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

Motorized Force-Sensing Micro-Forceps with Tremor Cancelling and Controlled Micro-Vibrations for Easier Membrane Peeling. 具有震颤消除和控制微振动的电动力传感微钳，使膜剥离更容易。

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 : 2014-08-01 DOI: 10.1109/BIOROB.2014.6913784

Berk Gonenc, Peter Gehlbach, James Handa, Russell H Taylor, Iulian Iordachita

{"title":"Motorized Force-Sensing Micro-Forceps with Tremor Cancelling and Controlled Micro-Vibrations for Easier Membrane Peeling.","authors":"Berk Gonenc, Peter Gehlbach, James Handa, Russell H Taylor, Iulian Iordachita","doi":"10.1109/BIOROB.2014.6913784","DOIUrl":"https://doi.org/10.1109/BIOROB.2014.6913784","url":null,"abstract":"Retinal microsurgery requires the manipulation of extremely delicate tissues by various micron scale maneuvers and the application of very small forces. Among vitreoretinal procedures, membrane peeling is a standard procedure requiring the delamination of a very thin fibrous membrane on the retina surface. This study presents the development and evaluation of an integrated assistive system for membrane peeling. This system combines a force-sensing motorized micro-forceps with an active tremor-canceling handheld micromanipulator, Micron. The proposed system (1) attenuates hand-tremor when accurate positioning is needed, (2) provides auditory force feedback to keep the exerted forces at a safe level, and (3) pulsates the tool tip at high frequency to provide ease in delaminating membranes. Experiments on bandages and raw chicken eggs have revealed that controlled micro-vibrations provide significant ease in delaminating membranes. Applying similar amount of forces, much faster delamination was observed when the frequency of these vibrations were increased (up to 50 Hz).","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":"2014 ","pages":"244-251"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2014.6913784","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32939082","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: 24

Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results. 用于机器人辅助视网膜显微手术的小型三自由度力传感仪的研制及初步结果。

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 : 2014-08-01 DOI: 10.1109/BIOROB.2014.6913785

Xingchi He, Peter Gehlbach, James Handa, Russell Taylor, Iulian Iordachita

{"title":"Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results.","authors":"Xingchi He, Peter Gehlbach, James Handa, Russell Taylor, Iulian Iordachita","doi":"10.1109/BIOROB.2014.6913785","DOIUrl":"https://doi.org/10.1109/BIOROB.2014.6913785","url":null,"abstract":"Lack of force sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force sensing instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force sensing sensitivity and low crosstalk noise. The force sensing segment of the tool, located directly proximal to the tool tip, is ø0.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force sensing. Analysis of the experiment results suggests improvements for the future iteration.","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":"2014 ","pages":"252-258"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2014.6913785","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32939083","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

Toward Onboard Estimation of Physiological Phase for an Epicardial Crawling Robot. 心外膜爬行机器人生理相位的机载估计。

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.2012.6290716

Nathan A Wood, David Schwartzman, Marco A Zenati, Cameron N Riviere

{"title":"Toward Onboard Estimation of Physiological Phase for an Epicardial Crawling Robot.","authors":"Nathan A Wood, David Schwartzman, Marco A Zenati, Cameron N Riviere","doi":"10.1109/BioRob.2012.6290716","DOIUrl":"10.1109/BioRob.2012.6290716","url":null,"abstract":"HeartLander is a miniature mobile robot which adheres to and crawls over the surface of the beating heart to provide therapies in a minimally invasive manner. Although HeartLander inherently provides a stable operating platform, the motion of the surface of the heart remains an important factor in the operation of the robot. The quasi-periodic motion of the heart due to physiological cycles, respiration and the heartbeat, affects the ability of the robot to move, as well as localize accurately. In order to improve locomotion efficiency, as well as register different locations on the heart in physiological phase, two methods of identifying physiological phases are presented: sliding-window-based and model-based. In the sliding-window-based approach a vector of previous measurements is compared to previously learned motion templates to determine the current physiological phases, while the model-based approach learns a Fourier series model of the motion, and uses this model to estimate the current physiological phases using an Extended Kalman Filter (EKF). The two methods, while differing in approach, produce similarly accurate results on data recorded from animal experiments in vivo.","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":"6290716"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3951092/pdf/nihms368432.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32179958","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

Towards Vision-Based Control of a Handheld Micromanipulator for Retinal Cannulation in an Eyeball Phantom. 基于视觉控制的手持式显微机械臂用于眼球幻影视网膜插管。

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.2012.6290813

Brian C Becker, Sungwook Yang, Robert A Maclachlan, Cameron N Riviere

{"title":"Towards Vision-Based Control of a Handheld Micromanipulator for Retinal Cannulation in an Eyeball Phantom.","authors":"Brian C Becker, Sungwook Yang, Robert A Maclachlan, Cameron N Riviere","doi":"10.1109/BioRob.2012.6290813","DOIUrl":"10.1109/BioRob.2012.6290813","url":null,"abstract":"Injecting clot-busting drugs such as t-PA into tiny vessels thinner than a human hair in the eye is a challenging procedure, especially since the vessels lie directly on top of the delicate and easily damaged retina. Various robotic aids have been proposed with the goal of increasing safety by removing tremor and increasing precision with motion scaling. We have developed a fully handheld micromanipulator, Micron, that has demonstrated reduced tremor when cannulating porcine retinal veins in an \"open sky\" scenario. In this paper, we present work towards handheld robotic cannulation with the goal of vision-based virtual fixtures guiding the tip of the cannula to the vessel. Using a realistic eyeball phantom, we address sclerotomy constraints, eye movement, and non-planar retina. Preliminary results indicate a handheld micromanipulator aided by visual control is a promising solution to retinal vessel occlusion.","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":"44-49"},"PeriodicalIF":0.0,"publicationDate":"2012-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3955894/pdf/nihms368431.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32193923","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

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

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

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

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":"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://www.ncbi.nlm.nih.gov/pmc/articles/PMC2995896/pdf/nihms245687.pdf","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: 0

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":"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://www.ncbi.nlm.nih.gov/pmc/articles/PMC3065995/pdf/nihms277279.pdf","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: 0

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":"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://www.ncbi.nlm.nih.gov/pmc/articles/PMC3268136/pdf/nihms-287728.pdf","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: 0