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A concept on Cooperative Tele-Surgical System based on Image-Guiding and robotic technology 基于图像引导和机器人技术的协同远程手术系统构想
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233437
J. Suthakorn
In our research group at the BART LAB, Mahidol University, Thailand, we have been conducting research on Computer-Integrated Surgery an/d Robot-Assisted Surgery for the past 8 years. The research involved several surgical applications, such as, laparoscopic surgery, percutaneous breast biopsy, neurosurgery, total-knee replacement and closed intramedullary of femur. Our experience included development of a novel 4-DOF wire-driven laparoscopic surgical robot, development of image-guided endoscopic robot, endoscopic tracking using electromagnetic field, development of total-knee replacement surgical planning and surgical robot, development of a robot-guiding system for closed intramedullary nailing of femur, development of a percutaneous ultrasound image-guided breast biopsy, development of a force-feedback haptic interface for surgical training, investigation on neurosurgical robot and investigation on intracranial pressure sensing system. This study is to develop a large-scale tele-surgical system which allows an expert-surgeon group to remotely work incorporate with a field-surgeon group based on image guiding and robotic technology. The tele-surgical system is separated into 3 sections: (1) Expert Site, (2) Surgical Site and (3) TeleCommunication for Surgery. The Expert Station is for the expert-surgeons to remotely control the surgical robots at the Surgical Station through a 3-D force-feedback haptic robot controller. The Expert Station is equipped with a set of monitors to display the real-time image from surgical site, the sensing data from the patients and the pre-operative medical images. The Surgical Station is for the field-surgeons which may have less experience than the expert-surgeons in Expert-Station. The field-surgeons are working on the surgical operation with the cooperative-typed surgical robots which are remotely-controlled by the expert-surgeons. The Surgical Station is also equipped with a surgical navigation system, surgeon tracking system and the sensing units. The communications between both stations are designed to perform redundancy based on multi-system which are; LANs, 3G, WiMAX and Satellite. The Cooperative Tele-Surgical System is designed and developed for the remote hospital and the field hospital.
在泰国玛希隆大学巴特实验室,我们的研究小组在过去的8年里一直在进行计算机集成手术和机器人辅助手术的研究。本研究涉及腹腔镜手术、经皮乳腺活检、神经外科、全膝关节置换术和闭合性股骨髓内手术等多种外科应用。我们的经验包括开发一种新型的四自由度线驱动腹腔镜手术机器人,开发图像引导的内窥镜机器人,利用电磁场进行内窥镜跟踪,开发全膝关节置换术计划和手术机器人,开发用于股骨闭式髓内钉的机器人引导系统,开发经皮超声图像引导的乳房活检,开发用于手术训练的力反馈触觉界面,神经外科机器人及颅内压传感系统的研究。本研究旨在开发一种基于图像引导和机器人技术的大型远程手术系统,使专家-外科医生小组能够与现场外科医生小组远程合作。远程手术系统分为3个部分:(1)专家现场,(2)手术现场和(3)手术通信。专家站是外科专家通过三维力反馈触觉机器人控制器远程控制手术站的手术机器人。专家站配备一组监视器,显示手术现场的实时图像、患者的传感数据和术前医学图像。外科站是为现场外科医生准备的,他们的经验可能比专家站的专家外科医生少。现场外科医生使用由专家外科医生远程控制的协作型手术机器人进行手术。手术站还配备了手术导航系统、外科医生跟踪系统和传感单元。两站之间的通信被设计成基于多系统的冗余;局域网,3G, WiMAX和卫星。协同远程手术系统是为远程医院和野战医院设计开发的。
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引用次数: 4
Evaluation of a sudden cardiac death indicator using linear approximation and curves alignment 用线性逼近和曲线对齐评价心源性猝死指标
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233426
R. L. Avitia, M. Reyna, M. Bravo, L. A. Cetto
Ventricular Late Potentials make QRS complexes larger, that is why many algorithms are based on quantifying increases in the QRS complex duration. These elongations generate misalignments in the QRS, resulting in practice; the averaged algorithm considers the ECG components, including those VLPs, as well as random variables. We recorded High Resolution ECGs (HRECGs) from 50 subjects in resting position with no heart-stroke antecedents. VLPs were simulated added to the HRECGs, and then two cases were evaluated: (1) duration of the QRS complexes with VLPs without QRS-alignment, and (2) duration of QRS complexes with VLPs using time- and amplitude- QRS-alignment. When using amplitude- and time-alignment it is possible to reach a sensitivity of 0.96 and a specificity of 0.52, as opposed to 0.72 and 0.40, respectively, when using only SAECG without QRS-alignment.
心室晚电位使QRS复合体变大,这就是为什么许多算法是基于量化QRS复合体持续时间的增加。这些拉长在QRS中产生错位,导致实践;平均算法考虑心电分量,包括那些vlp,以及随机变量。我们记录了50名受试者在静止体位时的高分辨率心电图(hrecg)。在hrecg中模拟VLPs,然后对两种情况进行评估:(1)未与VLPs对齐的QRS复合物的持续时间;(2)使用时间和振幅- QRS对齐的VLPs复合物的持续时间。当使用振幅和时间对准时,可能达到0.96的灵敏度和0.52的特异性,而当只使用SAECG而不使用qrs对准时,分别为0.72和0.40。
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引用次数: 0
In vivo characterization of long-bone in animal model by ultrasonic reflection parameters: IRC and FSIR 利用超声反射参数:IRC和FSIR对动物模型长骨的体内表征
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233452
A. F. Pereira, T. Costa, A. Schanaider, M. A. von Kruger, W. Pereira
In this work, an ultrasound (US) pulse-echo method was proposed to characterize long bone diaphysis of in vivo animal model. Two quantitative parameters (Integrated Reflection Coefficient ?? IRC and Frequency slope integrated reflection - FSIR) related to US reflection, were applied to the echo from the muscle/bone interface in both femurs of five Wistar rats. FSIR is proposed here is the fraction of the apparent reflection corresponding to each frequency. The US signal is acquired from 3 previous chosen positions, one millimeter apart from each other, along the femur central region. The parameters were estimated for the three positions than averaged to represent the femur. The results showed that their values statistically belong to the same group. This is indication that the proposed method (from acquisition protocol to parameter estimation) has potential to characterize normal in vivo long bones in animal models.
在这项工作中,提出了一种超声(US)脉冲回波方法来表征长骨骨干在体动物模型。两个定量参数(综合反射系数??)采用与US反射相关的IRC和频率斜率综合反射(FSIR)技术,对5只Wistar大鼠双侧股骨肌/骨界面的回波进行测量。这里提出的FSIR是每个频率对应的视反射的分数。美国信号是从三个先前选定的位置获得的,沿着股骨中心区域,彼此相距一毫米。对三个位置的参数进行估计,然后取平均值来代表股骨。结果表明,它们的值在统计上属于同一组。这表明所提出的方法(从获取方案到参数估计)具有在动物模型中表征正常体内长骨的潜力。
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引用次数: 3
Simulation of surgical procedures with Jchai3D 用jcha3d模拟手术过程
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233428
J. Cerqueira, J. G. Machado, M. Ramos, J. S. Melo, L. Brasil
This paper presents the concept of a new platform used to simulate surgical procedures in health field. Jchai3D is a tool which allows easy developing of virtual reality applications. Using this framework is possible to build simulations systems which can be used as educational/training tools. Jchai3D is totally open-source and it is available online for download. In addition, Jchai3D is multiplatform, and it can be executed in several environments like Windows, Linux or Mac OS.
本文提出了一种用于模拟卫生领域外科手术过程的新平台的概念。jcha3d是一个可以轻松开发虚拟现实应用程序的工具。使用此框架可以构建可作为教育/培训工具的模拟系统。jcha3d是完全开源的,可以在线下载。此外,jcha3d是多平台的,它可以在Windows、Linux或Mac OS等多种环境中执行。
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引用次数: 0
Feasibility of computer-assisted diabetes education in hispanic seniors 计算机辅助糖尿病教育在西班牙裔老年人中的可行性
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233444
M. Rodriguez, Eunme Cha, J. Finkelstein
This study is aimed to evaluate the feasibility of diabetes computer-assisted education model combining behavioral theories and interactive computer media among seniors in the Hispanic community.
本研究旨在评估结合行为理论与互动电脑媒体的糖尿病电脑辅助教育模式在西班牙裔社区老年人中的可行性。
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引用次数: 2
A systematic commercialization approach for academically developed biomedical innovations 为学术上发展的生物医学创新提供系统的商业化方法
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233430
C. Nichols, R. Hahn, A. Nadershahi, K. Jones
Bringing biomedical innovations to commercialization requires a detailed navigation of the product development system on several challenging levels. Detailed knowledge of the product design from an engineering front combined with the proper application of the product to clinical scenarios, patent law application with proper funding, and marketing involve an enormity of complex systemic steps and policies that can make this an impossible task for academically inspired innovations of which the inventor typically has little knowledge or skills to achieve. Through the USC/Alfred Mann Institute of Biomedical Engineering, we have designed a company team, Med Tools, Inc, which includes specialists from several necessary disciplines to achieve this goal in a financially reasonable, timely and system comprehensive manner. The team includes patent lawyers, mechanical engineers, medical doctors in academia, and physicians with media/public relations who all raised an internal financial pool to begin the process and keep the company Board of Directors to a minimum of the original founders. After a meeting during which initial team's goals were discussed and capitol was raised, the design process between the engineers and physicians began, including aspects of how a physician would need a proposed product to perform clinically combined with what engineering aspects would have to be met. During the time in which several models were introduced, tested and reformatted by the engineers and physicians, the patent law specialists were busy tackling the process of patent application for the proposed models. In addition, through major AMI connections, marketing was investigated as well as proposed partners for product production. At this time, we have designed products ready for marketing and clinical implementation. For example the `Perineal Umbrella' an academic physician's original invention brought to fruition thorough the team approach which we have brought for demonstration purposes.
将生物医学创新推向商业化需要在几个具有挑战性的层面上对产品开发系统进行详细的导航。从工程方面对产品设计的详细了解,再加上产品在临床场景中的正确应用,专利法申请和适当的资金,以及市场营销,涉及到大量复杂的系统步骤和政策,这可能使发明者通常缺乏知识或技能的学术创新成为一项不可能完成的任务。通过南加州大学/阿尔弗雷德·曼生物医学工程研究所,我们设计了一个公司团队,Med Tools, Inc .,其中包括来自几个必要学科的专家,以经济合理、及时和系统全面的方式实现这一目标。这个团队包括专利律师、机械工程师、学术界的医生和负责媒体/公共关系的医生,他们都筹集了内部资金池来启动这个过程,并将公司董事会的成员人数控制在最初创始人的最低限度。在讨论了最初的团队目标并提出了议案之后,工程师和医生之间的设计过程开始了,包括医生对拟议产品的临床性能的要求,以及必须满足的工程方面的要求。在工程师和医生引入、测试和重新格式化几个模型的过程中,专利法专家忙于处理拟议模型的专利申请过程。此外,通过主要的AMI联系,调查了市场营销以及建议的产品生产合作伙伴。目前,我们已经设计出了可供市场和临床应用的产品。例如,“会阴伞”是一位学术医生的原创发明,通过团队方法实现了我们为演示目的而带来的成果。
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引用次数: 1
Iterative optimization algorithm - An alternative clustering tool for biological analysis using flow cytometry data 迭代优化算法-使用流式细胞术数据进行生物分析的另一种聚类工具
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233442
E. T. A. Alves, L. Frucht, M. N. Souza, A. F. Nobrega
This work concerns a program (EFlow) that has been developed to assist experts in clustering flow cytometry multivariate data. EFlow aims to reduce subjectivity but keeping the expert's control over the analysis. In the present paper we will focus on the use of the iterative optimization algorithm. This algorithm is a hill-climbing unsupervised procedure that in general guarantees good local but not global optimization. A comparison between clustering processes achieved by an expert in flow cytometry and by EFlow was performed in a data related to bone marrow cells stained for the surface expression of molecules (B220, IgM and CD23) that characterize the B cell lineage. This data set is considered to present a medium difficult and had 63780 cells with 7 channels or dimensions. Two types of clustering processes were compared, one with four clusters and another with five clusters. The results obtained by EFlow were considered satisfactory by the expert as they were significantly in agreement with his classification. In some clusters, EFlow classified correctly up to 100% of the cells. At the present time few commercial cytometry software offer equivalent clustering analysis.
这项工作涉及到一个程序(EFlow),该程序已经开发出来,以帮助专家在流式细胞术多变量数据聚类。flow旨在减少主观性,但保持专家对分析的控制。在本文中,我们将重点讨论迭代优化算法的使用。该算法是一个爬坡无监督过程,一般保证良好的局部优化,但不能保证全局优化。流式细胞术专家和EFlow在骨髓细胞表面表达分子(B220, IgM和CD23)的相关数据中进行了聚类过程的比较,这些分子表征B细胞谱系。该数据集被认为呈现中等难度,具有7个通道或维度的63780个单元格。比较了两种类型的聚类过程,一种是四类聚类,另一种是五类聚类。专家认为,EFlow得到的结果是令人满意的,因为它们与他的分类非常一致。在一些集群中,EFlow对细胞的分类准确率高达100%。目前市面上很少有商业细胞检测软件能提供等效的聚类分析。
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引用次数: 1
Multi-echo signals simulation based on a mathematical model adjusted to hepatic tissue echographic behavior 基于肝脏组织超声行为调整数学模型的多回波信号仿真
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233445
V. Hipólito, S. Luna, I. Bazán, A. Ramírez, M. Trujillo, R. Pintle, A. Ramos
Nowadays new methods of echographic signal processing have emerged to support the medical diagnosis. In the first stage of development, these methods should be assessed with a considerable number of realistic echo-signals. In this paper, a mathematical model of hepatic tissue is proposed. This will be used to generate echo-graphic signals adjusted to realistic acquired waveforms. The model is based on a set of characteristics computed from echographic signals produced by the inspection of the healthy liver tissue. These characteristics were a) average power, b) signal to noise ratio (SNR) and c) inter-arrival time standard deviation. In order to emulate the realistic signals, the model was fitted accordingly throughout different values of the three parameters. A comparative analysis between real and simulated signals is presented. Conclusions about obtained results are given, including the parameters values (SNR equal to 6 dB, Average Power equal to 4.08e-4 W and an inter-arrival time standard deviation equal to 1.43e-6 s) of the simulated signals that presented the higher correlation coefficient (0.3003).
近年来出现了新的超声信号处理方法,以支持医学诊断。在发展的第一阶段,应该用相当数量的实际回波信号来评估这些方法。本文提出了肝组织的数学模型。这将用于产生回声图信号调整到实际获得的波形。该模型基于一组由健康肝组织检查产生的超声信号计算得出的特征。这些特征是a)平均功率,b)信噪比(SNR)和c)到达时间标准差。为了模拟真实信号,在三个参数的不同取值范围内对模型进行了相应的拟合。给出了真实信号与仿真信号的对比分析。给出了仿真信号的相关系数较高的参数值(信噪比为6 dB,平均功率为4.08e-4 W,到达间隔时间标准差为1.43e-6 s),相关系数为0.3003。
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引用次数: 1
Wigner distribution's cross terms characterization to detect patterns of Ventricular Late Potentials 维格纳分布交叉项表征检测心室晚电位模式
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233454
M. Reyna-Carranza, L. Fierro, M. Bravo-Zanoguera
Thousands of deaths can be prevented detecting Ventricular Late Potentials (VLPs) in patients who have suffered infarcts heart attacks. The current method to detect VLPs based on time domain analysis presents low predictive values. VLPs are very difficult to detect because have amplitudes between 5 and 20 μV and their spectrum is difficult to distinguish from noise spectrum. The Wigner distribution (WD) is used to analyze pseudo-stationary signals, such as the VLPs. The WD generates artifacts known as cross terms (CTs), which are considered undesirable in some cases, however can be used to infer the presence of very small signal terms, in this case VLPs terms. The purpose of this research is to characterize the CTs generated by VLPs presence to improve their detection and prevent the sudden cardiac death.
在心肌梗死患者中检测心室晚电位(vlp)可以避免数千例死亡。目前基于时域分析的VLPs检测方法具有较低的预测值。VLPs的振幅在5 ~ 20 μV之间,很难与噪声谱区分开。Wigner分布(WD)用于分析伪平稳信号,如VLPs。WD产生被称为交叉项(ct)的工件,在某些情况下被认为是不需要的,但是可以用来推断非常小的信号项的存在,在这种情况下是VLPs项。本研究的目的是表征VLPs存在时产生的ct,以提高其检测和预防心源性猝死。
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引用次数: 2
Simulation of the left coronay flow 左冠状流的模拟
Pub Date : 2012-03-26 DOI: 10.1109/PAHCE.2012.6233436
C. P. Carvalho, B. França, V. C. Martins, A. V. Pino, M. A. von Kruger, W. Pereira
The aim of this study was to develop a left coronary circulation flow phantom whose flow can be simulated and adjusted mimicking physiological, or pathological conditions. This system is an extension of a previous phantom developed in the Ultrasound Lab (PEB/COPPE/UFRJ) which mimics the pressure profile found in human aorta.
本研究的目的是建立一个左冠状动脉循环血流幻象,其血流可以模拟和调节,模拟生理或病理条件。该系统是超声实验室(PEB/COPPE/UFRJ)先前开发的假体的扩展,该假体模拟了人类主动脉的压力分布。
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引用次数: 0
期刊
2012 Pan American Health Care Exchanges
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