Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第8页

A Hand-held Instrument for in vivo Probe-based Confocal Laser Endomicroscopy during Minimally Invasive Surgery. 微创手术中用于体内探针共聚焦激光内镜的手持式仪器。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-10-12 DOI: 10.1109/IROS.2012.6385535

Win Tun Latt, Tou Pin Chang, Aimee Di Marco, Philip Pratt, Ka-Wai Kwok, James Clark, Guang-Zhong Yang

引用次数: 15

Design of a Multitasking Robotic Platform with Flexible Arms and Articulated Head for Minimally Invasive Surgery. 为微创手术设计具有灵活手臂和关节头的多任务机器人平台。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-10-12 DOI: 10.1109/IROS.2012.6385567

Jianzhong Shang, Christopher J Payne, James Clark, David P Noonan, Ka-Wai Kwok, Ara Darzi, Guang-Zhong Yang

{"title":"Design of a Multitasking Robotic Platform with Flexible Arms and Articulated Head for Minimally Invasive Surgery.","authors":"Jianzhong Shang, Christopher J Payne, James Clark, David P Noonan, Ka-Wai Kwok, Ara Darzi, Guang-Zhong Yang","doi":"10.1109/IROS.2012.6385567","DOIUrl":"10.1109/IROS.2012.6385567","url":null,"abstract":"This paper describes a multitasking robotic platform for Minimally Invasive Surgery (MIS). The device is designed to be introduced through a standard trocar port. Once the device is inserted to the desired surgical site, it can be reconfigured by lifting an articulated section, and protruding two tendon driven flexible arms. Each of the arms holds an interchangeable surgical instrument. The articulated section features a 2 Degrees-of-Freedom (DoF) universal joint followed by a single DoF yaw joint. It incorporates an on-board camera and LED light source at the distal end, leaving a Ø3mm channel for an additional instrument. The main shaft of the robot is largely hollow, leaving ample space for the insertion of two tendon driven flexible arms integrated with surgical instruments. The ex-vivo and in-vivo experiments demonstrate the potential clinical value of the device for performing surgical tasks through single incision or natural orifice transluminal procedures.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2012 ","pages":"1988-1993"},"PeriodicalIF":0.0,"publicationDate":"2012-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3988875/pdf/emss-57935.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32277878","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

Robotic Neuro-Endoscope with Concentric Tube Augmentation. 带有同心管扩增功能的机器人神经内窥镜

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-01-01 DOI: 10.1109/IROS.2012.6386022

Evan J Butler, Robert Hammond-Oakley, Szymon Chawarski, Andrew H Gosline, Patrick Codd, Tomer Anor, Joseph R Madsen, Pierre E Dupont, Jesse Lock

{"title":"Robotic Neuro-Endoscope with Concentric Tube Augmentation.","authors":"Evan J Butler, Robert Hammond-Oakley, Szymon Chawarski, Andrew H Gosline, Patrick Codd, Tomer Anor, Joseph R Madsen, Pierre E Dupont, Jesse Lock","doi":"10.1109/IROS.2012.6386022","DOIUrl":"10.1109/IROS.2012.6386022","url":null,"abstract":"Surgical robots are gaining favor in part due to their capacity to reach remote locations within the body. Continuum robots are especially well suited for accessing deep spaces such as cerebral ventricles within the brain. Due to the entry point constraints and complicated structure, current techniques do not allow surgeons to access the full volume of the ventricles. The ability to access the ventricles with a dexterous robot would have significant clinical implications. This paper presents a concentric tube manipulator mated to a robotically controlled flexible endoscope. The device adds three degrees of freedom to the standard neuroendoscope and roboticizes the entire package allowing the operator to conveniently manipulate the device. To demonstrate the improved functionality, we use an in-silica virtual model as well as an ex-vivo anatomic model of a patient with a treatable form of hydrocephalus. In these experiments we demonstrate that the augmented and roboticized endoscope can efficiently reach critical regions that a manual scope cannot.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2012-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3825412/pdf/nihms399286.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"31865267","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

Effect of Visuo-Haptic Co-location on 3D Fitts' Task Performance. 视觉-触觉协同定位对3D fit任务性能的影响

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2011-12-31 DOI: 10.1109/IROS.2011.6094707

Michael J Fu, Andrew D Hershberger, Kumiko Sano, M Cenk Cavuşoğlu

{"title":"Effect of Visuo-Haptic Co-location on 3D Fitts' Task Performance.","authors":"Michael J Fu, Andrew D Hershberger, Kumiko Sano, M Cenk Cavuşoğlu","doi":"10.1109/IROS.2011.6094707","DOIUrl":"https://doi.org/10.1109/IROS.2011.6094707","url":null,"abstract":"Given the ease that humans have with using a keyboard and mouse in typical, non-colocated computer interaction, many studies have investigated the value of colocating the visual field and haptic workspaces using immersive virtual reality (VR) modalities. Significant understanding has been gained by previous work comparing physical tasks against VR tasks, visuo-haptic co-location versus non-colocation, and even visuo-haptic rotational misalignments in VR. However, few studies have explored all of these paradigms in context with each other and it is difficult to do inter-study comparisons because of the variation in tested motor tasks. Therefore, the goal for the current study was to characterize human performance of Fitts' point-to-point reaching task - an established test of manual performance - in the physical, co-located/non-colocated VR, and rotated VR visualization conditions. A key finding was the significant decrease observed in end-point error for tasks performed in a co-located virtual reality environment. The results also showed cyclic performance degradations due to rotational visuo-haptic misalignments that were consistent with trends reported by the literature.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2011 ","pages":"3460-3467"},"PeriodicalIF":0.0,"publicationDate":"2011-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/IROS.2011.6094707","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32104225","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

On the Design of an Interactive, Patient-Specific Surgical Simulator for Mitral Valve Repair. 二尖瓣修复的交互式、患者特异性手术模拟器设计。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2011-12-31

Neil A Tenenholtz, Peter E Hammer, Robert J Schneider, Nikolay V Vasilyev, Robert D Howe

引用次数: 0

Position Estimation of an Epicardial Crawling Robot on the Beating Heart by Modeling of Physiological Motion. 基于生理运动建模的心外膜爬行机器人在跳动心脏上的位置估计。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2011-12-05 Epub Date: 2011-09-25 DOI: 10.1109/IROS.2011.6095084

Nathan A Wood, Diego Moral Del Agua, Marco A Zenati, Cameron N Riviere

{"title":"Position Estimation of an Epicardial Crawling Robot on the Beating Heart by Modeling of Physiological Motion.","authors":"Nathan A Wood, Diego Moral Del Agua, Marco A Zenati, Cameron N Riviere","doi":"10.1109/IROS.2011.6095084","DOIUrl":"10.1109/IROS.2011.6095084","url":null,"abstract":"HeartLander, a small mobile robot designed to provide treatments to the surface of the beating heart, overcomes a major difficulty of minimally invasive cardiac surgery, providing a stable operating platform. This is achieved inherently in the way the robot adheres to and crawls over the surface of the heart. This mode of operation does not require physiological motion compensation to provide this stable environment; however, modeling of physiological motion is advantageous in providing more accurate position estimation as well as synchronization of motion to the physiological cycles. The work presented uses an Extended Kalman Filter framework to estimate parameters of non-stationary Fourier series models of the motion of the heart due to the respiratory and cardiac cycles as well as the position of the robot as it moves over the surface of the heart. The proposed method is demonstrated in the laboratory with HeartLander operating on a physiological motion simulator. Improved performance is demonstrated in comparison to the filtering methods previously used with HeartLander. The use of detected physiological cycle phases to synchronize locomotion of HeartLander is also described.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2011 ","pages":"4522-4527"},"PeriodicalIF":0.0,"publicationDate":"2011-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3467976/pdf/nihms346896.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"30975929","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

MRI-powered Actuators for Robotic Interventions. 用于机器人干预的核磁共振驱动驱动器。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2011-09-25 DOI: 10.1109/IROS.2011.6094962

Panagiotis Vartholomeos, Lei Qin, Pierre E Dupont

引用次数: 0

State Estimation and Feedforward Tremor Suppression for a Handheld Micromanipulator with a Kalman Filter. 利用卡尔曼滤波器实现手持微机械手的状态估计和前馈震颤抑制

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2011-09-25 DOI: 10.1109/IROS.2011.6094935

Brian C Becker, Robert A Maclachlan, Cameron N Riviere

引用次数: 0

Detection of Curved Robots using 3D Ultrasound. 利用 3D 超声波检测曲面机器人

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2011-09-25 DOI: 10.1109/IROS.2011.6094915

Hongliang Ren, Nikolay V Vasilyev, Pierre E Dupont

{"title":"Detection of Curved Robots using 3D Ultrasound.","authors":"Hongliang Ren, Nikolay V Vasilyev, Pierre E Dupont","doi":"10.1109/IROS.2011.6094915","DOIUrl":"10.1109/IROS.2011.6094915","url":null,"abstract":"Three-dimensional ultrasound can be an effective imaging modality for image-guided interventions since it enables visualization of both the instruments and the tissue. For robotic applications, its realtime frame rates create the potential for image-based instrument tracking and servoing. These capabilities can enable improved instrument visualization, compensation for tissue motion as well as surgical task automation. Continuum robots, whose shape comprises a smooth curve along their length, are well suited for minimally invasive procedures. Existing techniques for ultrasound tracking, however, are limited to straight, laparoscopic-type instruments and thus are not applicable to continuum robot tracking. Toward the goal of developing tracking algorithms for continuum robots, this paper presents a method for detecting a robot comprised of a single constant curvature in a 3D ultrasound volume. Computational efficiency is achieved by decomposing the six-dimensional circle estimation problem into two sequential three-dimensional estimation problems. Simulation and experiment are used to evaluate the proposed method.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2011 ","pages":"2083-2089"},"PeriodicalIF":0.0,"publicationDate":"2011-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3252206/pdf/nihms-346112.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"30373036","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

Feasibility Study of an Optically Actuated MR-compatible Active Needle. 光学驱动磁共振兼容主动针的可行性研究

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2011-09-01 DOI: 10.1109/IROS.2011.6094945

Seok Chang Ryu, Pierre Renaud, Richard J Black, Bruce L Daniel, Mark R Cutkosky

{"title":"Feasibility Study of an Optically Actuated MR-compatible Active Needle.","authors":"Seok Chang Ryu, Pierre Renaud, Richard J Black, Bruce L Daniel, Mark R Cutkosky","doi":"10.1109/IROS.2011.6094945","DOIUrl":"10.1109/IROS.2011.6094945","url":null,"abstract":"An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the effects of interactions with surrounding tissue, which can otherwise deflect the needle away from its ideal path. The active section is designed to bend preferentially in one direction under actuation, and is also made from SMA for its combination of MR and bio-compatibility and its superelastic bending properties. A prototype, with a size equivalent to standard 16G biopsy needle, exhibits significant bending with a tip rotation of more than 10°. A numerical analysis and experiments provide information concerning the required amount of heating and guidance for design of efficient optical heating systems.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2011 ","pages":"2564-2569"},"PeriodicalIF":0.0,"publicationDate":"2011-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4620048/pdf/nihms724971.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34124268","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