Medical robotics

Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications

Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications

Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications 789 444 IEEE Transactions on Biomedical Engineering (TBME)
This study demonstrates intravascular micro-agent visualization by utilizing robotic ultrasound-based tracking and visual servoing in clinically-relevant scenarios (using biological tissue, simulation of physiological movement and fluid flow through the vessels). read more

Design and Comparison of Magnetically-Actuated Dexterous Forceps Instruments for Neuroendoscopy

Author(s): Andrew Lim, Adam Schonewille, Cameron Forbrigger, Thomas Looi, James Drake, Eric Diller
Design and Comparison of Magnetically-Actuated Dexterous Forceps Instruments for Neuroendoscopy 170 177 IEEE Transactions on Biomedical Engineering (TBME)
Robot assistance is revolutionizing minimally invasive surgical (MIS) techniques. As robot assistance becomes standard in areas such as urology and general surgery, it remains largely absent in neurosurgery. The primary reason is a lack of dexterous wristed tools that are small and compact enough to maneuver within the confines of the brain. In this study, we present a wireless magnetic power transmission that enables the design of unconventional tiny wristed robot tools. By deploying the tools endoscopically within a silicone brain model, we demonstrate the feasibility of these novel devices for future neuroendoscopic robots. read more

Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty

Author(s): Mark Draelos, Gao Tang, Brenton Keller, Anthony Kuo, Kris Hauser, Joseph A. Izatt
Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty 170 177 IEEE Transactions on Biomedical Engineering (TBME)
Deep anterior lamellar keratoplasty (DALK) is a promising form of partial-thickness cornea transplantation, but its popular “big bubble” technique frequently fails due to difficulty controlling a needle insertion into the cornea. We addressed the surgeon challenges that reduce success rates by demonstrating an optical coherence tomography (OCT)-guided, robotically stabilized workstation for manually or automatically performing DALK needle insertions. In a study with cornea fellows, we found that OCT visualization versus the standard stereo microscope was a key enabler in manual attempts and that our automatic robotic method met or exceeded the performance of cornea fellows. read more

Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-based Active Interventional Control Framework

Author(s): Changyan He, Niravkumar Patel, Mahya Shahbazi, Yang Yang, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita
Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-based Active Interventional Control Framework 170 178 IEEE Transactions on Biomedical Engineering (TBME)

Retinal surgery is an excellent example of a high-demand dexterity procedure that may benefit from robotic systems. However, due to an incomplete understanding of a surgeon’s imminent intentional manipulations, the…

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A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD

A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD

Author(s): Lucile Zorn, Florent Nageotte, Philippe Zanne, Andras Legner, Bernard Dallemagne, Jacques Marescaux, Michel de Mathelin
A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD 170 177 IEEE Transactions on Biomedical Engineering (TBME)

Intraluminal surgery is a very attracting technique for surgical procedures in the digestive tract because they limit trauma, avoid any visible scar for the patient and allow direct access to…

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System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy

System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy

Author(s): Hasan Tutkun Sen, Muyinatu A. Lediju Bell, Yin Zhang, Kai Ding, Emad Boctor, John Wong, Iulian Iordachita, Peter Kazanzides
System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy 170 177 IEEE Transactions on Biomedical Engineering (TBME)

Image-guided radiation therapy (IGRT) involves two main steps: (1) planning/simulation using computerized tomography (CT) imaging and (2) fractionated treatment delivery using a linear accelerator (LINAC). These are performed on different…

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Building large mosaics of confocal endomicroscopic images using visual servoing

Building large mosaics of confocal endomicroscopic images using visual servoing 150 150 IEEE Transactions on Biomedical Engineering (TBME)

Rosa, B.; Erden, M.S.; Vercauteren, T.; Herman, B.; Szewczyk, J.; Morel, G. Volume: 60,  Issue: 4, Page: 1041 – 1049 This paper presents an endomicroscopy-based visual servoing control scheme in order to perform very large field of view…

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