Pub Date : 2018-02-14DOI: 10.1142/S2424905X18400019
F. Stewart, A. Verbeni, Y. Qiu, B. Cox, J. Vorstius, I. P. Newton, Zhihong Huang, A. Menciassi, I. Näthke, S. Cochran
The prevalence of gastrointestinal (GI) diseases such as Crohn’s disease, which is chronic and incurable, are increasing worldwide. Treatment often involves potent drugs with unwanted side effects. The technological–pharmacological combination of capsule endoscopy with ultrasound-mediated targeted drug delivery (UmTDD) described in this paper carries new potential for treatment of these diseases throughout the GI tract. We describe a proof-of-concept UmTDD capsule and present preliminary results to demonstrate its promise as an autonomous tool to treat GI diseases.
{"title":"A Prototype Therapeutic Capsule Endoscope for Ultrasound-Mediated Targeted Drug Delivery","authors":"F. Stewart, A. Verbeni, Y. Qiu, B. Cox, J. Vorstius, I. P. Newton, Zhihong Huang, A. Menciassi, I. Näthke, S. Cochran","doi":"10.1142/S2424905X18400019","DOIUrl":"https://doi.org/10.1142/S2424905X18400019","url":null,"abstract":"The prevalence of gastrointestinal (GI) diseases such as Crohn’s disease, which is chronic and incurable, are increasing worldwide. Treatment often involves potent drugs with unwanted side effects. The technological–pharmacological combination of capsule endoscopy with ultrasound-mediated targeted drug delivery (UmTDD) described in this paper carries new potential for treatment of these diseases throughout the GI tract. We describe a proof-of-concept UmTDD capsule and present preliminary results to demonstrate its promise as an autonomous tool to treat GI diseases.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121526994","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 : 2018-02-14DOI: 10.1142/S2424905X18400068
C. Schlenk, T. Bahls, S. Tarassenko, Julian Klodmann, Markus Bihler, Tilo Wüsthoff
To enhance the capability of the DLR MIRO for physical human robot interaction (pHRI), six buttons were integrated as additional input interface along the robot structure. A ring of eight RGB-LEDs at the instrument interface informs the user as additional output interface about the robot’s state. The mechatronic design, which is transferable to other robots, adapts to the existing communication infrastructure of the robot and therefore offers real-time capability. Besides the interaction with the robot itself, it also allows the control of third party devices connected to its communication network. Both interfaces can be flexibly programmed e.g. in C++ or Simulink.
{"title":"Robot Integrated User Interface for Physical Interaction with the DLR MIRO in Versatile Medical Procedures","authors":"C. Schlenk, T. Bahls, S. Tarassenko, Julian Klodmann, Markus Bihler, Tilo Wüsthoff","doi":"10.1142/S2424905X18400068","DOIUrl":"https://doi.org/10.1142/S2424905X18400068","url":null,"abstract":"To enhance the capability of the DLR MIRO for physical human robot interaction (pHRI), six buttons were integrated as additional input interface along the robot structure. A ring of eight RGB-LEDs at the instrument interface informs the user as additional output interface about the robot’s state. The mechatronic design, which is transferable to other robots, adapts to the existing communication infrastructure of the robot and therefore offers real-time capability. Besides the interaction with the robot itself, it also allows the control of third party devices connected to its communication network. Both interfaces can be flexibly programmed e.g. in C++ or Simulink.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123688468","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 : 2018-02-11DOI: 10.1142/S2424905X18400056
G. Borghesan, M. Ourak, E. Lankenau, G. Hüttmann, H. Schulz-Hildebrandt, K. Willekens, P. Stalmans, D. Reynaerts, E. V. Poorten
Vitreoretinal surgery concerns a set of particularly demanding minimal invasive micro-surgical interventions at the retina. Micro-surgeons are targeting sub-millimeter-sized structures here. Tiny vessels or wafer-thin membranes are to be cannulated or need to be peeled off. The greatest care is to be displayed not to damage these fragile structures or to inadvertently injure the underlying retina. Damage to the latter is mostly irreparable and might cause permanent loss of vision. Despite the availability over excellent stereo microscopes, wide-angle lenses and powerful light source visualization remains a problem. Especially, the limited depth perception is still perceived as a major bottle-neck whereas efforts have been conducted to integrate sensing capability in today’s state-of-the-art instruments, so far, little effort has been paid to process the obtained sensor data and turns this into a reliable source of information upon which robot assistive guidance schemes could be endowed upon. This paper pr...
{"title":"Single Scan OCT-Based Retina Detection for Robot-Assisted Retinal Vein Cannulation","authors":"G. Borghesan, M. Ourak, E. Lankenau, G. Hüttmann, H. Schulz-Hildebrandt, K. Willekens, P. Stalmans, D. Reynaerts, E. V. Poorten","doi":"10.1142/S2424905X18400056","DOIUrl":"https://doi.org/10.1142/S2424905X18400056","url":null,"abstract":"Vitreoretinal surgery concerns a set of particularly demanding minimal invasive micro-surgical interventions at the retina. Micro-surgeons are targeting sub-millimeter-sized structures here. Tiny vessels or wafer-thin membranes are to be cannulated or need to be peeled off. The greatest care is to be displayed not to damage these fragile structures or to inadvertently injure the underlying retina. Damage to the latter is mostly irreparable and might cause permanent loss of vision. Despite the availability over excellent stereo microscopes, wide-angle lenses and powerful light source visualization remains a problem. Especially, the limited depth perception is still perceived as a major bottle-neck whereas efforts have been conducted to integrate sensing capability in today’s state-of-the-art instruments, so far, little effort has been paid to process the obtained sensor data and turns this into a reliable source of information upon which robot assistive guidance schemes could be endowed upon. This paper pr...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117057379","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 : 2018-02-08DOI: 10.1142/S2424905X18500034
Changhan Jun, Sung-hwan Lim, J. Wolinsky, T. Garzon-Muvdi, D. Petrisor, K. Cleary, D. Stoianovici
We report the results of preclinical experiments for direct MRI-guided needle interventions in the brain. An MR Safe robot was incorporated into an intraoperative MRI system. Deep regions of the brain simulated in a cranial mockup were targeted with a needle under robotic assistance. The 3D accuracy of in-scanner targeting at an average depth of 95mm was 1.55mm, with no manual corrections.
{"title":"MR Safe Robot Assisted Needle Access of the Brain: Preclinical Study","authors":"Changhan Jun, Sung-hwan Lim, J. Wolinsky, T. Garzon-Muvdi, D. Petrisor, K. Cleary, D. Stoianovici","doi":"10.1142/S2424905X18500034","DOIUrl":"https://doi.org/10.1142/S2424905X18500034","url":null,"abstract":"We report the results of preclinical experiments for direct MRI-guided needle interventions in the brain. An MR Safe robot was incorporated into an intraoperative MRI system. Deep regions of the brain simulated in a cranial mockup were targeted with a needle under robotic assistance. The 3D accuracy of in-scanner targeting at an average depth of 95mm was 1.55mm, with no manual corrections.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131729265","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 : 2018-02-01DOI: 10.1142/S2424905X18400032
Zhuoqi Cheng, B. Davies, D. Caldwell, L. Mattos
Peripheral Intravenous Catheterization (PIVC) is often required in hospitals to fulfill urgent needs for blood sampling or fluid/medication administration. Although PIVC is often easy and successful in adults, it is a very difficult procedure for young pediatric patients. Multiple attempts of catheter insertion are typically needed before a successful placement, especially for clinical personnel lacking specific expertise on this task. The risks of such multiple attempts can be severe and life-threatening as they can cause serious extravasation injuries. Given the levels of precision and controllability needed for PIVC, robotic systems have large potential to effectively assist the operation and improve its success rate. Therefore, this research aims to provide such robotic assistance by focusing on the most challenging part of the operation: the insertion depth control to precisely access the target vein. A handheld robot for controlling the insertion and detecting venipuncture is introduced and evaluate...
{"title":"A Handheld Robot for Pediatric PIVC: Device Design and Preclinical Trial","authors":"Zhuoqi Cheng, B. Davies, D. Caldwell, L. Mattos","doi":"10.1142/S2424905X18400032","DOIUrl":"https://doi.org/10.1142/S2424905X18400032","url":null,"abstract":"Peripheral Intravenous Catheterization (PIVC) is often required in hospitals to fulfill urgent needs for blood sampling or fluid/medication administration. Although PIVC is often easy and successful in adults, it is a very difficult procedure for young pediatric patients. Multiple attempts of catheter insertion are typically needed before a successful placement, especially for clinical personnel lacking specific expertise on this task. The risks of such multiple attempts can be severe and life-threatening as they can cause serious extravasation injuries. Given the levels of precision and controllability needed for PIVC, robotic systems have large potential to effectively assist the operation and improve its success rate. Therefore, this research aims to provide such robotic assistance by focusing on the most challenging part of the operation: the insertion depth control to precisely access the target vein. A handheld robot for controlling the insertion and detecting venipuncture is introduced and evaluate...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127814111","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 : 2017-11-22DOI: 10.1142/S2424905X18500022
Janis Edelmann, A. Petruska, B. Nelson
Magnetically controlled catheters and endoscopes can improve minimally invasive procedures as a result of their increased maneuverability when combined with modern magnetic steering systems. However, such systems have two distinct shortcomings: they require continuous information about the location of the instrument inside the human body and they rely on models that accurately capture the device behavior, which are difficult to obtain in realistic settings. To address both of these issues, we propose a control algorithm that continuously estimates a magnetic endoscope’s response to changes in the actuating magnetic field. Experiments in a structured visual environment show that the control method is able to follow image-based trajectories under different initial conditions with an average control error that measures 1.8 % of the trajectory length. The usefulness for medical procedures is demonstrated with a bronchoscopic inspection task. In a proof-of-concept study, a custom 2mm diameter miniature camera ...
{"title":"Estimation-Based Control of a Magnetic Endoscope without Device Localization","authors":"Janis Edelmann, A. Petruska, B. Nelson","doi":"10.1142/S2424905X18500022","DOIUrl":"https://doi.org/10.1142/S2424905X18500022","url":null,"abstract":"Magnetically controlled catheters and endoscopes can improve minimally invasive procedures as a result of their increased maneuverability when combined with modern magnetic steering systems. However, such systems have two distinct shortcomings: they require continuous information about the location of the instrument inside the human body and they rely on models that accurately capture the device behavior, which are difficult to obtain in realistic settings. To address both of these issues, we propose a control algorithm that continuously estimates a magnetic endoscope’s response to changes in the actuating magnetic field. Experiments in a structured visual environment show that the control method is able to follow image-based trajectories under different initial conditions with an average control error that measures 1.8 % of the trajectory length. The usefulness for medical procedures is demonstrated with a bronchoscopic inspection task. In a proof-of-concept study, a custom 2mm diameter miniature camera ...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131579902","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 : 2017-11-21DOI: 10.1142/S2424905X18400044
Alperen Acemoglu, N. Deshpande, L. Mattos
This article presents the design and assembly of a novel magnetically actuated endoscopic laser scanner device. The device is designed to perform 2D position control and high speed scanning of a fiber-based laser for operation in narrow workspaces. The device includes laser focusing optics to allow non-contact incisions and tablet-based control interface for intuitive teleoperation. The performance of the proof-of-concept device is analysed through controllability and the usability studies. The computer-controlled high-speed scanning demonstrates repeatable results with 21 um precision and a stable response up to 48 Hz. Teleoperation user trials, were performed for trajectory-following tasks with 12 subjects, show an accuracy of 39 um. The innovative design of the device can be applied to both surgical and diagnostic (imaging) applications in endoscopic systems.
{"title":"Towards a Magnetically Actuated Laser Scanner for Endoscopic Microsurgeries","authors":"Alperen Acemoglu, N. Deshpande, L. Mattos","doi":"10.1142/S2424905X18400044","DOIUrl":"https://doi.org/10.1142/S2424905X18400044","url":null,"abstract":"This article presents the design and assembly of a novel magnetically actuated endoscopic laser scanner device. The device is designed to perform 2D position control and high speed scanning of a fiber-based laser for operation in narrow workspaces. The device includes laser focusing optics to allow non-contact incisions and tablet-based control interface for intuitive teleoperation. The performance of the proof-of-concept device is analysed through controllability and the usability studies. The computer-controlled high-speed scanning demonstrates repeatable results with 21 um precision and a stable response up to 48 Hz. Teleoperation user trials, were performed for trajectory-following tasks with 12 subjects, show an accuracy of 39 um. The innovative design of the device can be applied to both surgical and diagnostic (imaging) applications in endoscopic systems.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"19 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133105419","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 : 2017-11-02DOI: 10.1142/S2424905X17500088
Eric M. Moult, A. Lasso, T. Ungi, C. Pinter, M. Welch, G. Fichtinger
In tracked ultrasound systems, temporal misalignment between image and tracker data results in incorrect image pose. We present a fully automatic temporal calibration. We image a flat plate in wate...
{"title":"Improved Temporal Calibration of Tracked Ultrasound: An Open-Source Solution","authors":"Eric M. Moult, A. Lasso, T. Ungi, C. Pinter, M. Welch, G. Fichtinger","doi":"10.1142/S2424905X17500088","DOIUrl":"https://doi.org/10.1142/S2424905X17500088","url":null,"abstract":"In tracked ultrasound systems, temporal misalignment between image and tracker data results in incorrect image pose. We present a fully automatic temporal calibration. We image a flat plate in wate...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116323943","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 : 2017-11-02DOI: 10.1142/S2424905X17500052
O. Alonso, Á. Diéguez, S. Schostek, M. Schurr
This paper addresses the circuit implementation challenges resulting from the integration of a therapeutic clip in a magnetically maneuverable wireless capsule intended for colonoscopy. To deal with the size constraints typical of a capsule endoscope, an Application Specific Integrated Circuit (ASIC) has been designed specifically to habilitate the release of the therapeutic clip. The ASIC is a complete System on Chip (SoC) that incorporates a circuit for the low power release of the clip, thus overcoming the limitations of the power supply system. With a size of 14mm2, the ASIC can be incorporated in practically any capsule endoscope, consuming only an idle-state power of 1.5mW.
{"title":"A System-on-Chip Solution for a Low Power Active Capsule Endoscope with Therapeutic Capabilities for Clip Application in the Gastrointestinal Tract","authors":"O. Alonso, Á. Diéguez, S. Schostek, M. Schurr","doi":"10.1142/S2424905X17500052","DOIUrl":"https://doi.org/10.1142/S2424905X17500052","url":null,"abstract":"This paper addresses the circuit implementation challenges resulting from the integration of a therapeutic clip in a magnetically maneuverable wireless capsule intended for colonoscopy. To deal with the size constraints typical of a capsule endoscope, an Application Specific Integrated Circuit (ASIC) has been designed specifically to habilitate the release of the therapeutic clip. The ASIC is a complete System on Chip (SoC) that incorporates a circuit for the low power release of the clip, thus overcoming the limitations of the power supply system. With a size of 14mm2, the ASIC can be incorporated in practically any capsule endoscope, consuming only an idle-state power of 1.5mW.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123423297","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 : 2017-11-02DOI: 10.1142/S2424905X17500076
Awais Ahmad, Sabri Orcun Orhan, M. C. Yildirim, O. Bebek
Robotic systems are being applied to medical interventions as they increase the operational accuracy. The proposed autonomous and ultrasound guided 5-DOF parallel robot can achieve such accuracy for needle biopsies, which particularly demand precise needle positioning and insertion. In this paper, the robot’s mechanical design, system identifications, and the design of its controller are explained. A torque computed controller with gravity compensation and friction models, yielding a 0.678mm RMS position error for the needle tip, was used. A novel method was used for 3D space calibration of the images for detecting the volume of interest in the biopsy procedure by a multipoint crosswire phantom with parallel threads. The calibration technique had a validation RMS error of 0.03mm.
{"title":"Development and 3D Spatial Calibration of a Parallel Robot for Percutaneous Needle Procedures with 2D Ultrasound Guidance","authors":"Awais Ahmad, Sabri Orcun Orhan, M. C. Yildirim, O. Bebek","doi":"10.1142/S2424905X17500076","DOIUrl":"https://doi.org/10.1142/S2424905X17500076","url":null,"abstract":"Robotic systems are being applied to medical interventions as they increase the operational accuracy. The proposed autonomous and ultrasound guided 5-DOF parallel robot can achieve such accuracy for needle biopsies, which particularly demand precise needle positioning and insertion. In this paper, the robot’s mechanical design, system identifications, and the design of its controller are explained. A torque computed controller with gravity compensation and friction models, yielding a 0.678mm RMS position error for the needle tip, was used. A novel method was used for 3D space calibration of the images for detecting the volume of interest in the biopsy procedure by a multipoint crosswire phantom with parallel threads. The calibration technique had a validation RMS error of 0.03mm.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129752566","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}
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