Abstract MR-compatibility actuations have been widely investigated for the development of robot-assisted devices under the magnetic resonance imaging (MRI). Ferromagnetic components of MRI-powered can be manipulated remotely using the magnetic force or torque induced by MRI or magnetic field environment. However, (1) numerical analysis of the related factors, geometry and magnitude, influencing the ferromagnetic components, and (2) field non-homogeneities when placed in a uniform main magnetic field B0 are rarely reported. To address the relationship between magnetic force/torque and parameters, different radii of ferromagnetic spheres are required to exert magnetic force and torque with variable magnetic field. Comparison of the field homogeneities error (FHE) under various locations and parameters was investigated. In this study, we present the equivalent model of magnetic field and compare the magnetic force and torque of ferromagnetic sphere under different conditions and provide a safety distance of drive source (ferromagnetic sphere). The numerical models between parameters are established and significant factors were analyzed. Through various parameters of the ferromagnetic sphere, the performance of the numerical model in the magnetic field was evaluated. Cubic polynomial equations were developed to relate magnetic properties of ferromagnetic sphere with R2 > 0.9506. Field homogeneity was not significantly affected when actuation source was installed in 32 cm away from the isocenter.
{"title":"Evaluation of actuation compatibility and homogeneities for MRI-powered ferromagnetic sphere","authors":"Peng Zhang, Wendong Wang, Yikai Shi, Xiaoqing Yuan","doi":"10.1080/24699322.2016.1240312","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240312","url":null,"abstract":"Abstract MR-compatibility actuations have been widely investigated for the development of robot-assisted devices under the magnetic resonance imaging (MRI). Ferromagnetic components of MRI-powered can be manipulated remotely using the magnetic force or torque induced by MRI or magnetic field environment. However, (1) numerical analysis of the related factors, geometry and magnitude, influencing the ferromagnetic components, and (2) field non-homogeneities when placed in a uniform main magnetic field B0 are rarely reported. To address the relationship between magnetic force/torque and parameters, different radii of ferromagnetic spheres are required to exert magnetic force and torque with variable magnetic field. Comparison of the field homogeneities error (FHE) under various locations and parameters was investigated. In this study, we present the equivalent model of magnetic field and compare the magnetic force and torque of ferromagnetic sphere under different conditions and provide a safety distance of drive source (ferromagnetic sphere). The numerical models between parameters are established and significant factors were analyzed. Through various parameters of the ferromagnetic sphere, the performance of the numerical model in the magnetic field was evaluated. Cubic polynomial equations were developed to relate magnetic properties of ferromagnetic sphere with R2 > 0.9506. Field homogeneity was not significantly affected when actuation source was installed in 32 cm away from the isocenter.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"168 - 174"},"PeriodicalIF":2.1,"publicationDate":"2016-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240312","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-06DOI: 10.1080/24699322.2016.1240311
Qing Zhu, B. Liang, Xingsong Wang, Xiaogang Sun, Liming Wang
Abstract Background: The minimally invasive technique of closed intramedullary (IM) nailing fixation is currently considered the standard of treatment for the operative management of displaced traumatic fractures of the femur, with fracture reduction and repositioning being the first and most important step of the procedure. Skeletal-muscle traction and alignment of the fracture fragments are always performed as individual components of the reduction and repositioning phase of the procedure. Methods: As use of high traction force and repositioning forces and torques can cause additional soft tissue injury, we developed a sensor-based system to monitor these forces and torques during the treatment of diaphyseal fractures of the femur, including the monitoring of traction forces during the entire procedure, from reduction to IM nail implantation and fixation. Results: Based on a local coordinate system localized at the center of the fracture, maximum forces of 203 N along the medial-lateral (X) axis, 517 N along the anterior–posterior (Y) axis and 505 N along the shaft of the femur (Z-axis) were identified, with maximum torques of 16.4 Nm calculated around Y-axis and 38.3 Nm around X-axis. The pressure between the counteraction post and the perineum was also recorded, with magnitudes as high as 523 N being recorded. Excessive forces were identified and the difference in force–torque magnitudes during different stages of the reduction and fixation procedure were calculated. Conclusion: The measurement system provides surgeons with real-time information which can assist them in performing effective repositioning of fracture fragments within safe margins of applied forces and torques.
{"title":"Force–torque intraoperative measurements for femoral shaft fracture reduction","authors":"Qing Zhu, B. Liang, Xingsong Wang, Xiaogang Sun, Liming Wang","doi":"10.1080/24699322.2016.1240311","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240311","url":null,"abstract":"Abstract Background: The minimally invasive technique of closed intramedullary (IM) nailing fixation is currently considered the standard of treatment for the operative management of displaced traumatic fractures of the femur, with fracture reduction and repositioning being the first and most important step of the procedure. Skeletal-muscle traction and alignment of the fracture fragments are always performed as individual components of the reduction and repositioning phase of the procedure. Methods: As use of high traction force and repositioning forces and torques can cause additional soft tissue injury, we developed a sensor-based system to monitor these forces and torques during the treatment of diaphyseal fractures of the femur, including the monitoring of traction forces during the entire procedure, from reduction to IM nail implantation and fixation. Results: Based on a local coordinate system localized at the center of the fracture, maximum forces of 203 N along the medial-lateral (X) axis, 517 N along the anterior–posterior (Y) axis and 505 N along the shaft of the femur (Z-axis) were identified, with maximum torques of 16.4 Nm calculated around Y-axis and 38.3 Nm around X-axis. The pressure between the counteraction post and the perineum was also recorded, with magnitudes as high as 523 N being recorded. Excessive forces were identified and the difference in force–torque magnitudes during different stages of the reduction and fixation procedure were calculated. Conclusion: The measurement system provides surgeons with real-time information which can assist them in performing effective repositioning of fracture fragments within safe margins of applied forces and torques.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"37 - 44"},"PeriodicalIF":2.1,"publicationDate":"2016-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240311","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-11-03DOI: 10.1080/24699322.2016.1240301
Chen Xiaozhao, Hu Jinfeng, Mao Baolin, Yan Chongnan, K. Yan
Abstract Pedicle screws are an established method for spinal segmental fixation. To pursue high accuracy and minimally invasive, various different guidance techniques have developed. However, the preoperative screw position plans are determined by manual selection which demands complex operations and costs a lot of time. In addition, the current paths planning only consider the position, without taking the postoperative screws retention into consideration. In order to solve the problems, a new method was proposed to plan the lumbar pedicle screw placement automatically. Firstly, identify pedicle area and establish initial path based on the current vertebrae segmentation technology. After that, optimize path via the improved boundary limited Nelder–Mead simplex algorithm, and get the highest firmness path in theory. We considered that both the accuracy of position and the firmness of postoperative screws, achieved a fully automatic optimal path planning, which can effectively assist operators, improve the firmness of screw placement.
{"title":"A method of lumbar pedicle screw placement optimization applied to guidance techniques","authors":"Chen Xiaozhao, Hu Jinfeng, Mao Baolin, Yan Chongnan, K. Yan","doi":"10.1080/24699322.2016.1240301","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240301","url":null,"abstract":"Abstract Pedicle screws are an established method for spinal segmental fixation. To pursue high accuracy and minimally invasive, various different guidance techniques have developed. However, the preoperative screw position plans are determined by manual selection which demands complex operations and costs a lot of time. In addition, the current paths planning only consider the position, without taking the postoperative screws retention into consideration. In order to solve the problems, a new method was proposed to plan the lumbar pedicle screw placement automatically. Firstly, identify pedicle area and establish initial path based on the current vertebrae segmentation technology. After that, optimize path via the improved boundary limited Nelder–Mead simplex algorithm, and get the highest firmness path in theory. We considered that both the accuracy of position and the firmness of postoperative screws, achieved a fully automatic optimal path planning, which can effectively assist operators, improve the firmness of screw placement.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"142 - 147"},"PeriodicalIF":2.1,"publicationDate":"2016-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240301","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126041","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-28DOI: 10.1080/24699322.2016.1240315
Can Wu, Ying Chen, M. Al-Furjan, Jing Ni, Xiao Yang
Abstract Myringoplasty is one of the routine surgeries in the treatment of tympanic membrane (TM) perforation. Since the gross anatomical structure of the middle ear cannot be simulated in clinical practice, the surgery is mainly performed by experience and expertise. Based on the mechanical properties of TM, four hypotheses are presented where TM is simplified as a sectorial annulus membrane. This paper proposes a free vibration model of TM whose natural frequency of free vibration and the analytical expressions of corresponding natural vibration mode are obtained by variables separation method and Bessel function. Compared with the ANSYS numerical results, it shows that natural frequency calculated by finite element (FE) method is slightly higher because of the increase of model stiffness by ignoring high-order quantity. Compared with the experimental data from volunteers, it shows that the first-order, second-order and third-order principal resonances in the test are the combined effects of multiple natural frequencies and natural vibration modes instead of the single one. The theoretical model deduced in this paper is in higher precision with comparatively fewer parameters. It provides more precise mechanical reference to myringoplasty by calculating the response of the normal human ear.
{"title":"Free vibration model and theoretical solution of the tympanic membrane","authors":"Can Wu, Ying Chen, M. Al-Furjan, Jing Ni, Xiao Yang","doi":"10.1080/24699322.2016.1240315","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240315","url":null,"abstract":"Abstract Myringoplasty is one of the routine surgeries in the treatment of tympanic membrane (TM) perforation. Since the gross anatomical structure of the middle ear cannot be simulated in clinical practice, the surgery is mainly performed by experience and expertise. Based on the mechanical properties of TM, four hypotheses are presented where TM is simplified as a sectorial annulus membrane. This paper proposes a free vibration model of TM whose natural frequency of free vibration and the analytical expressions of corresponding natural vibration mode are obtained by variables separation method and Bessel function. Compared with the ANSYS numerical results, it shows that natural frequency calculated by finite element (FE) method is slightly higher because of the increase of model stiffness by ignoring high-order quantity. Compared with the experimental data from volunteers, it shows that the first-order, second-order and third-order principal resonances in the test are the combined effects of multiple natural frequencies and natural vibration modes instead of the single one. The theoretical model deduced in this paper is in higher precision with comparatively fewer parameters. It provides more precise mechanical reference to myringoplasty by calculating the response of the normal human ear.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"61 - 68"},"PeriodicalIF":2.1,"publicationDate":"2016-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240315","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-28DOI: 10.1080/24699322.2016.1240316
Bo Pan, Xiaofeng Qu, Yue Ai, Yili Fu, Chang Liu
Abstract Robot-assisted systems can enhance the precision of surgical procedures, and have been widely used in minimally invasive surgery (MIS). This paper proposes the master–slave real-time control strategy for a novel surgical robot for MIS. The robot is equipped with two instrument manipulators and one laparoscope manipulator. The control strategy solves problems of kinematics transformation on consistency principle, intra-operative re-mapping and tremor attenuation in real-time. The kinematics model of slave instrument manipulators is established, and the master–slave control method in Cartesian space is proposed. Intra-operative re-mapping and real-time tremor attenuation algorithms are also proposed as auxiliary functions to improve surgical robot’s performance. The proposed methods are verified by respective experiments. Finally, animal experiment is performed to verify the correctness and efficiency of the control strategy in this research.
{"title":"Master–slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery","authors":"Bo Pan, Xiaofeng Qu, Yue Ai, Yili Fu, Chang Liu","doi":"10.1080/24699322.2016.1240316","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240316","url":null,"abstract":"Abstract Robot-assisted systems can enhance the precision of surgical procedures, and have been widely used in minimally invasive surgery (MIS). This paper proposes the master–slave real-time control strategy for a novel surgical robot for MIS. The robot is equipped with two instrument manipulators and one laparoscope manipulator. The control strategy solves problems of kinematics transformation on consistency principle, intra-operative re-mapping and tremor attenuation in real-time. The kinematics model of slave instrument manipulators is established, and the master–slave control method in Cartesian space is proposed. Intra-operative re-mapping and real-time tremor attenuation algorithms are also proposed as auxiliary functions to improve surgical robot’s performance. The proposed methods are verified by respective experiments. Finally, animal experiment is performed to verify the correctness and efficiency of the control strategy in this research.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"36 1","pages":"69 - 77"},"PeriodicalIF":2.1,"publicationDate":"2016-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240316","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract The thickness of nuchal translucency (NT) is one of the most important parameters to be detected in prenatal screening during the first trimester of pregnancy. In this paper, an automatic method is proposed for the localization of the volume of interest (VOI) of NT in three-dimensional (3D) ultrasound data. With the size and position of the fetal head and the equation of the sagittal plane in the 3D ultrasound data as the prior knowledge, the method can be divided into three steps. First, a Hessian-based plate filter is proposed to enhance the possible plates in the volume. Second, several VOIs with large filter responses are selected as candidates. Those VOIs consisting of several connected planes are segmented according to the prior knowledge of the sagittal plane. Third, a set of shape features is proposed to select the NT VOI with the maximum probability. Automatic fetal head localization and sagittal plane detection can be achieved using our previously proposed methodology, which means fully automatic NT volume detection could be reached by using our method. The proposed method produces 86.36% localization accuracy with the manual selection as the ground truth.
{"title":"A Hessian plate filter and shape feature-based approach to automatically localizing the NT VOI of 3D ultrasound data","authors":"Siqing Nie, Jinhua Yu, Ping-Han Chen, Yuanyuan Wang, Jian Qiu Zhang","doi":"10.1080/24699322.2016.1240317","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240317","url":null,"abstract":"Abstract The thickness of nuchal translucency (NT) is one of the most important parameters to be detected in prenatal screening during the first trimester of pregnancy. In this paper, an automatic method is proposed for the localization of the volume of interest (VOI) of NT in three-dimensional (3D) ultrasound data. With the size and position of the fetal head and the equation of the sagittal plane in the 3D ultrasound data as the prior knowledge, the method can be divided into three steps. First, a Hessian-based plate filter is proposed to enhance the possible plates in the volume. Second, several VOIs with large filter responses are selected as candidates. Those VOIs consisting of several connected planes are segmented according to the prior knowledge of the sagittal plane. Third, a set of shape features is proposed to select the NT VOI with the maximum probability. Automatic fetal head localization and sagittal plane detection can be achieved using our previously proposed methodology, which means fully automatic NT volume detection could be reached by using our method. The proposed method produces 86.36% localization accuracy with the manual selection as the ground truth.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"83 - 91"},"PeriodicalIF":2.1,"publicationDate":"2016-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240317","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-28DOI: 10.1080/24699322.2016.1240313
Yue Ai, Bo Pan, Yili Fu, Shuguo Wang
Abstract A novel separate robotic system for minimally invasive surgery (MIS) has been presented in this paper. Control system architectures were designed, basing on versatile performance criteria. The compact control and mechanical structure were suitable for medical environment. Function and safety design satisfying medical application were integrated into the robot system as well. Additionally, intuitive control algorithm solved the problems of hand-eye incoordination and workspace mismatch between master hands and slave arms during the master–slave control process. A series of experiments have been accomplished to evaluate the performance of the robotic system at last. The results demonstrated that the robotic system was capable of executing surgical operation intuitively and implementing auxiliary functions perfectly, which meant that the control system was feasible and reliable.
{"title":"Control system design for a novel minimally invasive surgical robot","authors":"Yue Ai, Bo Pan, Yili Fu, Shuguo Wang","doi":"10.1080/24699322.2016.1240313","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240313","url":null,"abstract":"Abstract A novel separate robotic system for minimally invasive surgery (MIS) has been presented in this paper. Control system architectures were designed, basing on versatile performance criteria. The compact control and mechanical structure were suitable for medical environment. Function and safety design satisfying medical application were integrated into the robot system as well. Additionally, intuitive control algorithm solved the problems of hand-eye incoordination and workspace mismatch between master hands and slave arms during the master–slave control process. A series of experiments have been accomplished to evaluate the performance of the robotic system at last. The results demonstrated that the robotic system was capable of executing surgical operation intuitively and implementing auxiliary functions perfectly, which meant that the control system was feasible and reliable.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"45 - 53"},"PeriodicalIF":2.1,"publicationDate":"2016-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240313","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-28DOI: 10.1080/24699322.2016.1240308
L. F. Chen, H. Tseng, L. Pan, J. B. Lin, H. S. Huang, W. Lai, C. Y. Chen
Abstract Environment radiations in vault rooms resulting from Axesse linac use was assessed at Medical University Hospital using Thermoluminescent dosimeters (TLDs) during the use of the new radiation treatment known as volumetric modulated arc therapy (VMAT) in the treatment of nasopharyngeal cancer (NPC). The TLD-100H was calibrated using linac 6 MV photons. A total of 75 measurement points of the TLD-100H were utilized for environmental monitoring. The measured environment radiations were then visualized as three-dimensional graphical representations. Environment radiations were visualized using colored three-dimentional graphical representations. The radiations in NPC treatment of Rando phantom was found to reach levels up to 370 mSv/treatment. Many researchers consider TLD, which is the most cost-effective method to environment radiations. The minimum detectable dose (MDD) was also identified to demonstrate the reliability of the TLD approach. Quantitative results that provide practical guidance with regarded radiation protections. Potentially hazardous of secondary radiations from the operating linac is evaluated with regard to its potential health effects on both patients and the public. KEY POINTS This work tried to evaluate the environment radiation and minimal detectable limit of TLD inside the LINAC maze.
{"title":"Evaluating environment radiations at Axesse linac undergoing NPC treatment of VMAT","authors":"L. F. Chen, H. Tseng, L. Pan, J. B. Lin, H. S. Huang, W. Lai, C. Y. Chen","doi":"10.1080/24699322.2016.1240308","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240308","url":null,"abstract":"Abstract Environment radiations in vault rooms resulting from Axesse linac use was assessed at Medical University Hospital using Thermoluminescent dosimeters (TLDs) during the use of the new radiation treatment known as volumetric modulated arc therapy (VMAT) in the treatment of nasopharyngeal cancer (NPC). The TLD-100H was calibrated using linac 6 MV photons. A total of 75 measurement points of the TLD-100H were utilized for environmental monitoring. The measured environment radiations were then visualized as three-dimensional graphical representations. Environment radiations were visualized using colored three-dimentional graphical representations. The radiations in NPC treatment of Rando phantom was found to reach levels up to 370 mSv/treatment. Many researchers consider TLD, which is the most cost-effective method to environment radiations. The minimum detectable dose (MDD) was also identified to demonstrate the reliability of the TLD approach. Quantitative results that provide practical guidance with regarded radiation protections. Potentially hazardous of secondary radiations from the operating linac is evaluated with regard to its potential health effects on both patients and the public. KEY POINTS This work tried to evaluate the environment radiation and minimal detectable limit of TLD inside the LINAC maze.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"78 - 82"},"PeriodicalIF":2.1,"publicationDate":"2016-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240308","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126228","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-28DOI: 10.1080/24699322.2016.1240314
Gangfeng Liu, Xianfu Yu, Chang-le Li, Ge Li, Xuehe Zhang, Liyi Li
Abstract Space registration in cranial and maxillofacial surgery is intended to map the image space to the robot space. This requires calibration of multiple coordinate systems. In this process, the calibration accuracy between the robot coordinate system and the NDI vision coordinate system directly determines the precision of the surgical navigation system, which is the key to success. In this paper, the relationship between robot space and visual space is studied according to the requirements of surgery, and with reference to the characteristics of the vision system itself. Based on this analysis and traditional methods, a new linear rotation calibration method is presented. Calibration can be automated to decrease human error and increase the reliability and stability. Finally, an experiment is conducted in order to evaluate the effectiveness of the calibration algorithm. The results show that the minimum position error was less than 0.87 mm and the minimum posture deviation was about 0.83 degrees, indicating that the calibration precision can meet the operation requirements. There are good prospects for this method using in surgical calibration application.
{"title":"Space calibration of the cranial and maxillofacial robotic system in surgery","authors":"Gangfeng Liu, Xianfu Yu, Chang-le Li, Ge Li, Xuehe Zhang, Liyi Li","doi":"10.1080/24699322.2016.1240314","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240314","url":null,"abstract":"Abstract Space registration in cranial and maxillofacial surgery is intended to map the image space to the robot space. This requires calibration of multiple coordinate systems. In this process, the calibration accuracy between the robot coordinate system and the NDI vision coordinate system directly determines the precision of the surgical navigation system, which is the key to success. In this paper, the relationship between robot space and visual space is studied according to the requirements of surgery, and with reference to the characteristics of the vision system itself. Based on this analysis and traditional methods, a new linear rotation calibration method is presented. Calibration can be automated to decrease human error and increase the reliability and stability. Finally, an experiment is conducted in order to evaluate the effectiveness of the calibration algorithm. The results show that the minimum position error was less than 0.87 mm and the minimum posture deviation was about 0.83 degrees, indicating that the calibration precision can meet the operation requirements. There are good prospects for this method using in surgical calibration application.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"54 - 60"},"PeriodicalIF":2.1,"publicationDate":"2016-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240314","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-27DOI: 10.1080/24699322.2016.1240310
C. Lim, Byungkwan Hwang, Heejung Park, Do-Hong Lee, Jieun Park, Kyu Jin Lee, Sun Kwon Kim, K. Seo
Abstract Objective: To examine the reliability of ultrasonographic thickness and compressibility along with real-time pressure monitoring to evaluate postmastectomy lymphedema and to suggest a reference range of appropriate pressure. Design: Measurement reliability study. Setting: Research laboratory. Participants: Fifteen patients with prior mastectomy for breast cancer who were diagnosed with secondary lymphedema, and 16 healthy control subjects. Methods: The thickness and compressibility of the subcutaneous layer in the arms of 15 postmastectomy patients with secondary lymphedema were measured using B-mode and M-mode ultrasonography. An ultrasound machine was equipped with a real-time pressure-monitoring device to monitor downward compression pressure on the arms at a constant velocity. The ratio of thickness change defined the compressibility index. Two different experienced examiners participated in the measurement of lymphedema. Intrarater reliability and inter-rater reliability were estimated using the intraclass correlation coefficient. Very good reliability was defined as an ICC of more than 0.8. Main outcome measurements: The thickness of the subcutaneous layer, the compressibility index, and the intrarater and inter-rater reliability were measured. Results: The measured thicknesses demonstrated very good intrarater and inter-rater reliability for the forearm and upper arm. For the compressibility index, the upper arm and forearm had very good intrarater and inter-rater reliability at over 2000 Pa of compression (>0.9). Conclusions: Ultrasonography with real-time pressure monitoring may be useful for evaluating the severity and characteristics of lymphedema, particularly at compression pressures more than 2000 Pa.
{"title":"Optimal pressure for measuring objective lymphedema with postoperative ultrasonography in patients with breast cancer","authors":"C. Lim, Byungkwan Hwang, Heejung Park, Do-Hong Lee, Jieun Park, Kyu Jin Lee, Sun Kwon Kim, K. Seo","doi":"10.1080/24699322.2016.1240310","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240310","url":null,"abstract":"Abstract Objective: To examine the reliability of ultrasonographic thickness and compressibility along with real-time pressure monitoring to evaluate postmastectomy lymphedema and to suggest a reference range of appropriate pressure. Design: Measurement reliability study. Setting: Research laboratory. Participants: Fifteen patients with prior mastectomy for breast cancer who were diagnosed with secondary lymphedema, and 16 healthy control subjects. Methods: The thickness and compressibility of the subcutaneous layer in the arms of 15 postmastectomy patients with secondary lymphedema were measured using B-mode and M-mode ultrasonography. An ultrasound machine was equipped with a real-time pressure-monitoring device to monitor downward compression pressure on the arms at a constant velocity. The ratio of thickness change defined the compressibility index. Two different experienced examiners participated in the measurement of lymphedema. Intrarater reliability and inter-rater reliability were estimated using the intraclass correlation coefficient. Very good reliability was defined as an ICC of more than 0.8. Main outcome measurements: The thickness of the subcutaneous layer, the compressibility index, and the intrarater and inter-rater reliability were measured. Results: The measured thicknesses demonstrated very good intrarater and inter-rater reliability for the forearm and upper arm. For the compressibility index, the upper arm and forearm had very good intrarater and inter-rater reliability at over 2000 Pa of compression (>0.9). Conclusions: Ultrasonography with real-time pressure monitoring may be useful for evaluating the severity and characteristics of lymphedema, particularly at compression pressures more than 2000 Pa.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"102 - 110"},"PeriodicalIF":2.1,"publicationDate":"2016-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240310","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126308","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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