Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics最新文献_第5页

Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions. 设计用于核磁共振成像引导下前列腺介入治疗的远程操作针引导系统。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2012-12-31 DOI: 10.1109/BioRob.2012.6290862

Reza Seifabadi, Iulian Iordachita, Gabor Fichtinger

{"title":"Design of a Teleoperated Needle Steering System for MRI-guided Prostate Interventions.","authors":"Reza Seifabadi, Iulian Iordachita, Gabor Fichtinger","doi":"10.1109/BioRob.2012.6290862","DOIUrl":"10.1109/BioRob.2012.6290862","url":null,"abstract":"Accurate needle placement plays a key role in success of prostate biopsy and brachytherapy. During percutaneous interventions, the prostate gland rotates and deforms which may cause significant target displacement. In these cases straight needle trajectory is not sufficient for precise targeting. Although needle spinning and fast insertion may be helpful, they do not entirely resolve the issue. We propose robot-assisted bevel-tip needle steering under MRI guidance as a potential solution to compensate for the target displacement. MRI is chosen for its superior soft tissue contrast in prostate imaging. Due to the confined workspace of the MRI scanner and the requirement for the clinician to be present inside the MRI room during the procedure, we designed a MRI-compatible 2-DOF haptic device to command the needle steering slave robot which operates inside the scanner. The needle steering slave robot was designed to be integrated with a previously developed pneumatically actuated transperineal robot for MRI-guided prostate needle placement. We describe design challenges and present the conceptual design of the master and slave robots and the associated controller.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"2012 ","pages":"793-798"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3955892/pdf/nihms482848.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32193924","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

Comparing Two Computational Mechanisms for Explaining Functional Recovery in Robot-Therapy of Stroke Survivors. 比较两种解释脑卒中幸存者机器人治疗中功能恢复的计算机制。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2012-06-01 DOI: 10.1109/BioRob.2012.6290914

Davide Piovesan, Maura Casadio, Ferdinando A Mussa-Ivaldi, Pietro Morasso

引用次数: 13

Sensor-based technology in the study of motor skills in infants at risk for ASD. 基于传感器的技术在ASD风险婴儿运动技能研究中的应用。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2012-06-01 DOI: 10.1109/BioRob.2012.6290922

Fabrizio Taffoni, Valentina Focaroli, Domenico Formica, Eugenio Gugliemelli, Flavio Keller, Jana M Iverson

引用次数: 31

Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions. 用于mri引导前列腺干预的mri兼容模块化机器人系统的初步评估。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2010-09-26 DOI: 10.1109/BIOROB.2010.5626987

Sang-Eun Song, Nathan Cho, Junichi Tokuda, Nobuhiko Hata, Clare Tempany, Gabor Fichtinger, Iulian Iordachita

{"title":"Preliminary Evaluation of a MRI-compatible Modular Robotic System for MRI-guided Prostate Interventions.","authors":"Sang-Eun Song, Nathan Cho, Junichi Tokuda, Nobuhiko Hata, Clare Tempany, Gabor Fichtinger, Iulian Iordachita","doi":"10.1109/BIOROB.2010.5626987","DOIUrl":"https://doi.org/10.1109/BIOROB.2010.5626987","url":null,"abstract":"Magnetic Resonance Imaging (MRI) guided robotic interventions have been introduced in order to advance prostate cancer detection and treatment. To overcome problems of such robotic interventions, we have been developing a pneumatically actuated MRI-compatible modular robotic system for MRI-guided transperineal prostate intervention and its interventional procedure. For system evaluation, a series of experiments have been conducted and this paper reports a needle insertion experiment using prostate phantom and patient mockup trials. The needle insertion experiment resulted in noticeable consistent error in one direction, which we will investigate further. Nonetheless, patient mockup experiences suggest that the modular robotic system and its interventional procedure are well integrated and implemented in clinical environment.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"2010 ","pages":"796-801"},"PeriodicalIF":0.0,"publicationDate":"2010-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2010.5626987","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"29514368","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: 14

New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery. 用于玻璃体视网膜手术的新型微力传感稳定手眼机器人。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2010-09-01 DOI: 10.1109/BIOROB.2010.5625991

Ali Uneri, Marcin A Balicki, James Handa, Peter Gehlbach, Russell H Taylor, Iulian Iordachita

{"title":"New Steady-Hand Eye Robot with Micro-Force Sensing for Vitreoretinal Surgery.","authors":"Ali Uneri, Marcin A Balicki, James Handa, Peter Gehlbach, Russell H Taylor, Iulian Iordachita","doi":"10.1109/BIOROB.2010.5625991","DOIUrl":"https://doi.org/10.1109/BIOROB.2010.5625991","url":null,"abstract":"In retinal microsurgery, surgeons are required to perform micron scale maneuvers while safely applying forces to the retinal tissue that are below sensory perception. Real-time characterization and precise manipulation of this delicate tissue has thus far been hindered by human limits on tool control and the lack of a surgically compatible endpoint sensing instrument. Here we present the design of a new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook. Utilizing the forces measured by the end effector, we correct for tool deflections and implement a micro-force guided cooperative control algorithm to actively guide the operator. Preliminary experiments have been carried out to test our new control methods on raw chicken egg inner shell membranes and to capture useful dynamic characteristics associated with delicate tissue manipulations.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"2010 26-29","pages":"814-819"},"PeriodicalIF":0.0,"publicationDate":"2010-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2010.5625991","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"29789570","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: 249

Interactive Motion Planning for Steerable Needles in 3D Environments with Obstacles. 具有障碍物的三维环境中可操纵针的交互式运动规划。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2010-01-01 DOI: 10.1109/BIOROB.2010.5625965

Sachin Patil, Ron Alterovitz

{"title":"Interactive Motion Planning for Steerable Needles in 3D Environments with Obstacles.","authors":"Sachin Patil, Ron Alterovitz","doi":"10.1109/BIOROB.2010.5625965","DOIUrl":"https://doi.org/10.1109/BIOROB.2010.5625965","url":null,"abstract":"Bevel-tip steerable needles for minimally invasive medical procedures can be used to reach clinical targets that are behind sensitive or impenetrable areas and are inaccessible to straight, rigid needles. We present a fast algorithm that can compute motion plans for steerable needles to reach targets in complex, 3D environments with obstacles at interactive rates. The fast computation makes this method suitable for online control of the steerable needle based on 3D imaging feedback and allows physicians to interactively edit the planning environment in real-time by adding obstacle definitions as they are discovered or become relevant. We achieve this fast performance by using a Rapidly Exploring Random Tree (RRT) combined with a reachability-guided sampling heuristic to alleviate the sensitivity of the RRT planner to the choice of the distance metric. We also relax the constraint of constant-curvature needle trajectories by relying on duty-cycling to realize bounded-curvature needle trajectories. These characteristics enable us to achieve orders of magnitude speed-up compared to previous approaches; we compute steerable needle motion plans in under 1 second for challenging environments containing complex, polyhedral obstacles and narrow passages.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":" ","pages":"893-899"},"PeriodicalIF":0.0,"publicationDate":"2010-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2010.5625965","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"30426804","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: 97

Real-time Gait Mode Intent Recognition of a Powered Knee and Ankle Prosthesis for Standing and Walking. 站立和行走的动力膝关节和踝关节假体的实时步态模式意图识别。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2009-01-27 DOI: 10.1109/BIOROB.2008.4762860

Huseyin Atakan Varol, Frank Sup, Michael Goldfarb

引用次数: 53

Integrated Planning and Image-Guided Control for Planar Needle Steering. 平面针转向的综合规划和图像引导控制。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2008-10-19 DOI: 10.1109/BIOROB.2008.4762833

Kyle B Reed, Vinutha Kallem, Ron Alterovitz, Ken Goldberg, Allison M Okamura, Noah J Cowan

{"title":"Integrated Planning and Image-Guided Control for Planar Needle Steering.","authors":"Kyle B Reed, Vinutha Kallem, Ron Alterovitz, Ken Goldberg, Allison M Okamura, Noah J Cowan","doi":"10.1109/BIOROB.2008.4762833","DOIUrl":"10.1109/BIOROB.2008.4762833","url":null,"abstract":"Flexible, tip-steerable needles promise to enhance physicians' abilities to accurately reach targets and maneuver inside the human body while minimizing patient trauma. Here, we present a functional needle steering system that integrates two components: (1) a patient-specific 2D pre- and intra-operative planner that finds an achievable route to a target within a planar slice of tissue (Stochastic Motion Roadmap), and (2) a low-level image-guided feedback controller that keeps the needle tip within that slice. The planner generates a sequence of circular arcs that can be realized by interleaving pure insertions with 180° rotations of the needle shaft. This preplanned sequence is updated in realtime at regular intervals. Concurrently, the low-level image-based controller servos the needle to remain close to the desired plane between plan updates. Both planner and controller are predicated on a previously developed kinematic nonholonomic model of bevel-tip needle steering. We use slighly different needles here that have a small bend near the tip, so we extend the model to account for discontinuities of the tip position caused by 180° rotations. Further, during large rotations of the needle base, we maintain the desired tip angle by compensating for torsional compliance in the needle shaft, neglected in previous needle steering work. By integrating planning, control, and torsion compensation, we demonstrate both accurate targeting and obstacle avoidance.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":"2008 ","pages":"819-824"},"PeriodicalIF":0.0,"publicationDate":"2008-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC2905598/pdf/nihms192995.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"29131197","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

Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles. 斜尖可操纵针的针-组织相互作用力。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2008-10-19 DOI: 10.1109/BIOROB.2008.4762872

Sarthak Misra, Kyle B Reed, Andrew S Douglas, K T Ramesh, Allison M Okamura

{"title":"Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles.","authors":"Sarthak Misra, Kyle B Reed, Andrew S Douglas, K T Ramesh, Allison M Okamura","doi":"10.1109/BIOROB.2008.4762872","DOIUrl":"https://doi.org/10.1109/BIOROB.2008.4762872","url":null,"abstract":"The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. As a first step toward modeling the mechanics of deflection of the needle, we determine the forces at the bevel tip. In order to find the forces acting at the needle tip, we measure rupture toughness and nonlinear material elasticity parameters of several soft tissue simulant gels and chicken tissue. We incorporate these physical parameters into a finite element model that includes both contact and cohesive zone models to simulate tissue cleavage. We investigate the sensitivity of the tip forces to tissue rupture toughness, linear and nonlinear tissue elasticity, and needle tip bevel angle. The model shows that the tip forces are sensitive to the rupture toughness. The results from these studies contribute to a mechanics-based model of bevel-tip needle steering, extending previous work on kinematic models.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":" ","pages":"224-231"},"PeriodicalIF":0.0,"publicationDate":"2008-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2008.4762872","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"30226447","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: 120

Compensating for Torsion Windup in Steerable Needles. 操纵针扭转绕组的补偿。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2008-10-19 DOI: 10.1109/BIOROB.2008.4762825

Kyle B Reed

引用次数: 15