Journal of medical robotics research最新文献

Clinical validation of a Novel Robotic Device for MR-Guided Prostate Biopsy: Initial Patient Experience. 一种新型磁共振引导前列腺活检机器人设备的临床验证：初步患者经验。

Journal of medical robotics research Pub Date : 2026-03-23 DOI: 10.1142/s2424905x26500042

Pedro Moreira, Mariana C Bernardes, John Grimble, Nicusor Iftimia, Kemal Tuncali, Jesung Park, Junichi Tokuda

{"title":"Clinical validation of a Novel Robotic Device for MR-Guided Prostate Biopsy: Initial Patient Experience.","authors":"Pedro Moreira, Mariana C Bernardes, John Grimble, Nicusor Iftimia, Kemal Tuncali, Jesung Park, Junichi Tokuda","doi":"10.1142/s2424905x26500042","DOIUrl":"10.1142/s2424905x26500042","url":null,"abstract":"Magnetic resonance imaging (MRI)-guided transperineal targeted prostate biopsy has potential to provide precise cancer diagnosis. However, it is challenged by targeting errors and needle deflection. The main issue is that the traditional needle guides have limited degrees of freedom (DoF) and therefore restrict insertion path options. Thus, the targeting error can be larger than 5 mm. This study evaluates the performance of a custom-built 4-DoF needle guiding device designed to enable alternative insertion paths. The 4-DoF Smart Template was designed to improve image quality and stability, including redesigned fiducials and titanium positioning frames. Four MRI-guided biopsy cases were conducted. Targets were identified on T2-weighted images, and insertion paths were planned and adjusted to avoid critical structures. The targeting error was measured as the in-plane distance between the target and the actual needle position. The average targeting error of the best insertion attempt was 3.7mm±2.6mm (mean ± standard deviation). When discarding the case where the device had to be removed due to patient anatomy, the average targeting error was reduced to 2.7mm±1.1mm. No adverse events were reported. The new 4-DoF Smart Template device has demonstrated improved accuracy as compared to the traditional needle guide device, successfully reaching the target location with just one insertion in four out of six targets.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13082751/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147701112","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 Semi-Automated Robotic Platform for Curvilinear Catheter Implantation in HDR Prostate and GYN Brachytherapy. HDR前列腺和妇科近距离放疗中曲线导管植入的半自动机器人平台。

Journal of medical robotics research Pub Date : 2026-02-05 DOI: 10.1142/s2424905x26400040

Joshua Kinder, Blayton Padasdao, Rex Imanaka, Mitchell Kamrava, Bardia Konh

{"title":"A Semi-Automated Robotic Platform for Curvilinear Catheter Implantation in HDR Prostate and GYN Brachytherapy.","authors":"Joshua Kinder, Blayton Padasdao, Rex Imanaka, Mitchell Kamrava, Bardia Konh","doi":"10.1142/s2424905x26400040","DOIUrl":"10.1142/s2424905x26400040","url":null,"abstract":"High-dose-rate (HDR) brachytherapy is an effective treatment for prostate and gynecologic cancers, yet current rigid catheter systems constrain trajectories to straight paths, limiting conformity to patient-specific anatomy and compromising dose distribution. To address this, we developed and preliminarily evaluated a semi-automated robotic platform for curvilinear catheter implantation. The system integrates (i) a handheld tendon-driven active needle manipulator with joystick-based control, (ii) an innovative template for initial angulation, and (iii) a novel gynecologic applicator incorporating concentric tube robotics for steerable tandem delivery. Patient-specific curvilinear trajectories were preplanned from anonymized MRI/CT datasets, and experimental evaluations were conducted in air and tissue-mimicking phantoms. The handheld manipulator achieved tip displacement errors below 2.89 mm in air and 2.22 mm in phantom, while the combined device-template system reproduced prostate curvilinear trajectories with root mean squared deviations (RMSDs) under 3.67 mm. Integration of the concentric tube robot with the gynecologic applicator achieved uterine trajectories with RMSDs below 1.17 mm. These results demonstrate, for the first time, the feasibility of semi-automated active needle manipulation and concentric tube-assisted applicator design for anatomically conformal HDR brachytherapy. This approach has the potential to improve catheter placement accuracy, enable patient-specific dose escalation, and reduce toxicity to organs at risk in both prostate and cervical cancer treatment.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13008369/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147517276","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

Toward Image-Guided, Robot-Assisted Focal Prostate Resection: Do Enhanced Dexterity and Visualization Improve Performance? 图像引导、机器人辅助的局灶性前列腺切除术：增强的灵活性和可视化能改善手术效果吗？

Journal of medical robotics research Pub Date : 2026-01-22 DOI: 10.1142/s2424905x26500017

Jesse F d'Almeida, Jason A Shrand, Sarah Garrow, Christopher E Vaughn, Nicholas L Kavoussi, Shaan Setia, Amy Reed, Susheela Sharma Stern, Tayfun Efe Ertop, Ahmed E Ghazi, S Duke Herrell, William A Grissom, Robert J Webster

{"title":"Toward Image-Guided, Robot-Assisted Focal Prostate Resection: Do Enhanced Dexterity and Visualization Improve Performance?","authors":"Jesse F d'Almeida, Jason A Shrand, Sarah Garrow, Christopher E Vaughn, Nicholas L Kavoussi, Shaan Setia, Amy Reed, Susheela Sharma Stern, Tayfun Efe Ertop, Ahmed E Ghazi, S Duke Herrell, William A Grissom, Robert J Webster","doi":"10.1142/s2424905x26500017","DOIUrl":"10.1142/s2424905x26500017","url":null,"abstract":"Focal prostate treatment (aka \"male lumpectomy\") has the potential to reduce invasiveness for prostate cancer patients. However, clinical deployment has been impeded by the difficulty of performing surgery through the urethra, which we hypothesize relates to both instrument dexterity and visualization limitations. To evaluate this hypothesis, in this paper we propose a system consisting of an endoscopic robot to enhance dexterity and an image-guidance display updated periodically during surgery based on MRI images. To evaluate the system, in this paper we compare four conditions: unaided manual resection using an endoscope, robot-aided surgery without image guidance, image guidance without the robot, and both robot and image guidance together. We find that while the robot and image guidance improve performance individually, the combination of the two provides the greatest improvement.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12889886/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146168310","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

Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. 刚性但弯曲：管传动驱动手术机器人通过柔性内窥镜。

Journal of medical robotics research Pub Date : 2025-03-01 Epub Date: 2025-04-25 DOI: 10.1142/s2424905x24500053

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

{"title":"Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes.","authors":"Khoa T Dang, Carter Hatch, Peter Connor, Stephen Qiu, Tony Qin, Ron Alterovitz, Robert J Webster, Caleb Rucker","doi":"10.1142/s2424905x24500053","DOIUrl":"10.1142/s2424905x24500053","url":null,"abstract":"Concentric push-pull robots delivered through flexible endoscopes work best if their laser-cut transmission tubes have high axial stiffness, high torsional stiffness, and low bending stiffness. This paper simultaneously addresses all three output stiffness values in the transmission design problem, explicitly considering axial stiffness, whereas prior work on laser-cut tube design has focused on the bending/torsional stiffness ratio. We demonstrate an inherent trade-off present in existing laser-cut patterns: it is difficult to simultaneously achieve high axial stiffness and low bending stiffness because these properties are very tightly correlated. To break this correlation and design all three stiffness independently, we propose a new type of laser material removal pattern that leverages local stiffness asymmetry ( <math><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> </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. We also experimentally validated the proposed design's properties and actuation performance with professionally manufactured prototype Nitinol tubes for use in an endoscopic robot system.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"10 1-2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12376780/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144981412","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

Cross-Modality Registration using Bone Surface Pointcloud for Robotic Ultrasound-Guided Spine Surgery. 利用骨表面点云进行机器人超声引导脊柱手术的交叉模态配准。

Journal of medical robotics research Pub Date : 2025-03-01 Epub Date: 2025-01-17 DOI: 10.1142/s2424905x25400045

Xihan Ma, Xiao Zhang, Yang Wang, Christopher J Nycz, Arno Sungarian, Songbai Ji, Xinming Huang, Haichong K Zhang

引用次数: 0

Robotic Assistance and Haptic Feedback in Arthroscopic Procedures: Design and Preliminary Evaluation of a Two-Arm System 关节镜手术中的机器人辅助和触觉反馈：双臂系统的设计与初步评估

Journal of medical robotics research Pub Date : 2024-05-17 DOI: 10.1142/s2424905x24500041

Teng Li, Armin Badre, Mahdi Tavakoli

引用次数: 0

Closed-form kinematics solutions for redundant medical robots with joint limits and singularity avoidance 具有关节限制和奇异性规避功能的冗余医疗机器人闭式运动学解决方案

Journal of medical robotics research Pub Date : 2024-05-17 DOI: 10.1142/s2424905x2450003x

L. Prokhorenko, Denis Mishchenkov, Daniil Klimov, Yuri Poduraev

引用次数: 0

Comparative Analysis of Peltier Devices and Flexible Heater Strips for Enhancing Bandwidth in Thermo-Active Soft Actuators 用于提高热动软致动器带宽的珀尔帖器件和柔性加热器带的比较分析

Journal of medical robotics research Pub Date : 2024-05-17 DOI: 10.1142/s2424905x24500028

Trevor Exley, Daniel Johnson, Amir Jafari

引用次数: 0

Development and preliminary evaluation of a robotic device for MRI-guided needle breast biopsy 开发并初步评估用于核磁共振成像引导针式乳腺活检的机器人设备

Journal of medical robotics research Pub Date : 2024-04-11 DOI: 10.1142/s2424905x24500016

C. Ioannides, A. Antoniou, Vasiliki Zinonos, C. Damianou

引用次数: 0

An MRI-Conditional Flexible Endoscopic Robot with a Hydraulic Tendon-Driven Actuation System 带液压肌腱驱动执行系统的核磁共振成像条件下柔性内窥镜机器人

Journal of medical robotics research Pub Date : 2024-02-16 DOI: 10.1142/s2424905x24400038

Boshen Qi, Hengjie Chen, J. Langley, Behnam Badie, Xiaoping Hu, Jun Sheng

引用次数: 0