... International Symposium on Medical Robotics. International Symposium on Medical Robotics最新文献

英文中文

Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions. mri引导下经皮介入治疗的远程驱动针驱动装置。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics

Pub Date : 2019-01-01 Epub Date: 2019-05-09 DOI: 10.1109/ismr.2019.8710176

Di Wu, Gang Li, Niravkumar Patel, Jiawen Yan, Reza Monfaredi, Kevin Cleary, Iulian Iordachita

In this paper we introduce a remotely actuated MRI-compatible needle driving device for pain injections in the lower back. This device is able to manipulate the needle inside the closed-bore MRI scanner under the control of the interventional radiologist inside both the scanner room and the console room. The device consists of a 2 degrees of freedom (DOF) needle driver and an actuation box. The 2-DOF needle driver is placed inside the scanner bore and driven by the actuation box settled at the end of the table through a beaded chain transmission. This novel remote actuation design could reduce the weight and profile of the needle driver that is mounted on the patient, as well as minimize the potential imaging noise introduced by the actuation electronics. The actuation box is designed to perform needle intervention in both manual and motorized fashion by utilizing a mode switch mechanism. A mechanical hard stop is also incorporated to improve the device's safety. The bench-top accuracy evaluation of the device demonstrated a small mean needle placement error (< 1 mm) in a phantom study.

在本文中，我们介绍了一种用于下背部疼痛注射的远程驱动mri兼容针驱动装置。该装置能够在扫描室和控制室的介入放射科医生的控制下操纵闭孔MRI扫描仪内的针头。该装置由一个2自由度(DOF)的针驱动器和一个驱动箱组成。2-DOF针驱动器放置在扫描孔内，并通过串珠链传动由位于表端的驱动箱驱动。这种新颖的远程驱动设计可以减少安装在患者身上的针驱动器的重量和外形，并最大限度地减少由驱动电子设备引入的潜在成像噪声。驱动箱设计用于通过使用模式切换机构以手动和电动方式进行针干预。机械硬停止也被纳入，以提高设备的安全性。该装置的台架精度评估显示，在幻影研究中，针的平均放置误差很小(1毫米)。

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引用次数: 10

Study on Structure Design and Simulation of Upper-Limb Assist Robot 上肢辅助机器人结构设计与仿真研究

... International Symposium on Medical Robotics. International Symposium on Medical Robotics

Pub Date : 2018-01-01 DOI: 10.1109/IISR.2018.8535651

Xiaolei Cao, Hui Li, Zhihong Jiang, Jianning Hua, Peng Sun, Rufen Wang

引用次数: 0

Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station 基于双力矩前馈控制的空间站机器人航天员安全运动轨迹规划

... International Symposium on Medical Robotics. International Symposium on Medical Robotics

Pub Date : 2018-01-01 DOI: 10.1109/IISR.2018.8535762

Zhihong Jiang, Jiafeng Xu, Hui Li, Qiang Huang

引用次数: 0

Feature extraction and optimisation for sleep apnea 睡眠呼吸暂停的特征提取与优化

... International Symposium on Medical Robotics. International Symposium on Medical Robotics

Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295888

W. Y. Leong

In this paper, the feature extraction and optimization for sleep apnea is investigated. The electrical activity of the brain along the scalp suffered from sleep apnea using Electroencephalogram (EEG) is addressed. The correlation between the EEG signals was compared to detect the features of sleep apnea. The Empirical Mode Decomposition (EMD) and Bivaiiate were adopted in this project to evaluate the extracted EEG signals. The performance of EMD has greatly improved when the number of samples was decreasing. The segmentation error analyzed in the Event Related Potential (ERP) reflected the occurrence of apnea. The delta power associated to the body autonomous system and homeostasis regulation is due to the drop of oxygen when sleep apnea happened. Using Hilbert Huang Transform, there is energy waveform in low frequencies when an apnea has happened. These can be linked to the delta power which relates to the body autonomous system and homeostasis regulation. The EMD, EEMD and Bivariate methods were compared to show key features linked with apnea for analysis purposes.

本文对睡眠呼吸暂停的特征提取与优化进行了研究。利用脑电图(EEG)对睡眠呼吸暂停患者沿头皮的脑电活动进行了研究。比较脑电图信号之间的相关性，检测睡眠呼吸暂停的特征。本课题采用经验模态分解(EMD)和bivaiate对提取的脑电信号进行评价。随着样本数量的减少，EMD的性能有了很大的提高。事件相关电位(ERP)分析的分割误差反映了呼吸暂停的发生。当睡眠呼吸暂停发生时，与身体自主系统和体内平衡调节有关的δ功率是由于氧气的下降。利用希尔伯特黄变换，得到呼吸暂停发生时的低频能量波形。这些可以与与身体自主系统和体内平衡调节有关的δ能量联系起来。将EMD、EEMD和双变量方法进行比较，以显示与呼吸暂停相关的关键特征，以便进行分析。

引用次数: 4

Compressive properties of nanoclay/epoxy nanocomposites 纳米粘土/环氧纳米复合材料的压缩性能

... International Symposium on Medical Robotics. International Symposium on Medical Robotics

Pub Date : 2012-01-01 DOI: 10.1016/J.PROENG.2012.07.357

A. Jumahat, Constantinos Soutis, J. Mahmud, N. Ahmad

引用次数: 72

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