Pub Date : 2017-03-17DOI: 10.1142/S2424905X17400049
G. House, G. Burdea, N. Grampurohit, K. Polistico, D. Roll, F. Damiani
The Bright Arm Duo is a low-friction robotic rehabilitation table that adaptably trains dual arm movement and grasp through interaction with serious games. In early sub-acute phase post-stroke, N=3 experimental group received conventional rehabilitation plus 12 BrightArm Duo sessions, each inducing up to 600 arm and hand repetitions. N=9 control group received conventional rehabilitation only. Improvement for the experimental group was better than controls across 11 of 12 functional metrics and activities of daily living (p=0.006).
Bright Arm Duo是一个低摩擦的机器人康复台，通过与严肃游戏的互动来适应训练双臂运动和抓握。在脑卒中后早期亚急性期，N=3实验组接受常规康复治疗加12次BrightArm Duo训练，每次训练600次手臂和手部重复。对照组仅接受常规康复治疗9例。实验组在12项功能指标和日常生活活动中的11项改善优于对照组(p=0.006)。
{"title":"Integrative Upper-Limb Rehabilitation with BrightArm DuoTM in the Early Sub-Acute Phase of Recovery Post-Stroke","authors":"G. House, G. Burdea, N. Grampurohit, K. Polistico, D. Roll, F. Damiani","doi":"10.1142/S2424905X17400049","DOIUrl":"https://doi.org/10.1142/S2424905X17400049","url":null,"abstract":"The Bright Arm Duo is a low-friction robotic rehabilitation table that adaptably trains dual arm movement and grasp through interaction with serious games. In early sub-acute phase post-stroke, N=3 experimental group received conventional rehabilitation plus 12 BrightArm Duo sessions, each inducing up to 600 arm and hand repetitions. N=9 control group received conventional rehabilitation only. Improvement for the experimental group was better than controls across 11 of 12 functional metrics and activities of daily living (p=0.006).","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132649798","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 : 2017-02-26DOI: 10.1142/S2424905X17500040
J. Granna, Yi Guo, K. Weaver, J. Burgner-Kahrs
Intracerebral hemorrhage evacuation (ICH) using a tubular aspiration robot promises benefits over conventional approaches to release the pressure of an hemorrhage within the brain. The blood of the hemorrhage is evacuated through preplanned, coordinated motion of a flexible, curved, concentric tube that aspirates from within the hemorrhage. To achieve maximum decompression, the curvature of the inner aspirator tube has to be selected such that its workspace covers the hemorrhage. As the use of multiple aspiration tubes sequentially is advisable, one can perform an exhaustive search over all possible aspiration tube shapes as has been previously proposed in the literature. In this paper, we introduce a new optimization algorithm which is computationally more efficient and thus allows for quick optimization during surgery. To demonstrate its performance and compare it to the previously proposed exhaustive search algorithm, we present experimental evaluation results on 175 simulated patient trials.
{"title":"Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation","authors":"J. Granna, Yi Guo, K. Weaver, J. Burgner-Kahrs","doi":"10.1142/S2424905X17500040","DOIUrl":"https://doi.org/10.1142/S2424905X17500040","url":null,"abstract":"Intracerebral hemorrhage evacuation (ICH) using a tubular aspiration robot promises benefits over conventional approaches to release the pressure of an hemorrhage within the brain. The blood of the hemorrhage is evacuated through preplanned, coordinated motion of a flexible, curved, concentric tube that aspirates from within the hemorrhage. To achieve maximum decompression, the curvature of the inner aspirator tube has to be selected such that its workspace covers the hemorrhage. As the use of multiple aspiration tubes sequentially is advisable, one can perform an exhaustive search over all possible aspiration tube shapes as has been previously proposed in the literature. In this paper, we introduce a new optimization algorithm which is computationally more efficient and thus allows for quick optimization during surgery. To demonstrate its performance and compare it to the previously proposed exhaustive search algorithm, we present experimental evaluation results on 175 simulated patient trials.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127011741","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 : 2017-02-26DOI: 10.1142/S2424905X17500039
T. Zander, K. Shetty, R. Lorenz, D. Leff, L. R. Krol, A. Darzi, K. Gramann, Guang-Zhong Yang
Automatic detection of the current task load of a surgeon in the theatre in real time could provide helpful information, to be used in supportive systems. For example, such information may enable the system to automatically support the surgeon when critical or stressful periods are detected, or to communicate to others when a surgeon is engaged in a complex maneuver and should not be disturbed. Passive brain–computer interfaces (BCI) infer changes in cognitive and affective state by monitoring and interpreting ongoing brain activity recorded via an electroencephalogram. The resulting information can then be used to automatically adapt a technological system to the human user. So far, passive BCI have mostly been investigated in laboratory settings, even though they are intended to be applied in real-world settings. In this study, a passive BCI was used to assess changes in task load of skilled surgeons performing both simple and complex surgical training tasks. Results indicate that the introduced methodo...
{"title":"Automated Task Load Detection with Electroencephalography: Towards Passive Brain-Computer Interfacing in Robotic Surgery","authors":"T. Zander, K. Shetty, R. Lorenz, D. Leff, L. R. Krol, A. Darzi, K. Gramann, Guang-Zhong Yang","doi":"10.1142/S2424905X17500039","DOIUrl":"https://doi.org/10.1142/S2424905X17500039","url":null,"abstract":"Automatic detection of the current task load of a surgeon in the theatre in real time could provide helpful information, to be used in supportive systems. For example, such information may enable the system to automatically support the surgeon when critical or stressful periods are detected, or to communicate to others when a surgeon is engaged in a complex maneuver and should not be disturbed. Passive brain–computer interfaces (BCI) infer changes in cognitive and affective state by monitoring and interpreting ongoing brain activity recorded via an electroencephalogram. The resulting information can then be used to automatically adapt a technological system to the human user. So far, passive BCI have mostly been investigated in laboratory settings, even though they are intended to be applied in real-world settings. In this study, a passive BCI was used to assess changes in task load of skilled surgeons performing both simple and complex surgical training tasks. Results indicate that the introduced methodo...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115510778","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 : 2017-02-26DOI: 10.1142/S2424905X17500027
Michael C. Yip, Jake Sganga, David B. Camarillo
Continuum manipulators enable minimally-invasive surgery on the beating heart, but the challenges involved in manually controlling the manipulator’s tip position and contact force with the tissue result in failed procedures and complications. The objective of this work is to achieve autonomous robotic control of a continuum manipulator’s position and force in a beating heart model. We present a model-less hybrid control approach that regulates the tip position/force of manipulators with unknown kinematics/mechanics, under unknown constraints along the manipulator’s body. The algorithms estimate the Jacobian in the presence of heartbeat disturbances and sensor noise in real time, enabling closed-loop control. Using this model-less control approach, a robotic catheter autonomously traced clinically relevant paths on a simulated beating heart environment while regulating contact force. A gating procedure is used to tighten the treatment margins and improve precision. Experimental results demonstrate the capabilities of the robot (1.4±1.1mm–1.9±1.4mm tracking error) while user demonstrations show the difficulty of manually performing the same task (2.6±2.0mm–4.3±3.9mm tracking error). This new, robotically-enabled contiguous ablation method could reduce ablation path discontinuities, improve consistency of treatment, and therefore improve clinical outcomes.
{"title":"Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks","authors":"Michael C. Yip, Jake Sganga, David B. Camarillo","doi":"10.1142/S2424905X17500027","DOIUrl":"https://doi.org/10.1142/S2424905X17500027","url":null,"abstract":"Continuum manipulators enable minimally-invasive surgery on the beating heart, but the challenges involved in manually controlling the manipulator’s tip position and contact force with the tissue result in failed procedures and complications. The objective of this work is to achieve autonomous robotic control of a continuum manipulator’s position and force in a beating heart model. We present a model-less hybrid control approach that regulates the tip position/force of manipulators with unknown kinematics/mechanics, under unknown constraints along the manipulator’s body. The algorithms estimate the Jacobian in the presence of heartbeat disturbances and sensor noise in real time, enabling closed-loop control. Using this model-less control approach, a robotic catheter autonomously traced clinically relevant paths on a simulated beating heart environment while regulating contact force. A gating procedure is used to tighten the treatment margins and improve precision. Experimental results demonstrate the capabilities of the robot (1.4±1.1mm–1.9±1.4mm tracking error) while user demonstrations show the difficulty of manually performing the same task (2.6±2.0mm–4.3±3.9mm tracking error). This new, robotically-enabled contiguous ablation method could reduce ablation path discontinuities, improve consistency of treatment, and therefore improve clinical outcomes.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128605918","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 : 2016-11-30DOI: 10.1142/S2424905X16500057
A. Darwood, R. Secoli, Stuart A. Bowyer, A. Leibinger, R. Richards, P. Reilly, A. Dawood, A. Tambe, R. Emery, F. Baena
Optimal orthopaedic implant placement is a major contributing factor to the long term success of all common joint arthroplasty procedures. Devices such as three-dimensional (3D) printed, bespoke guides and orthopaedic robots are extensively described in the literature and have been shown to enhance prosthesis placement accuracy. These technologies, however, have significant drawbacks, such as logistical and temporal inefficiency, high cost, cumbersome nature and difficult theatre integration. A new technology for the rapid intraoperative production of patient-specific instrumentation, which overcomes many of the disadvantages of existing technologies, is presented here. The technology comprises a reusable table side machine, bespoke software and a disposable element comprising a region of standard geometry and a body of moldable material. Anatomical data from computed tomography (CT) scans of 10 human scapulae was collected and, in each case, the optimal glenoid guidewire position was digitally planned and recorded. The achieved accuracy compared to the pre-operative bespoke plan was measured in all glenoids, from both a conventional group and a guided group (GG). The technology was successfully able to intraoperatively produce sterile, patient-specific guides according to a pre-operative plan in 5min, with no additional manufacturing required prior to surgery. Additionally, the average guidewire placement accuracy was 1.58mm and 6.82∘ in the manual group, and 0.55mm and 1.76∘ in the guided group, also demonstrating a statistically significant improvement.
{"title":"Intraoperative Manufacturing of Patient-Specific Instrumentation for Shoulder Arthroplasty: A Novel Mechatronic Approach","authors":"A. Darwood, R. Secoli, Stuart A. Bowyer, A. Leibinger, R. Richards, P. Reilly, A. Dawood, A. Tambe, R. Emery, F. Baena","doi":"10.1142/S2424905X16500057","DOIUrl":"https://doi.org/10.1142/S2424905X16500057","url":null,"abstract":"Optimal orthopaedic implant placement is a major contributing factor to the long term success of all common joint arthroplasty procedures. Devices such as three-dimensional (3D) printed, bespoke guides and orthopaedic robots are extensively described in the literature and have been shown to enhance prosthesis placement accuracy. These technologies, however, have significant drawbacks, such as logistical and temporal inefficiency, high cost, cumbersome nature and difficult theatre integration. A new technology for the rapid intraoperative production of patient-specific instrumentation, which overcomes many of the disadvantages of existing technologies, is presented here. The technology comprises a reusable table side machine, bespoke software and a disposable element comprising a region of standard geometry and a body of moldable material. Anatomical data from computed tomography (CT) scans of 10 human scapulae was collected and, in each case, the optimal glenoid guidewire position was digitally planned and recorded. The achieved accuracy compared to the pre-operative bespoke plan was measured in all glenoids, from both a conventional group and a guided group (GG). The technology was successfully able to intraoperatively produce sterile, patient-specific guides according to a pre-operative plan in 5min, with no additional manufacturing required prior to surgery. Additionally, the average guidewire placement accuracy was 1.58mm and 6.82∘ in the manual group, and 0.55mm and 1.76∘ in the guided group, also demonstrating a statistically significant improvement.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133816781","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 : 2016-11-30DOI: 10.1142/S2424905X16500069
Lou Cubrich, Mark Reichenbach, Jay D. Carlson, Andrew Pracht, B. Terry, D. Oleynikov, S. Farritor
Minimally-invasive laparoscopic procedures have proven efficacy for a wide range of surgical procedures, but have notable shortcomings, including limited instrument motion and reduced dexterity. Endoscopic robots, like the intuitive surgical da Vinci system, have become an effective tool for many types of surgeries; however, these tools still have fundamental limitations with manipulator access, which reduces their effectiveness for many surgical procedures, like colectomy, cholecystectomy, and gynecologic oncology. Laparo-endoscopic single-site (LESS) robots operate in vivo, and overcome many of these limitations. Here, a four-degrees of freedom (DOF) surgical robot is presented as a tool to enable refinement of the LESS platform as a surgical tool, while also looking forward to applications in telesurgery and haptic feedback.
{"title":"A Four-DOF Laparo-Endoscopic Single Site Platform for Rapidly-Developing Next-Generation Surgical Robotics","authors":"Lou Cubrich, Mark Reichenbach, Jay D. Carlson, Andrew Pracht, B. Terry, D. Oleynikov, S. Farritor","doi":"10.1142/S2424905X16500069","DOIUrl":"https://doi.org/10.1142/S2424905X16500069","url":null,"abstract":"Minimally-invasive laparoscopic procedures have proven efficacy for a wide range of surgical procedures, but have notable shortcomings, including limited instrument motion and reduced dexterity. Endoscopic robots, like the intuitive surgical da Vinci system, have become an effective tool for many types of surgeries; however, these tools still have fundamental limitations with manipulator access, which reduces their effectiveness for many surgical procedures, like colectomy, cholecystectomy, and gynecologic oncology. Laparo-endoscopic single-site (LESS) robots operate in vivo, and overcome many of these limitations. Here, a four-degrees of freedom (DOF) surgical robot is presented as a tool to enable refinement of the LESS platform as a surgical tool, while also looking forward to applications in telesurgery and haptic feedback.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126589517","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 : 2016-11-30DOI: 10.1142/S2424905X16500082
Nicola Preda, F. Ferraguti, G. Rossi, C. Secchi, R. Muradore, P. Fiorini, M. Bonfè
The research on medical robotics is starting to address the autonomous execution of surgical tasks, without effective intervention of humans apart from supervision and task configuration. This paper addresses the complete automation of a surgical robot by combining advanced sensing, cognition and control capabilities, developed according to rigorous assessment of surgical requirements, formal specification of robotic system behavior and software design and implementation based on solid tools and frameworks. In particular, the paper focuses on the cognitive control architecture and its development process, based on formal modeling and verification methods as best practices to ensure safe and reliable behavior. Full implementation of the proposed architecture has been tested on an experimental setup including a novel robot specifically designed for surgical applications, but adaptable to different selected tasks (i.e. needle insertion, wound suturing).
{"title":"A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks","authors":"Nicola Preda, F. Ferraguti, G. Rossi, C. Secchi, R. Muradore, P. Fiorini, M. Bonfè","doi":"10.1142/S2424905X16500082","DOIUrl":"https://doi.org/10.1142/S2424905X16500082","url":null,"abstract":"The research on medical robotics is starting to address the autonomous execution of surgical tasks, without effective intervention of humans apart from supervision and task configuration. This paper addresses the complete automation of a surgical robot by combining advanced sensing, cognition and control capabilities, developed according to rigorous assessment of surgical requirements, formal specification of robotic system behavior and software design and implementation based on solid tools and frameworks. In particular, the paper focuses on the cognitive control architecture and its development process, based on formal modeling and verification methods as best practices to ensure safe and reliable behavior. Full implementation of the proposed architecture has been tested on an experimental setup including a novel robot specifically designed for surgical applications, but adaptable to different selected tasks (i.e. needle insertion, wound suturing).","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124502389","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 : 2016-11-30DOI: 10.1142/S2424905X16500070
M. M. Marinho, M. Bernardes, A. P. Bó
Minimally invasive surgical systems are being widely used to aid operating rooms across the globe. Although arguably successful in laparoscopic surgery, the da Vinci robotic system has limitations mostly regarding cost and lack of patient physiological motion compensation. To obtain a more cost-effective alternative, earlier works used general-purpose fully actuated serial-link robots to control instruments in laparoscopic research using constrained Jacobian techniques. In contrast with those works, we present a new technique to solve the laparoscopic constraints for the serial-link manipulator by using a constrained trajectory. This novel technique allows complex 3D remote center-of-motion trajectories to be taken into account. Moreover, it does not have problems related to drifting, and is less prone to singularity related issues as it can be used with redundant manipulators. The proof-of-concept experiments are done by performing artificial trajectories with static and moving trocar points using a physical robot manipulator. Furthermore, the system is tested using user input of 13 medically untrained personnel in an endoscope navigation task. The experiments show that the system can be operated reliably under arbitrary and unpredictable user inputs.
{"title":"Using General-Purpose Serial-Link Manipulators for Laparoscopic Surgery with Moving Remote Center of Motion","authors":"M. M. Marinho, M. Bernardes, A. P. Bó","doi":"10.1142/S2424905X16500070","DOIUrl":"https://doi.org/10.1142/S2424905X16500070","url":null,"abstract":"Minimally invasive surgical systems are being widely used to aid operating rooms across the globe. Although arguably successful in laparoscopic surgery, the da Vinci robotic system has limitations mostly regarding cost and lack of patient physiological motion compensation. To obtain a more cost-effective alternative, earlier works used general-purpose fully actuated serial-link robots to control instruments in laparoscopic research using constrained Jacobian techniques. In contrast with those works, we present a new technique to solve the laparoscopic constraints for the serial-link manipulator by using a constrained trajectory. This novel technique allows complex 3D remote center-of-motion trajectories to be taken into account. Moreover, it does not have problems related to drifting, and is less prone to singularity related issues as it can be used with redundant manipulators. The proof-of-concept experiments are done by performing artificial trajectories with static and moving trocar points using a physical robot manipulator. Furthermore, the system is tested using user input of 13 medically untrained personnel in an endoscope navigation task. The experiments show that the system can be operated reliably under arbitrary and unpredictable user inputs.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126403445","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 : 2016-09-27DOI: 10.1142/S2424905X16400092
Caspar Gruijthuijsen, Benoît Rosa, P. T. Tran, J. Sloten, E. V. Poorten, D. Reynaerts
Catheter navigation is typically based on fluoroscopy. This implies exposure to harmful radiation, lack of depth perception and limited soft-tissue contrast. Catheter navigation would benefit from guidance that makes better use of detailed pre-operatively acquired MR/CT images, while reducing radiation exposure and improving spatial awareness of the catheter pose and shape. A prerequisite for such guidance is an accurate registration between the catheter tracking system and the MR/CT scans. Existing registration methods are lengthy and cumbersome as they require a lot of user interaction. This forms a major obstacle for their adoption into clinical practice. This paper proposes a radiation-free registration method that minimizes the impact on the surgical workflow and avoids most user interaction. The method relies on catheters with embedded sensors that provide intra-operative data that can either belong to the vessel wall or to the lumen of the vessel. Based on the acquired surface and lumen points an accurate registration is computed automatically, with minimal user interaction. Validation of the proposed method is performed on a synthetic yet realistic aorta phantom. Input from electromagnetic tracking, force sensing, and intra-vascular ultrasound are used as intra-operative sensory data.
{"title":"An Automatic Registration Method for Radiation-Free Catheter Navigation Guidance","authors":"Caspar Gruijthuijsen, Benoît Rosa, P. T. Tran, J. Sloten, E. V. Poorten, D. Reynaerts","doi":"10.1142/S2424905X16400092","DOIUrl":"https://doi.org/10.1142/S2424905X16400092","url":null,"abstract":"Catheter navigation is typically based on fluoroscopy. This implies exposure to harmful radiation, lack of depth perception and limited soft-tissue contrast. Catheter navigation would benefit from guidance that makes better use of detailed pre-operatively acquired MR/CT images, while reducing radiation exposure and improving spatial awareness of the catheter pose and shape. A prerequisite for such guidance is an accurate registration between the catheter tracking system and the MR/CT scans. Existing registration methods are lengthy and cumbersome as they require a lot of user interaction. This forms a major obstacle for their adoption into clinical practice. This paper proposes a radiation-free registration method that minimizes the impact on the surgical workflow and avoids most user interaction. The method relies on catheters with embedded sensors that provide intra-operative data that can either belong to the vessel wall or to the lumen of the vessel. Based on the acquired surface and lumen points an accurate registration is computed automatically, with minimal user interaction. Validation of the proposed method is performed on a synthetic yet realistic aorta phantom. Input from electromagnetic tracking, force sensing, and intra-vascular ultrasound are used as intra-operative sensory data.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130485232","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 : 2016-09-27DOI: 10.1142/S2424905X16400110
E. V. Poorten, P. T. Tran, A. Devreker, Caspar Gruijthuijsen, S. Díez, G. Smoljkic, V. Strbac, N. Famaey, D. Reynaerts, J. Sloten, Abraham Temesgen Tibebu, Bingbin Yu, C. Rauch, Felix Bernard, Y. Kassahun, J. H. Metzen, S. Giannarou, Liang Zhao, Su-Lin Lee, Guang-Zhong Yang, E. Mazomenos, Ping-Lin Chang, D. Stoyanov, Maryna Kvasnytsia, J. Deun, E. Verhoelst, M. Sette, Anita Di Iasio, G. Leo, Fabian Hertner, D. Scherly, Leandro Chelini, Nicolai Häni, D. Seatovic, Benoît Rosa, H. Praetere, P. Herijgers
Advances in miniaturized surgical instrumentation are key to less demanding and safer medical interventions. In cardiovascular procedures interventionalists turn towards catheter-based interventions, treating patients considered unfit for more invasive approaches. A positive outcome is not guaranteed. The risk for calcium dislodgement, tissue damage or even vessel rupture cannot be eliminated when instruments are maneuvered through fragile and diseased vessels. This paper reports on the progress made in terms of catheter design, vessel reconstruction, catheter shape modeling, surgical skill analysis, decision making and control. These efforts are geared towards the development of the necessary technology to autonomously steer catheters through the vasculature, a target of the EU-funded project Cognitive AutonomouS CAtheters operating in Dynamic Environments (CASCADE). Whereas autonomous placement of an aortic valve implant forms the ultimate and concrete goal, the technology of individual building blocks to reach such ambitious goal is expected to be much sooner impacting and assisting interventionalists in their daily clinical practice.
{"title":"Cognitive AutonomouS CAtheters Operating in Dynamic Environments","authors":"E. V. Poorten, P. T. Tran, A. Devreker, Caspar Gruijthuijsen, S. Díez, G. Smoljkic, V. Strbac, N. Famaey, D. Reynaerts, J. Sloten, Abraham Temesgen Tibebu, Bingbin Yu, C. Rauch, Felix Bernard, Y. Kassahun, J. H. Metzen, S. Giannarou, Liang Zhao, Su-Lin Lee, Guang-Zhong Yang, E. Mazomenos, Ping-Lin Chang, D. Stoyanov, Maryna Kvasnytsia, J. Deun, E. Verhoelst, M. Sette, Anita Di Iasio, G. Leo, Fabian Hertner, D. Scherly, Leandro Chelini, Nicolai Häni, D. Seatovic, Benoît Rosa, H. Praetere, P. Herijgers","doi":"10.1142/S2424905X16400110","DOIUrl":"https://doi.org/10.1142/S2424905X16400110","url":null,"abstract":"Advances in miniaturized surgical instrumentation are key to less demanding and safer medical interventions. In cardiovascular procedures interventionalists turn towards catheter-based interventions, treating patients considered unfit for more invasive approaches. A positive outcome is not guaranteed. The risk for calcium dislodgement, tissue damage or even vessel rupture cannot be eliminated when instruments are maneuvered through fragile and diseased vessels. This paper reports on the progress made in terms of catheter design, vessel reconstruction, catheter shape modeling, surgical skill analysis, decision making and control. These efforts are geared towards the development of the necessary technology to autonomously steer catheters through the vasculature, a target of the EU-funded project Cognitive AutonomouS CAtheters operating in Dynamic Environments (CASCADE). Whereas autonomous placement of an aortic valve implant forms the ultimate and concrete goal, the technology of individual building blocks to reach such ambitious goal is expected to be much sooner impacting and assisting interventionalists in their daily clinical practice.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116511208","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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