Computer Assisted Surgery最新文献

Neural substrates of action to the object or this specific direct route, however, remain unclear, especially for the connection from the visual pathway to the motor cortex. The study examined this issue by conducting an fMRI experiment, in which two action generation tasks involving pictures of real objects (PA) and the object's nouns (NA) were used, with pictures naming (PN) and covert noun reading (NR) being the control tasks. The result showed that the model predefined for the PCC and precuneus connecting IPL to the posterior-medial frontal cortex dominated over the others (with 0.45 probability), suggesting that the PCC and the precuneus locate at the neural substrates of action to the object. Furthermore, a feasibility study suggests that the neural pathway composed of the V3/MT, precuneus, PCC, and PM (premotor cortex) forms the direct route from perception to action, which also links to the dorsal pathway so that the perception of objects bypasses the semantic ventral pathway and then directly cues actions via the affordance.

The existing surgical robots for laparoscopic surgery offer no or limited force feedback, and there are many problems for the traditional sensor-based solutions. This paper builds a teleoperation surgical system and validates the effectiveness of sensorless force feedback. The tool-tissue interaction force at the surgical grasper tip is estimated using the driving motor's current, and fed back to the master robot with position-force bilateral control algorithm. The stiffness differentiation experiment and tumor detection experiment were conducted. In the stiffness differentiation experiment, 43 out of 45 pairs of ranking relationships were identified correctly, yielding a success rate of 96%. In the tumor detection experiment, 4 out of 5 participants identified the correct tumor location with force feedback, yielding a success rate of 80%. The proposed sensorless force-feedback system for robot-assisted laparoscopic surgery can help surgeons regain tactile information and distinguish between the healthy and cancerous tissue.

Continuous wave near-infrared spectroscopy (CW-NIRS) can be used to measure cerebral activity because it is noninvasive, simple and portable. However, the performance of the continuous wave near-infrared spectroscopy is distorted by the presence of extracerebral layer. Change of optical parameters in gray matter layer will then be inappropriately converted into the brain activity response. In the current study, a five-layer structure model constitute of scalp, skull, cerebrospinal fluid, gray matter and white matter, have been applied to fabricate human brain tissue. The phantom is made by the mixture of the Intralipid, India ink and agar. The optical parameters of gray matter layer can be flexibly adjusted to simulate the change of the deep brain tissue. The near infrared optical measurement system was designed to detect the changes in the absorption coefficients of the gray matter and quantitative analyze the influence of the extracerebral layers. Monte Carlo technique for the equivalent multi-layered brain tissue models is then performed to compensate partial volume effect introduced by the extracerebral layers. The results of the experiments suggested that the extracerebral layers influence the measurement and the influence of the extracerebral layers can be suppressed by correcting partial volume effect using Monte Carlo simulations.

We present a novel technique to distinguish between an original image and its histogram equalized version. Histogram equalization and superpixel segmentation such as SLIC (simple linear iterative clustering) are very popular image processing tools. Based on these two concepts, we introduce a method for finding whether an image (grayscale) is histogram equalized or not. Because sometimes we see images that look visually similar but they are actually processed or changed by some image enhancement process such as histogram equalization. We can merely infer whether the image is dark, bright or has a small dynamic range. Moreover, we also compare the result of SLIC superpixels with three other superpixel segmentation algorithms namely, quick shift, watersheds, and Felzenszwalb's segmentation algorithm.

Stereoscopic display based on Virtual Reality (VR) can facilitate clinicians observing 3 D anatomical models with the depth cue which lets them understand the spatial relationship between different anatomical structures intuitively. However, there are few input devices available in the sterile field of the operating room for controlling 3 D anatomical models. This paper presents a cost-effective VR application for stereo display of 3 D anatomical models with non-contact interaction. The system is integrated with hand gesture interaction and voice interaction to achieve non-contact interaction. Hand gesture interaction is based on Leap Motion. Voice interaction is implemented based on Bing Speech for English language and Aitalk for Chinese language. A local database is designed to record the anatomical terminologies organized in a tree structure, and provided to the speech recognition engine for querying these uncommon words. Ten participants were asked to practice the proposed system and compare it with the common interactive manners. The results show that our system is more efficient than the common interactive manner and prove the feasibility and practicability of the proposed system used in the sterile field.

Minimally invasive procedures are rapidly growing in popularity thanks to advancements in medical robots, visual navigation and space registration techniques. This paper presents a precise and efficient targeting method for robot-assisted percutaneous needle placement under C-arm fluoroscopy. In this method, a special end-effector was constructed to perform fluoroscopy calibration and robot to image-space registration simultaneously. In addition, formulations were given to compute the movement of robot targeting and evaluate targeting accuracy using only one X-ray image. With these techniques, radiation exposure and operation time were reduced significantly compared to other commonly used methods. A pre-clinical experiment showed that the maximum angle error was 0.94° and the maximum position error of a target located 80mm below the end-effector was 1.31mm. And evaluation of the system in a robot-assisted pedicle screws placement surgery has justified the accuracy and reliability of proposed method in clinical applications.

Three different types of synchronous control methods based on physiological parameters, electrocardiogram (ECG) and fixed systole, ECG and aortic pressure, and ECG and phonocardiogram (PCG) were used to trigger a proposed intra-ventricular assist device (iVAD). The ECG, aortic pressure, and PCG were processed, respectively, and featured characteristics were extracted to trigger the iVAD-experimented in vitro circulation system in the laboratory. The data showed that all three types of synchronous control methods produced trigger pulses synchronously and that the iVAD synchronously beat with the native heart. The multi-cycle data demonstrated that the synchronous delay time of the proposed iVAD during systole and diastole was separately stabilized at a certain time. This study showed that the combination of three synchronization methods can be applied to the iVAD to improve the reliability of synchronization.

When the spinal surgery robot assists the surgeon perform the surgery, the patient is prone on the operating table. However, due to the force of the surgical instruments on the spine, there is a corresponding deformation in the surgical field, which affects the accuracy of the operation. In order to improve the accuracy and safety of the operation, this paper reconstructs the three-dimensional model of the lumbar spine which includes the vertebral body and the intervertebral disc based on the CT scan data, and then the lumbar spine is analyzed by the finite element method. The mathematical model of the relationship between force and displacement is established by using response surface methodology based on the simulation results. After that, the position control system is constructed based on the mathematical model. Through the simulation of the control system, the trajectory curve of the end of the manipulator is compared and the validity of the mathematical model is verified.