Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661552
Joel Hwee, Andrew Lewis, R. Bly, K. Moe, B. Hannaford
Emergency airway management is a challenging procedure essential in trauma settings. This paper proposes a dual balloon, everting airway device that autonomously deploys into the patient’s airway. Its compact size and reliable automatic deployment make it ideal for bystander use. The dual balloon design allows it to deploy into the esophagus or trachea. Everted tubes are growing soft robots that excel in the exploration of irregular and sensitive environments. Eversion gives the proposed device a passive mechanical intelligence allowing it to enter the patient’s airway without heading control. These initial studies aim to demonstrate the feasibility, safety, and efficacy of such a device by characterizing the following: minimum pressures and forces required to deploy individual components; the effects of airway anatomy on growth; and the ability to provide a seal using elastic balloons. Results show the device exerts 28% less force during insertion than laryngeal mask approaches and 82% less force than commercial laryngoscopes. In a simplified airway, the novel everted balloon configurations show 1:1 Cuff Pressure (CP) to Airway Pressure (AWP) sealing efficacy and supply airway pressures comparable with airway pressures supplied using a ventilator. Balloons are able to seal with cuff pressures that do not limit mucosal perfusion.
{"title":"An Everting Emergency Airway Device","authors":"Joel Hwee, Andrew Lewis, R. Bly, K. Moe, B. Hannaford","doi":"10.1109/ismr48346.2021.9661552","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661552","url":null,"abstract":"Emergency airway management is a challenging procedure essential in trauma settings. This paper proposes a dual balloon, everting airway device that autonomously deploys into the patient’s airway. Its compact size and reliable automatic deployment make it ideal for bystander use. The dual balloon design allows it to deploy into the esophagus or trachea. Everted tubes are growing soft robots that excel in the exploration of irregular and sensitive environments. Eversion gives the proposed device a passive mechanical intelligence allowing it to enter the patient’s airway without heading control. These initial studies aim to demonstrate the feasibility, safety, and efficacy of such a device by characterizing the following: minimum pressures and forces required to deploy individual components; the effects of airway anatomy on growth; and the ability to provide a seal using elastic balloons. Results show the device exerts 28% less force during insertion than laryngeal mask approaches and 82% less force than commercial laryngoscopes. In a simplified airway, the novel everted balloon configurations show 1:1 Cuff Pressure (CP) to Airway Pressure (AWP) sealing efficacy and supply airway pressures comparable with airway pressures supplied using a ventilator. Balloons are able to seal with cuff pressures that do not limit mucosal perfusion.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116703366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661530
Guilherme L. Novelli, R. Andrade
The field of lower limb prosthetics is heading towards active devices, considering the complications that arise from their passive counterparts, such as higher metabolic consumption and abnormal gait patterns. Prosthetic devices, especially those ones subject to high impact, must exhibit a certain level of compliance and shock absorbance. Due to their inherent compliance, soft actuators are promising for applications in bionics. Among these, Dielectric Elastomer Actuators (DEAs) stand out, by virtue of their high energy density, high actuation strains, and fast response, making them suitable for applications as artificial muscles. In this work, we assessed the application of DEAs in an antagonistic pair configuration to an ankle-foot prosthesis. First, we modeled the nonlinear viscoelastic behavior of a single pair of coupled planar actuators. Then, artificial muscles constituted of several stacked DEAs were dimensioned to completely meet the ankle torque-angle curves, and therefore cover the range of ankle torsional stiffness in each phase of the gait cycle. A model-based approach combined with a proportional-integral (PI) controller performed well in simulations to reproduce the torque of the ankle joint by controlling the applied voltage in the antagonist muscle. The final structure enables remarkably lightweight prostheses when compared to conventional active transtibial prostheses.
{"title":"Towards an Active Ankle-Foot Prosthesis Powered by Dielectric Elastomer Actuators in Antagonistic Pairs","authors":"Guilherme L. Novelli, R. Andrade","doi":"10.1109/ismr48346.2021.9661530","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661530","url":null,"abstract":"The field of lower limb prosthetics is heading towards active devices, considering the complications that arise from their passive counterparts, such as higher metabolic consumption and abnormal gait patterns. Prosthetic devices, especially those ones subject to high impact, must exhibit a certain level of compliance and shock absorbance. Due to their inherent compliance, soft actuators are promising for applications in bionics. Among these, Dielectric Elastomer Actuators (DEAs) stand out, by virtue of their high energy density, high actuation strains, and fast response, making them suitable for applications as artificial muscles. In this work, we assessed the application of DEAs in an antagonistic pair configuration to an ankle-foot prosthesis. First, we modeled the nonlinear viscoelastic behavior of a single pair of coupled planar actuators. Then, artificial muscles constituted of several stacked DEAs were dimensioned to completely meet the ankle torque-angle curves, and therefore cover the range of ankle torsional stiffness in each phase of the gait cycle. A model-based approach combined with a proportional-integral (PI) controller performed well in simulations to reproduce the torque of the ankle joint by controlling the applied voltage in the antagonist muscle. The final structure enables remarkably lightweight prostheses when compared to conventional active transtibial prostheses.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130652231","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661537
A. Galvan, A. Madan, Meenakshi Narayan, S. Kalva, A. M. Fey
Intravascular procedures could benefit from the ability to control the overall shape of the distal end of the catheter. In this paper, we present the design of a fluid-controlled segmented catheter which enables independent curvature control of three distal segments of the catheter in a 2D plane. The catheter is controlled through a flexible master manipulator, allowing the interventional radiologist to define the shape of this distal tip through an intuitive control method. Finite element analysis was used to characterize the behavior of each segment of the catheter, and the simulation results were validated experimentally using an electromagnetic tracker. Furthermore, we find that the unique multi-chambered design of the catheter tip can be exploited to achieve additional unique and valuable features to the medical professional, including steering and forward propulsion. These are demonstrated by applying an algorithm for rectilinear locomotion for propulsion through a physical model.
{"title":"Design and Evaluation of a Soft Robotic Catheter Tip Prototype with Self-Propulsion and Shape Changeable Teleoperation","authors":"A. Galvan, A. Madan, Meenakshi Narayan, S. Kalva, A. M. Fey","doi":"10.1109/ismr48346.2021.9661537","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661537","url":null,"abstract":"Intravascular procedures could benefit from the ability to control the overall shape of the distal end of the catheter. In this paper, we present the design of a fluid-controlled segmented catheter which enables independent curvature control of three distal segments of the catheter in a 2D plane. The catheter is controlled through a flexible master manipulator, allowing the interventional radiologist to define the shape of this distal tip through an intuitive control method. Finite element analysis was used to characterize the behavior of each segment of the catheter, and the simulation results were validated experimentally using an electromagnetic tracker. Furthermore, we find that the unique multi-chambered design of the catheter tip can be exploited to achieve additional unique and valuable features to the medical professional, including steering and forward propulsion. These are demonstrated by applying an algorithm for rectilinear locomotion for propulsion through a physical model.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123976196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661483
Pratibha Harrison, Kihan Park
Breast cancer is the most common type of cancer in women, and it is crucial to detect it at an early stage for a better prognosis. There are various ways of detecting and confirming breast cancer that are highly dependent on the imaging modalities, such as mammograms, ultrasound, magnetic resonance imaging (MRI), and histopathological image analysis by pathologists. With the help of recent progress in machine vision and artificial intelligence, computational methods for image analysis such as deep learning have been widely applied for automated decision-making in breast cancer diagnosis using feature extraction and localization. This study utilizes Faster Region-based Convolutional Neural Network (Faster R-CNN), one of the deep learning algorithms for tumor detection in annotated breast histopathological images, and analyzes the effects of two pre-processing procedures (color normalization and patching) on the images for optimization of the Faster R-CNN model. It was observed that the model’s sensitivity drastically increased from 1 % to 60 % by patching the images. The effect of image color normalization was conditional and improved results for only a few cases.
{"title":"Tumor Detection In Breast Histopathological Images Using Faster R-CNN","authors":"Pratibha Harrison, Kihan Park","doi":"10.1109/ismr48346.2021.9661483","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661483","url":null,"abstract":"Breast cancer is the most common type of cancer in women, and it is crucial to detect it at an early stage for a better prognosis. There are various ways of detecting and confirming breast cancer that are highly dependent on the imaging modalities, such as mammograms, ultrasound, magnetic resonance imaging (MRI), and histopathological image analysis by pathologists. With the help of recent progress in machine vision and artificial intelligence, computational methods for image analysis such as deep learning have been widely applied for automated decision-making in breast cancer diagnosis using feature extraction and localization. This study utilizes Faster Region-based Convolutional Neural Network (Faster R-CNN), one of the deep learning algorithms for tumor detection in annotated breast histopathological images, and analyzes the effects of two pre-processing procedures (color normalization and patching) on the images for optimization of the Faster R-CNN model. It was observed that the model’s sensitivity drastically increased from 1 % to 60 % by patching the images. The effect of image color normalization was conditional and improved results for only a few cases.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128448477","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661556
R. Lathrop, M. Ourak, F. Russo, J. Deprest, E. V. Poorten
Advances in minimally invasive surgery require the development of enhanced miniature steerable robotic surgical instruments. Novel actuator technologies are necessary to safely and accurately guide instruments to difficult-to-access anatomy to enable new surgical procedures. Concentric McKibben actuators have been introduced recently to actuate miniature surgical devices while enabling efficient use of space via a working channel integrated in the empty space of the muscle core. These muscles have shown initial promise for miniaturization and accurate control, but with some challenges in pneumatic sealing, stroke range, hysteresis characteristics, and generated force compared to traditional McKibben muscles. Initial concentric muscle designs focused on natural orifice surgical procedures where a certain level pneumatic leakage from the muscle was acceptable. The working channel of existing designs is also too small for surgical interventions requiring the introduction of relatively large (1.5 − 2 mm diameter) instruments. This article describes the design of an innovative multi-compartment McKibben muscle. This design is fully pneumatically sealed, enabling use in a wider range of surgical devices. The design is proposed and the obtained performance is evaluated. The prototype actuator is capable of producing up to 11.9 Newtons of force and 9.9 mm of displacement at a speed of 22.5 mm/sec. Directions for future work are sketched as well.
{"title":"Design and Characterization of a Miniature Dual-chamber Pneumatic Actuator for Minimally Invasive Surgical Devices","authors":"R. Lathrop, M. Ourak, F. Russo, J. Deprest, E. V. Poorten","doi":"10.1109/ismr48346.2021.9661556","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661556","url":null,"abstract":"Advances in minimally invasive surgery require the development of enhanced miniature steerable robotic surgical instruments. Novel actuator technologies are necessary to safely and accurately guide instruments to difficult-to-access anatomy to enable new surgical procedures. Concentric McKibben actuators have been introduced recently to actuate miniature surgical devices while enabling efficient use of space via a working channel integrated in the empty space of the muscle core. These muscles have shown initial promise for miniaturization and accurate control, but with some challenges in pneumatic sealing, stroke range, hysteresis characteristics, and generated force compared to traditional McKibben muscles. Initial concentric muscle designs focused on natural orifice surgical procedures where a certain level pneumatic leakage from the muscle was acceptable. The working channel of existing designs is also too small for surgical interventions requiring the introduction of relatively large (1.5 − 2 mm diameter) instruments. This article describes the design of an innovative multi-compartment McKibben muscle. This design is fully pneumatically sealed, enabling use in a wider range of surgical devices. The design is proposed and the obtained performance is evaluated. The prototype actuator is capable of producing up to 11.9 Newtons of force and 9.9 mm of displacement at a speed of 22.5 mm/sec. Directions for future work are sketched as well.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130506260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661508
Sharan R. Ravigopal, T. Brumfiel, J. Desai
Peripheral arterial disease is one of the most prevalent cardiovascular diseases; its treatment is often catheter-based and requires the surgeon to manually navigate a guidewire to the affected region within the artery, usually with fluoroscopic images. It requires extensive skill and experience to navigate the guidewire to the target location and delays can cause increased radiation exposure to the surgeon. To overcome these challenges, we propose a fully automated approach to perform navigation of the COaxially Aligned STeerable (COAST) guidewire under fluoroscopic imaging in 2D phantom models. We utilize fluoroscopic images to calculate the optimal path between two points using a modified hybrid A-star algorithm in the phantom vasculature. The modified hybrid A-star computes a trajectory which is used for the velocity kinematics of the guidewire robot. The experiments show that the robot is able to follow the pre-computed path to the destination with a mean error of 8.2 pixels (2.87 mm).
{"title":"Automated Motion Control of the COAST Robotic Guidewire under Fluoroscopic Guidance","authors":"Sharan R. Ravigopal, T. Brumfiel, J. Desai","doi":"10.1109/ismr48346.2021.9661508","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661508","url":null,"abstract":"Peripheral arterial disease is one of the most prevalent cardiovascular diseases; its treatment is often catheter-based and requires the surgeon to manually navigate a guidewire to the affected region within the artery, usually with fluoroscopic images. It requires extensive skill and experience to navigate the guidewire to the target location and delays can cause increased radiation exposure to the surgeon. To overcome these challenges, we propose a fully automated approach to perform navigation of the COaxially Aligned STeerable (COAST) guidewire under fluoroscopic imaging in 2D phantom models. We utilize fluoroscopic images to calculate the optimal path between two points using a modified hybrid A-star algorithm in the phantom vasculature. The modified hybrid A-star computes a trajectory which is used for the velocity kinematics of the guidewire robot. The experiments show that the robot is able to follow the pre-computed path to the destination with a mean error of 8.2 pixels (2.87 mm).","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133618690","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661507
Jie Ying Wu, A. Munawar, M. Unberath, P. Kazanzides
Accurate soft-tissue simulation using biomechanical models is computationally expensive. This is unfortunate because accurate biomechanical models could model tool-tissue interaction during surgical procedures, thereby providing intra-operative guidance to surgeons. In this work, we present steps toward interactive soft-tissue simulation for specific models using a learning-based framework that learns from finite element method (FEM) simulations. We train a graph neural network that takes the position and velocity of a tracked tool as input and estimates the deformations of a base mesh at each time step. By using data augmentation, the network learns to self-correct for errors in estimation to maintain the stability of the simulation over time. This approach estimates soft tissue deformation with less than 1 mm mean error with respect to FEM simulation over an interaction sequence of 80 s. This error magnitude is within the accuracy of FEM in comparing to the in situ camera observations of the interaction. While the FEM took 15 h to simulate 80 s of interaction, the network-based simulator took 47 s. Despite several open challenges that will be the subject of our future work, this learning-based framework constitutes a step towards real-time biomechanics-based simulation for intraoperative surgical guidance.
{"title":"Learning Soft-Tissue Simulation from Models and Observation","authors":"Jie Ying Wu, A. Munawar, M. Unberath, P. Kazanzides","doi":"10.1109/ismr48346.2021.9661507","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661507","url":null,"abstract":"Accurate soft-tissue simulation using biomechanical models is computationally expensive. This is unfortunate because accurate biomechanical models could model tool-tissue interaction during surgical procedures, thereby providing intra-operative guidance to surgeons. In this work, we present steps toward interactive soft-tissue simulation for specific models using a learning-based framework that learns from finite element method (FEM) simulations. We train a graph neural network that takes the position and velocity of a tracked tool as input and estimates the deformations of a base mesh at each time step. By using data augmentation, the network learns to self-correct for errors in estimation to maintain the stability of the simulation over time. This approach estimates soft tissue deformation with less than 1 mm mean error with respect to FEM simulation over an interaction sequence of 80 s. This error magnitude is within the accuracy of FEM in comparing to the in situ camera observations of the interaction. While the FEM took 15 h to simulate 80 s of interaction, the network-based simulator took 47 s. Despite several open challenges that will be the subject of our future work, this learning-based framework constitutes a step towards real-time biomechanics-based simulation for intraoperative surgical guidance.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115493380","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661566
T. Matsuno, Hikaru Murakami, T. Kamegawa, Takaaki Miyamoto, Nanako Sakai, M. Minami, T. Hiraki
We focused on a medical procedure, known as interventional radiology (IR), as the target of robotizing medical surgeries. IR is a general term for treatments that use devices to visualize patients’ bodies. Our developed robot, known as Zerobot, specializes in inserting a needle into patients under computer tomography (CT) guidance during surgery. Its surgery is less invasive, and effective in treating small cancer tumors by controlling the temperature of the tip of the inserted needle. Zerobot is originally designed to be remotely controlled by doctors, and has confirmed its surgical ability through first-in-human feasibility trials in 2018. As a current issue, we focus on the supporting function for the operator during the surgery. In an experiment with an animal, Zerobot could not insert the needle into the animal during IR surgery if the needle were bent. Thus, in this study, we aim to make the robot function automatically so that the needle does not bend during surgery. As the first step, we propose a method for estimating the form of the needle using a force sensor. There are three types of needle forms to be classified. The proposed method can distinguish these needle forms by measuring the difference in force sensor data when slightly moving the needle root. In addition, we experimented to confirm the effectiveness of the proposed method.
{"title":"Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement","authors":"T. Matsuno, Hikaru Murakami, T. Kamegawa, Takaaki Miyamoto, Nanako Sakai, M. Minami, T. Hiraki","doi":"10.1109/ismr48346.2021.9661566","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661566","url":null,"abstract":"We focused on a medical procedure, known as interventional radiology (IR), as the target of robotizing medical surgeries. IR is a general term for treatments that use devices to visualize patients’ bodies. Our developed robot, known as Zerobot, specializes in inserting a needle into patients under computer tomography (CT) guidance during surgery. Its surgery is less invasive, and effective in treating small cancer tumors by controlling the temperature of the tip of the inserted needle. Zerobot is originally designed to be remotely controlled by doctors, and has confirmed its surgical ability through first-in-human feasibility trials in 2018. As a current issue, we focus on the supporting function for the operator during the surgery. In an experiment with an animal, Zerobot could not insert the needle into the animal during IR surgery if the needle were bent. Thus, in this study, we aim to make the robot function automatically so that the needle does not bend during surgery. As the first step, we propose a method for estimating the form of the needle using a force sensor. There are three types of needle forms to be classified. The proposed method can distinguish these needle forms by measuring the difference in force sensor data when slightly moving the needle root. In addition, we experimented to confirm the effectiveness of the proposed method.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124655213","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661478
A. Roberti, Nicola Piccinelli, Fabio Falezza, Giacomo De Rossi, S. Bonora, F. Setti, P. Fiorini, R. Muradore
This paper presents a novel endoscope design for laparoscopic surgery that has been specifically tailored to provide both a stereoscopic view to the surgeon and a high-accuracy 3D reconstruction for an advanced visualization of the anatomical environment. The former helps the main surgeon in teleoperating a robotic minimally-invasive system (R-MIS) while the latter provides necessary data to upcoming autonomous surgical procedure implementations in a manner akin to the current development of autonomous driving systems. To this aim, we created an initial prototype that incorporates a pair of high-quality, chip-on-tip RGB cameras with a Time-of-Flight (ToF) 3D sensor in a sufficiently compact design to allow its usage in intra-luminal operations. The combination of these sensors provides a reliable 3D model of the anatomical structures at close and far distances within the workspace to effectively overcome the issues presented by current laparoscopy stereo endoscopes, for which the depth estimation is hindered by the reduced baseline distance between the cameras. Moreover, the application to current robotic platforms presents innate mathematical issues when applying hand-eye calibration techniques for localization. We finally developed a calibration procedure that merges both color and depth information. The endoscope design is fully validated through the reconstruction of a planar surface, achieving a depth, latitudinal, and longitudinal orientation precision of 3.3mm, −0.02rad, −0.025rad respectively.
{"title":"A Time-of-Flight Stereoscopic Endoscope for Anatomical 3D Reconstruction","authors":"A. Roberti, Nicola Piccinelli, Fabio Falezza, Giacomo De Rossi, S. Bonora, F. Setti, P. Fiorini, R. Muradore","doi":"10.1109/ismr48346.2021.9661478","DOIUrl":"https://doi.org/10.1109/ismr48346.2021.9661478","url":null,"abstract":"This paper presents a novel endoscope design for laparoscopic surgery that has been specifically tailored to provide both a stereoscopic view to the surgeon and a high-accuracy 3D reconstruction for an advanced visualization of the anatomical environment. The former helps the main surgeon in teleoperating a robotic minimally-invasive system (R-MIS) while the latter provides necessary data to upcoming autonomous surgical procedure implementations in a manner akin to the current development of autonomous driving systems. To this aim, we created an initial prototype that incorporates a pair of high-quality, chip-on-tip RGB cameras with a Time-of-Flight (ToF) 3D sensor in a sufficiently compact design to allow its usage in intra-luminal operations. The combination of these sensors provides a reliable 3D model of the anatomical structures at close and far distances within the workspace to effectively overcome the issues presented by current laparoscopy stereo endoscopes, for which the depth estimation is hindered by the reduced baseline distance between the cameras. Moreover, the application to current robotic platforms presents innate mathematical issues when applying hand-eye calibration techniques for localization. We finally developed a calibration procedure that merges both color and depth information. The endoscope design is fully validated through the reconstruction of a planar surface, achieving a depth, latitudinal, and longitudinal orientation precision of 3.3mm, −0.02rad, −0.025rad respectively.","PeriodicalId":405817,"journal":{"name":"2021 International Symposium on Medical Robotics (ISMR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122632601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-17DOI: 10.1109/ismr48346.2021.9661558
R. Andrade, Stefano Sapienza, E. Fabara, P. Bonato
Rehabilitation strategies based on robotic systems, like lower-limb exoskeletons, is expected to reduce the burden of locomotor impairment in patients with neurological diseases. In this work, we present the preliminary results of a trajectory tracking impedance control method applied to the ExoRoboWalker, a six degree-of-freedom (DoF) exoskeleton. The wearable robot was developed as an over-ground gait trainer to aid children and young adults with Cerebral Palsy (CP) achieve physiological gait patterns. The experiments were carried out in three healthy adults walking over-ground with the system working in three different modes: First, with the exoskeleton’s motors unpowered, to assess the system’s backdrivability, user-robot interaction and subject gait pattern; second, with the exoskeleton working in "transparent" mode; and finally, with the system working with the proposed impedance controller. As expected, when the exoskeleton is unpowered, the system presents low backdrivability, thereby resulting in high user-robot interaction torques and a nonphysiological gait pattern. However, the results show that the system was able to partially restore the subjects gait pattern and reduce the user-robot interaction torque when set in "transparent" mode. Finally, while working with the trajectory tracking impedance controller, the ExoRoboWalker was able to guide the subject through a target trajectory. This is the first step towards use the system as an over-ground gait trainer in CP population.
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