Journal of medical robotics research最新文献_第3页

Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists. 超越恒定曲率：单向切口管式连续手腕的新力学模型

Journal of medical robotics research Pub Date : 2021-03-01 DOI: 10.1142/s2424905x21400043

Nicholas E Pacheco, Joshua B Gafford, Mostafa A Atalla, Robert J Webster, Loris Fichera

{"title":"Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists.","authors":"Nicholas E Pacheco, Joshua B Gafford, Mostafa A Atalla, Robert J Webster, Loris Fichera","doi":"10.1142/s2424905x21400043","DOIUrl":"10.1142/s2424905x21400043","url":null,"abstract":"This paper presents a new mechanics model for unidirectional notched-tube continuum wrists, a class of mechanisms frequently used to implement distal steering in needle-sized surgical robotic instruments. Existing kinematic models available for these devices are based on the simplifying assumption that, during actuation, all the notches undergo the same amount of deflection, so that the shape of a wrist can be approximated by an arc of constant curvature. This approach is analytically attractive, but, as we show in this paper, it can sometimes fail to provide good tracking accuracy. In this article, we provide a new model that relaxes the assumption above, and we report experimental evidence showing its superior accuracy. We model wrist deflection using Castigliano's second theorem, with the addition of a capstan friction term that accounts for frictional losses on the actuation tendon. Because notched-tube wrists are typically made of Nickel-Titanium (Nitinol), which has nonlinear stress-strain characteristics, we use a technique to obtain a local linearized approximation of the material modulus, suitable for use in the deflection model. The result of our modeling is a system of nonlinear equations that can be solved numerically to predict the wrist configuration based on the applied actuation force. Experimental results on physical specimens show that this improved model provides a more accurate estimate of wrist kinematics than prior models assuming constant curvature bending.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"6 1-2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9400950/pdf/nihms-1815286.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"33437889","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

Improved Integrated Robotic Intraocular Snake: Analyses of the Kinematics and Drive Mechanism of the Dexterous Distal Unit. 改进型一体化机器人眼内蛇：灵巧远端单元的运动学和驱动机制分析。

Journal of medical robotics research Pub Date : 2021-03-01 Epub Date: 2021-05-11 DOI: 10.1142/s2424905x21400018

Makoto Jinno, Iulian Iordachita

{"title":"Improved Integrated Robotic Intraocular Snake: Analyses of the Kinematics and Drive Mechanism of the Dexterous Distal Unit.","authors":"Makoto Jinno, Iulian Iordachita","doi":"10.1142/s2424905x21400018","DOIUrl":"10.1142/s2424905x21400018","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 the instruments in contact with the sclera. Snake-like robots may be essential for use in retinal surgery to overcome this problem. Such robots can approach the target site from suitable directions and operate on delicate tissues during retinal vein cannulation, epiretinal membrane peeling, and so on. We propose an improved integrated robotic intraocular snake (I2RIS), which is a new version of our previous IRIS. This study focused on the analyses of the kinematics and drive mechanism of the dexterous distal unit. This unit consists of small elements with reduced contact stress achieved by changing wire-hole positions. The kinematic analysis of the dexterous distal unit shows that it is possible to control the bending angle and direction of the unit by using two pairs of drive wires. The proposed drive mechanism includes a new pull-and-release wire mechanism in which the drive pulley is mounted at a right angle relative to the actuation direction (also, relative to the conventional direction). Analysis of the drive mechanism shows that compared to the previous drive mechanism, the proposed mechanism is simpler and easier to assemble and yields higher accuracy and resolution. Furthermore, considering clinical use, the instrument of the I2RIS is detachable from the motor unit easily for cleaning, sterilization, and attachment of various surgical tools. Analyses of the kinematics and drive mechanism and the basic functions of the proposed mechanism were verified experimentally on actual-size prototypes of the instrument and motor units.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"6 1-2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8553217/pdf/nihms-1696650.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39669134","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

Extracting Subtask-specific Metrics Toward Objective Assessment of Needle Insertion Skill for Hemodialysis Cannulation. 提取特定子任务指标，客观评估血液透析置管针插入技能。

Journal of medical robotics research Pub Date : 2019-09-01 Epub Date: 2020-04-14 DOI: 10.1142/s2424905x19420066

Ziyang Zhang, Zhanhe Liu, Ravikiran Singapogu

{"title":"Extracting Subtask-specific Metrics Toward Objective Assessment of Needle Insertion Skill for Hemodialysis Cannulation.","authors":"Ziyang Zhang, Zhanhe Liu, Ravikiran Singapogu","doi":"10.1142/s2424905x19420066","DOIUrl":"10.1142/s2424905x19420066","url":null,"abstract":"About 80% of all in-hospital patients require vascular access cannulation for treatments. However, there is a high rate of failure for vascular access cannulation, with several studies estimating up to a 50% failure rate for these procedures. Hemodialysis cannulation (HDC) is arguably one of the most difficult of these procedures with a steep learning curve and an extremely high failure rate. In light of this, there is a critical need that clinicians performing HDC have requisite skills. In this work, we present a method that combines the strengths of simulator-based objective skill quantification and task segmentation for needle insertion skill assessment at the subtask level. The results from our experimental study with seven novice nursing students on the cannulation simulator demonstrate that the simulator was able to segment needle insertion into subtask phases. In addition, most metrics were significantly different between the two phases, indicating that there may be value in evaluating participants' behavior at the subtask level. Further, the outcome metric (risk of infiltrating the simulated blood vessel) was successfully predicted by the process metrics in both phases. The implications of these results for skill assessment and training are discussed, which could potentially lead to improved patient outcomes if more extensive validation is pursued.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"4 3-4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7932179/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"25446138","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

System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy. MRI引导下经会阴前列腺活检机器人系统的系统集成和初步临床评估

Journal of medical robotics research Pub Date : 2019-06-01 Epub Date: 2018-05-15 DOI: 10.1142/S2424905X19500016

Niravkumar A Patel, Gang Li, Weijian Shang, Marek Wartenberg, Tamas Heffter, Everette C Burdette, Iulian Iordachita, Junichi Tokuda, Nobuhiko Hata, Clare M Tempany, Gregory S Fischer

{"title":"System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy.","authors":"Niravkumar A Patel, Gang Li, Weijian Shang, Marek Wartenberg, Tamas Heffter, Everette C Burdette, Iulian Iordachita, Junichi Tokuda, Nobuhiko Hata, Clare M Tempany, Gregory S Fischer","doi":"10.1142/S2424905X19500016","DOIUrl":"10.1142/S2424905X19500016","url":null,"abstract":"This paper presents the development, preclinical evaluation, and preliminary clinical study of a robotic system for targeted transperineal prostate biopsy under direct interventional magnetic resonance imaging (MRI) guidance. The clinically integrated robotic system is developed based on a modular design approach, comprised of surgical navigation application, robot control software, MRI robot controller hardware, and robotic needle placement manipulator. The system provides enabling technologies for MRI-guided procedures. It can be easily transported and setup for supporting the clinical workflow of interventional procedures, and the system is readily extensible and reconfigurable to other clinical applications. Preclinical evaluation of the system is performed with phantom studies in a 3 Tesla MRI scanner, rehearsing the proposed clinical workflow, and demonstrating an in-plane targeting error of 1.5mm. The robotic system has been approved by the institutional review board (IRB) for clinical trials. A preliminary clinical study is conducted with the patient consent, demonstrating the targeting errors at two biopsy target sites to be 4.0mm and 3.7mm, which is sufficient to target a clinically significant tumor foci. First-in-human trials to evaluate the system's effectiveness and accuracy for MR image-guide prostate biopsy are underway.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"4 2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/S2424905X19500016","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47829216","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: 29

Haptic Guidance Based on All-Optical Ultrasound Distance Sensing for Safer Minimally Invasive Fetal Surgery. 基于全光学超声距离传感的触觉引导用于更安全的微创胎儿手术。

Journal of medical robotics research Pub Date : 2018-04-20 DOI: 10.1142/S2424905X18410015

Caspar Gruijthuijsen, Richard Colchester, Alain Devreker, Allan Javaux, Efthymios Maneas, Sacha Noimark, Wenfeng Xia, Danail Stoyanov, Dominiek Reynaerts, Jan Deprest, Sebastien Ourselin, Adrien Desjardins, Tom Vercauteren, Emmanuel Vander Poorten

{"title":"Haptic Guidance Based on All-Optical Ultrasound Distance Sensing for Safer Minimally Invasive Fetal Surgery.","authors":"Caspar Gruijthuijsen, Richard Colchester, Alain Devreker, Allan Javaux, Efthymios Maneas, Sacha Noimark, Wenfeng Xia, Danail Stoyanov, Dominiek Reynaerts, Jan Deprest, Sebastien Ourselin, Adrien Desjardins, Tom Vercauteren, Emmanuel Vander Poorten","doi":"10.1142/S2424905X18410015","DOIUrl":"10.1142/S2424905X18410015","url":null,"abstract":"By intervening during the early stage of gestation, fetal surgeons aim to correct or minimize the effects of congenital disorders. As compared to postnatal treatment of these disorders, such early interventions can often actually save the life of the fetus and also improve the quality of life of the newborn. However, fetal surgery is considered one of the most challenging disciplines within Minimally Invasive Surgery (MIS), owing to factors such as the fragility of the anatomic features, poor visibility, limited manoeuvrability, and extreme requirements in terms of instrument handling with precise positioning. This work is centered on a fetal laser surgery procedure treating placental disorders. It proposes the use of haptic guidance to enhance the overall safety of this procedure and to simplify instrument handling. A method is described that provides effective guidance by installing a forbidden region virtual fixture over the placenta, thereby safeguarding adequate clearance between the instrument tip and the placenta. With a novel application of all-optical ultrasound distance sensing in which transmission and reception are performed with fibre optics, this method can be used with a sole reliance on intraoperatively acquired data. The added value of the guidance approach, in terms of safety and performance, is demonstrated in a series of experiments with a robotic platform.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"3 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6390942/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37012329","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

Optimizing the Magnetic Dipole-Field Source for Magnetically Guided Cochlear-Implant Electrode-Array Insertions. 磁引导人工耳蜗电极阵列插入的磁偶极子场源优化。

Journal of medical robotics research Pub Date : 2018-03-01 Epub Date: 2018-01-22 DOI: 10.1142/S2424905X18500046

Lisandro Leon, Frank M Warren, Jake J Abbott

{"title":"Optimizing the Magnetic Dipole-Field Source for Magnetically Guided Cochlear-Implant Electrode-Array Insertions.","authors":"Lisandro Leon, Frank M Warren, Jake J Abbott","doi":"10.1142/S2424905X18500046","DOIUrl":"https://doi.org/10.1142/S2424905X18500046","url":null,"abstract":"Magnetic guidance of cochlear-implant electrode arrays during insertion has been demonstrated in vitro to reduce insertion forces, which is believed to be correlated to a reduction in trauma. In those prior studies, the magnetic dipole-field source (MDS) was configured to travel on a path that would be coincident with the cochlea's modiolar axis, which was an unnecessary constraint that was useful to demonstrate feasibility. In this paper, we determine the optimal configuration (size and location) of a spherical-permanent-magnet MDS needed to accomplish guided insertions with a 100 mT field strength required at the cochlea, and we provide a methodology to perform such an optimization more generally. Based on computed-tomography scans of 30 human subjects, the MDS should be lateral-to and slightly anterior-to the cochlea with an approximate radius (mean and standard deviation across subjects) of 64 mm and 4.5 mm, respectively. We compare these results to the modiolar configuration and find that the volume of the MDS can be reduced by a factor of five with a 43% reduction in its radius by moving it to the optimal location. We conservatively estimate that the magnetic forces generated by the optimal configuration are two orders of magnitude below the threshold needed to puncture the basilar membrane. Although subject-specific optimal configurations are computed in this paper, a one-size-fits-all version with a radius of approximately 75 mm is more robust to registration error and likely more practical. Finally, we explain how to translate the results obtained to an electromagnetic MDS.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"3 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/S2424905X18500046","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"36313956","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: 9

Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. 实现经口外周肺通路：结合连续机器人和可转向针头。

Journal of medical robotics research Pub Date : 2017-03-01 Epub Date: 2016-10-11 DOI: 10.1142/S2424905X17500015

Philip J Swaney, Arthur W Mahoney, Bryan I Hartley, Andria A Remirez, Erik Lamers, Richard H Feins, Ron Alterovitz, Robert J Webster

{"title":"Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles.","authors":"Philip J Swaney, Arthur W Mahoney, Bryan I Hartley, Andria A Remirez, Erik Lamers, Richard H Feins, Ron Alterovitz, Robert J Webster","doi":"10.1142/S2424905X17500015","DOIUrl":"10.1142/S2424905X17500015","url":null,"abstract":"Lung cancer is the most deadly form of cancer in part because of the challenges associated with accessing nodules for diagnosis and therapy. Transoral access is preferred to percutaneous access since it has a lower risk of lung collapse, yet many sites are currently unreachable transorally due to limitations with current bronchoscopic instruments. Toward this end, we present a new robotic system for image-guided trans-bronchoscopic lung access. The system uses a bronchoscope to navigate in the airway and bronchial tubes to a site near the desired target, a concentric tube robot to move through the bronchial wall and aim at the target, and a bevel-tip steerable needle with magnetic tracking to maneuver through lung tissue to the target under closed-loop control. In this work, we illustrate the workflow of our system and show accurate targeting in phantom experiments. Ex vivo porcine lung experiments show that our steerable needle can be tuned to achieve appreciable curvature in lung tissue. Lastly, we present targeting results with our system using two scenarios based on patient cases. In these experiments, phantoms were created from patient-specific computed tomography information and our system was used to target the locations of suspicious nodules, illustrating the ability of our system to reach sites that are traditionally inaccessible transorally.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2017-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5415307/pdf/nihms-811227.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34974590","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

MAPS - a Magic Angle Positioning System for Enhanced Imaging in High-Field Small-Bore MRI. MAPS -一种用于增强高场小口径MRI成像的魔角定位系统。

Journal of medical robotics research Pub Date : 2016-03-01 Epub Date: 2016-03-31 DOI: 10.1142/S2424905X16400043

Alexander Squires, Kevin C Chan, Leon C Ho, Ian A Sigal, Ning-Jiun Jan, Zion Tsz Ho Tse

引用次数: 3