Autonomous Closed-Loop Control for Robotic Soft Tissue Electrosurgery Using RGB-D Image Guidance [0.03%]
基于RGB-D图像引导的机器人软组织等离子手术自主闭环控制方法研究
Michael Kam,Jiawei Ge,Naveed D Riaziat et al.
Michael Kam et al.
Oral cavity cancer, a common head and neck cancer, is typically treated through precise tumor excision via electrosurgery. Autonomous robotic electrosurgery has demonstrated the potential to achieve more accurate and consistent resection ma...
Bimanual Robotic Eye Manipulation Using Adaptive Sclera Force Control: Towards Safe Retinal Vein Cannulation [0.03%]
自适应视网膜静脉穿刺手术的巩膜力控双边机器人系统
Mojtaba Esfandiari,Ji Woong Kim,Peiyao Zhang et al.
Mojtaba Esfandiari et al.
Retinal surgery typically requires bimanual manipulation of tools in the eye. Freehand retinal vein cannulation (RVC) is a highly challenging operation mainly due to typical hand tremors relative to the small size of retinal veins. Robot-as...
Sparse Sonomyography-based Estimation of Isometric Force: A Comparison of Methods and Features [0.03%]
稀疏肌电图的等长力量估计：方法与特征比较
Anne Tryphosa Kamatham,Meena Alzamani,Allison Dockum et al.
Anne Tryphosa Kamatham et al.
Noninvasive methods for estimation of joint and muscle forces have widespread clinical and research applications. Surface electromyography (sEMG) provides a measure of the neural activation of muscles which can be used to estimate the force...
Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery [0.03%]
眼科手术中遥控外科机器人系统手柄的操控模式研究
Haoran Wang,Yasamin Foroutani,Matthew Nepo et al.
Haoran Wang et al.
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode, whi...
Design and Validation of a Compact Concentric-Tube Robot for Percutaneous Nephrolithotomy [0.03%]
一种经皮肾镜取石术专用紧凑型同心管机器人的设计与验证
Navid Feizi,Filipe C Pedrosa,Ruisi Zhang et al.
Navid Feizi et al.
Concentric-tube robots (CTRs) have garnered significant attention in various minimally invasive procedures due to their small size and dexterity. Despite extensive technical advancements in the development of CTRs, there is a lack of design...
Real-Time 3-D Video Reconstruction for Guidance of Transventricular Neurosurgery [0.03%]
实时三维视频重建技术在经心室神经外科手术中的应用指导研究
Prasad Vagdargi,Ali Uneri,Xiaoxuan Zhang et al.
Prasad Vagdargi et al.
Neuroendoscopic approach to deep-brain targets imparts deformation of the ventricles and adjacent parenchyma, limiting the accuracy of conventional neuronavigation. We report a method for 3D endoscopic reconstruction and registration via si...
Critical Anatomy-Preserving & Terrain-Augmenting Navigation (CAPTAiN): Application to Laminectomy Surgical Education [0.03%]
关键解剖结构保护及地形增强导航(CAPTAiN)在椎板切除术外科教育中的应用
Jonathan Wang,Hisashi Ishida,David Usevitch et al.
Jonathan Wang et al.
Surgical training remains a crucial milestone in modern medicine, with procedures such as laminectomy exemplifying the high risks involved. Laminectomy drilling requires precise manual control to mill bony tissue while preserving spinal seg...
Daniel S Esser,Margaret F Rox,Robert P Naftel et al.
Daniel S Esser et al.
Prior models of continuously flexible robots typically assume uniform stiffness, and in this paper we relax this assumption. Geometrically varying stiffness profiles provide additional design freedom to influence the motions and workspaces ...
A Low-Cost Articulated Arm Navigation System for External Ventricular Drain Placement [0.03%]
一种低成本的外部脑室引流置管 articulated arm 导航系统
Alexander D Smith,Anant Naik,Suguna Pappu et al.
Alexander D Smith et al.
Objective: This paper proposes a low-cost real-time navigation system to assist a surgeon in placing external ventricular drains. Methods: ...
Aedan Mangan,Sukjun Kim,Noah Jones et al.
Aedan Mangan et al.
Endovascular surgeries generally rely on push-based catheters and guidewires, which require significant training to master and can still result in high stress being exerted on the anatomy, especially in tortuous paths. Because these procedu...