient a thin probe to target a desired region within the brain. Requirements such as the remote center of motion and precise manipulation, impose the use of complex kinematic structures, which result in non-trivial workspaces in these robots. The lack of workspace visualization poses a challenge in selecting valid entry and target points during the surgical planning and navigation stage. In this paper, we present a surgical planning toolkit called the \"NeuroPlan\" for our MRI-compatible stereotactic neurosurgery robot developed as a module for 3D Slicer software. This toolkit streamlines the current surgical workflow by rendering and overlaying the robot's reachable workspace on the MRI image. It also assists with identifying the optimal entry point by segmenting the cranial burr hole volume and locating its center. We demonstrate the accuracy of the workspace rendering and burr hole parameter detection through both phantom and MR-images acquired from previously conducted animal studies.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9248070/pdf/nihms-1819242.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"40471907","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: 2