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

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

Study on Structure Design and Simulation of Upper-Limb Assist Robot 上肢辅助机器人结构设计与仿真研究

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2018-01-01 DOI: 10.1109/IISR.2018.8535651

Xiaolei Cao, Hui Li, Zhihong Jiang, Jianning Hua, Peng Sun, Rufen Wang

引用次数: 0

Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station 基于双力矩前馈控制的空间站机器人航天员安全运动轨迹规划

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2018-01-01 DOI: 10.1109/IISR.2018.8535762

Zhihong Jiang, Jiafeng Xu, Hui Li, Qiang Huang

引用次数: 0

Feature extraction and optimisation for sleep apnea 睡眠呼吸暂停的特征提取与优化

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295888

W. Y. Leong

引用次数: 4

Compressive properties of nanoclay/epoxy nanocomposites 纳米粘土/环氧纳米复合材料的压缩性能

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2012-01-01 DOI: 10.1016/J.PROENG.2012.07.357

A. Jumahat, Constantinos Soutis, J. Mahmud, N. Ahmad

引用次数: 72