... International Symposium on Medical Robotics. International Symposium on Medical Robotics最新文献_第3页

Identifying Kinematic Markers Associated with Intraoperative Stress during Surgical Training Tasks. 识别手术训练任务中与术中应激相关的运动标记。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2021-11-01 DOI: 10.1109/ismr48346.2021.9661482

Yi Zheng, Grey Leonard, Juan Tellez, Herbert Zeh, Ann Majewicz Fey

{"title":"Identifying Kinematic Markers Associated with Intraoperative Stress during Surgical Training Tasks.","authors":"Yi Zheng, Grey Leonard, Juan Tellez, Herbert Zeh, Ann Majewicz Fey","doi":"10.1109/ismr48346.2021.9661482","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661482","url":null,"abstract":"Increased levels of stress can impair surgeon performance and patient safety during surgery. The aim of this study is to investigate the effect of short term stressors on laparoscopic performance through analysis of kinematic data. Thirty subjects were randomly assigned into two groups in this IRB-approved study. The control group was required to finish an extended-duration peg transfer task (6 minutes) using the FLS trainer while listening to normal simulated vital signs and while being observed by a silent moderator. The stressed group finished the same task but listened to a period of progressively deteriorating simulated patient vitals, as well as critical verbal feedback from the moderator, which culminated in 30 seconds of cardiac arrest and expiration of the simulated patient. For all subjects, video and position data using electromagnetic trackers mounted on the handles of the laparoscopic instruments were recorded. A statistical analysis comparing time-series velocity, acceleration, and jerk data, as well as path length and economy of volume was conducted. Clinical stressors lead to significantly higher velocity, acceleration, jerk, and path length as well as lower economy of volume. An objective evaluation score using a modified OSATS technique was also significantly worse for the stressed group than the control group. This study shows the potential feasibility and advantages of using the time-series kinematic data to identify the stressful conditions during laparoscopic surgery in near-real-time. This data could be useful in the design of future robot-assisted algorithms to reduce the unwanted effects of stress on surgical performance.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2021 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10321325/pdf/nihms-1903570.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9803396","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

Towards Automatic Robotic Calibration System for Flexible Needles with FBG Sensors. 基于FBG传感器的柔性针机器人自动标定系统的研究。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2021-11-01 DOI: 10.1109/ismr48346.2021.9661542

Kefan Song, Dimitri A Lezcano, Ge Sun, Jin Seob Kim, Iulian I Iordachita

引用次数: 4

Preparation and Property Analysis of Fe3O4/PVA Magnetic Hydrogel Base on Soft Robot Matrix 基于柔性机器人矩阵的Fe3O4/PVA磁性水凝胶制备及性能分析

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2021-01-01 DOI: 10.1109/ISR50024.2021.9419553

A. Bai, B. Zhang, C. Dai

引用次数: 0

Spotlight-based 3D Instrument Guidance for Retinal Surgery. 基于聚光灯的视网膜手术三维仪器指导。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2020-11-01 Epub Date: 2021-01-11 DOI: 10.1109/ismr48331.2020.9312952

Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar Patel, Changyan He, Peter Gehlbach, Russell H Taylor, Alois Knoll, M Ali Nasseri, Iulian Iordachita

{"title":"Spotlight-based 3D Instrument Guidance for Retinal Surgery.","authors":"Mingchuan Zhou, Jiahao Wu, Ali Ebrahimi, Niravkumar Patel, Changyan He, Peter Gehlbach, Russell H Taylor, Alois Knoll, M Ali Nasseri, Iulian Iordachita","doi":"10.1109/ismr48331.2020.9312952","DOIUrl":"https://doi.org/10.1109/ismr48331.2020.9312952","url":null,"abstract":"Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images. The spotlight projection mechanism is firstly analyzed and modeled with a projection on both a plane and a sphere surface. To test the feasibility of the proposed method, a light fiber is integrated into the instrument which is driven by the Steady-Hand Eye Robot (SHER). The spot of light is segmented and tracked on a phantom retina using the proposed algorithm. The static calibration and dynamic test results both show that the proposed method can easily archive 0.5 mm of tip-to-surface distance which is within the clinically acceptable accuracy for intraocular visual guidance.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ismr48331.2020.9312952","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39478106","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: 5

Improved Integrated Robotic Intraocular Snake. 改进的集成机器人眼内蛇。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2020-11-01 Epub Date: 2021-01-11 DOI: 10.1109/ismr48331.2020.9312927

Makoto Jinno, Iulian Iordachita

{"title":"Improved Integrated Robotic Intraocular Snake.","authors":"Makoto Jinno, Iulian Iordachita","doi":"10.1109/ismr48331.2020.9312927","DOIUrl":"https://doi.org/10.1109/ismr48331.2020.9312927","url":null,"abstract":"Retinal surgery can be performed only by surgeons possessing advanced surgical skills because of the small, confined intraocular space, and the restricted free motion of instruments in contact with the sclera. Snake-like robots could be essential for use in retinal surgery to overcome this problem. Such robots can approach from suitable directions and operate delicate tissues when performing retinal vein cannulation, epiretinal membrane peeling and so on. In this study, we propose an improved integrated robotic intraocular snake (I2RIS), which is a new version of our previous IRIS. This update focuses on the dexterous distal unit design and the drive unit design. The proposed dexterous distal unit consists of small elements with reduced contact stress. The proposed drive unit includes a new wire drive mechanism where the drive pulley is mounted at a right angle relative to the actuation direction (also, relative to the conventional direction). A geometric analysis and mechanical design show that the proposed drive mechanism is simpler and easier to assemble and yields higher accuracy than the conventional drive mechanism. Furthermore, considering clinical use, the instrument of the I2RIS is detachable from the motor unit for cleaning, sterilization, and attachment of various surgical tools. Weighing merely 31.3 g, the proposed mechanism is only one third of the weight of the conventional IRIS. The basic functions and effectiveness of the proposed mechanism are verified by experiments on 5:1 scaled-up models of the dexterous distal unit and actual-size models of the instrument and motor units.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ismr48331.2020.9312927","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39349006","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: 4

Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study. 机器人辅助视网膜手术中基于力的安全静脉插管:初步研究。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2020-11-01 Epub Date: 2021-01-11 DOI: 10.1109/ismr48331.2020.9312945

Jiahao Wu, Changyan He, Mingchuan Zhou, Ali Ebrahimi, Muller Urias, Niravkumar A Patel, Yun-Hui Liu, Peter Gehlbach, Iulian Iordachita

{"title":"Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study.","authors":"Jiahao Wu, Changyan He, Mingchuan Zhou, Ali Ebrahimi, Muller Urias, Niravkumar A Patel, Yun-Hui Liu, Peter Gehlbach, Iulian Iordachita","doi":"10.1109/ismr48331.2020.9312945","DOIUrl":"https://doi.org/10.1109/ismr48331.2020.9312945","url":null,"abstract":"Retinal vein cannulation (RVC) is a potential treatment for retinal vein occlusion (RVO). Manual surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted retinal surgery may be a better approach to smooth and accurate instrument manipulation during this procedure. Motion of the retina and cornea related to heartbeat may be associated with unexpected forces between the tool and eyeball. In this paper, we propose a force-based control strategy to automatically compensate for the movement of the retina maintaining the tip force and sclera force in a predetermined small range. A dual force-sensing tool is used to monitor the tip force, sclera force and tool insertion depth, which will be used to derive a desired joint velocity for the robot via a modified admittance controller. Then the tool is manipulated to compensate for the movement of the retina as well as reduce the tip force and sclera force. Quantitative experiments are conducted to verify the efficacy of the control strategy and a user study is also conducted by a retinal surgeon to demonstrate the advantages of our automatic compensation approach.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ismr48331.2020.9312945","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39478107","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

FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy. 基于fbg的卡尔曼滤波及安全机器人辅助玻璃体切割刀具插入深度控制。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2020-11-01 Epub Date: 2021-01-11 DOI: 10.1109/ismr48331.2020.9312931

Ali Ebrahimi, Muller Urias, Niravkumar Patel, Peter Gehlbach, Farshid Alambeigi, Iulian Iordachita

{"title":"FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy.","authors":"Ali Ebrahimi, Muller Urias, Niravkumar Patel, Peter Gehlbach, Farshid Alambeigi, Iulian Iordachita","doi":"10.1109/ismr48331.2020.9312931","DOIUrl":"https://doi.org/10.1109/ismr48331.2020.9312931","url":null,"abstract":"Vitrectomy is that portion of retinal surgery in which the vitreous gel is removed either as a definitive treatment or to provide direct tool access to the retina. This procedure should be conducted prior to several eye surgeries in order to provide better access to the eyeball posterior. It is a relatively repeatable and straight forward procedure that lends itself to robotic assistance or potentially autonomous performance if tool contact with critical structures can be avoided. One of the detrimental incidences that can occur during the robot-assisted vitrectomy is when the robot penetrates the tool more than allowed boundaries into the eyeball toward retina. In this paper, we provide filtering and control to guide instrument insertion depth in order to avoid tool-to-retina contact. For this purpose, first the tool insertion depth measurement is improved using a Kalman filtering (KF) algorithm. This improved measurement is then used in an adaptive control strategy by which the robot reduces the tool insertion depth based on a predefined and safe trajectory for it, when safe boundaries are overstepped. The performance of the insertion depth safety control system is then compared to one in which the insertion depth is not passed through a Kalman filter prior to being fed to the control system. Our results indicate that applying KF in the adaptive control of the robot enhances procedure safety and enables the robot to always keep the tool insertion depth under the safe levels.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ismr48331.2020.9312931","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39349007","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

Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot. 经鼻耳内窥镜连续机器人缺口间距的计算优化。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2020-11-01 DOI: 10.1109/ismr48331.2020.9312937

Alex J Chiluisa, Floris J Van Rossum, Joshua B Gafford, Robert F Labadie, Robert J Webster, Loris Fichera

引用次数: 4

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. 机器人辅助眼科手术的巩膜力控制:自适应力控制与听觉反馈。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2019-04-01 Epub Date: 2019-05-09 DOI: 10.1109/ISMR.2019.8710205

Ali Ebrahimi, Changyan He, Niravkumar Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita

{"title":"Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback.","authors":"Ali Ebrahimi, Changyan He, Niravkumar Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita","doi":"10.1109/ISMR.2019.8710205","DOIUrl":"https://doi.org/10.1109/ISMR.2019.8710205","url":null,"abstract":"Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeons tactile perception of useful and familiar tool-to-sclera forces. While the large mass and inertia of eye surgical robot prevents surgeon microtremor, loss of perception of small scleral forces may put the sclera at risk of injury. In this paper, we have applied and compared two different methods to assure the safety of sclera tissue during robot-assisted eye surgery. In the active control method, an adaptive force control strategy is implemented on the Steady-Hand Eye Robot in order to control the magnitude of scleral forces when they exceed safe boundaries. This autonomous force compensation is then compared to a passive force control method in which the surgeon performs manual adjustments in response to the provided audio feedback proportional to the magnitude of sclera force. A pilot study with three users indicate that the active control method is potentially more efficient.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2019 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ISMR.2019.8710205","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37902343","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: 13

Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions. mri引导下经皮介入治疗的远程驱动针驱动装置。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2019-01-01 Epub Date: 2019-05-09 DOI: 10.1109/ismr.2019.8710176

Di Wu, Gang Li, Niravkumar Patel, Jiawen Yan, Reza Monfaredi, Kevin Cleary, Iulian Iordachita

{"title":"Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions.","authors":"Di Wu, Gang Li, Niravkumar Patel, Jiawen Yan, Reza Monfaredi, Kevin Cleary, Iulian Iordachita","doi":"10.1109/ismr.2019.8710176","DOIUrl":"https://doi.org/10.1109/ismr.2019.8710176","url":null,"abstract":"In this paper we introduce a remotely actuated MRI-compatible needle driving device for pain injections in the lower back. This device is able to manipulate the needle inside the closed-bore MRI scanner under the control of the interventional radiologist inside both the scanner room and the console room. The device consists of a 2 degrees of freedom (DOF) needle driver and an actuation box. The 2-DOF needle driver is placed inside the scanner bore and driven by the actuation box settled at the end of the table through a beaded chain transmission. This novel remote actuation design could reduce the weight and profile of the needle driver that is mounted on the patient, as well as minimize the potential imaging noise introduced by the actuation electronics. The actuation box is designed to perform needle intervention in both manual and motorized fashion by utilizing a mode switch mechanism. A mechanical hard stop is also incorporated to improve the device's safety. The bench-top accuracy evaluation of the device demonstrated a small mean needle placement error (< 1 mm) in a phantom study.","PeriodicalId":72029,"journal":{"name":"... International Symposium on Medical Robotics. International Symposium on Medical Robotics","volume":"2019 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ismr.2019.8710176","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38326367","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: 10