Wearable Mechatronic Ultrasound-integrated AR Navigation System for Lumbar Puncture Guidance [0.03%]
一种用于腰椎穿刺引导的可穿戴机电超声融合AR导航系统
Baichuan Jiang,Liam Wang,Keshuai Xu et al.
Baichuan Jiang et al.
As one of the most commonly performed spinal interventions in routine clinical practice, lumbar punctures are usually done with only hand palpation and trial-and-error. Failures can prolong procedure time and introduce complications such as...
Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection [0.03%]
稳手眼机器人3.0：用于子网膜注射的优化和实验台评估
Alireza Alamdar,David E Usevitch,Jiahao Wu et al.
Alireza Alamdar et al.
Subretinal injection methods and other procedures for treating retinal conditions and diseases (many considered incurable) have been limited in scope due to limited human motor control. This study demonstrates the next generation, cooperati...
Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent [0.03%]
数据驱动的坡度分段控制在斜面上下楼梯中的应用研究
Ross J Cortino,T Kevin Best,Robert D Gregg
Ross J Cortino
Powered knee-ankle prostheses can offer benefits over conventional passive devices during stair locomotion by providing biomimetic net-positive work and active control of joint angles. However, many modern control approaches for stair ascen...
Real-time Pose Tracking for a Continuum Guidewire Robot under Fluoroscopic Imaging [0.03%]
透视图像下连续导丝机器人的实时姿态追踪
Sharan R Ravigopal,Achraj Sarma,Timothy A Brumfiel et al.
Sharan R Ravigopal et al.
Atherosclerosis is a medical condition that causes buildup of plaque in the blood vessels and narrowing of the arteries. Surgeons often treat this condition through angioplasty with catheter placements. Continuum guidewire robots offer sign...
Adaptive Surgical Robotic Training Using Real-Time Stylistic Behavior Feedback Through Haptic Cues [0.03%]
使用实时通过触觉提示的风格化行为反馈进行自适应手术机器人训练
Marzieh Ershad,Robert Rege,Ann Majewicz Fey
Marzieh Ershad
Surgical skill directly affects surgical procedure outcomes; thus, effective training is needed to ensure satisfactory results. Many objective assessment metrics have been developed that provide the trainee with descriptive feedback about t...
Compact Design and Task Space Control of a Robotic Transcatheter Delivery System for Mitral Valve Implant [0.03%]
紧凑型经导管二尖瓣夹持机器人系统设计与任务空间控制研究
Ronghuai Qi,Namrata U Nayar,Jaydev P Desai
Ronghuai Qi
Mitral regurgitation (MR) is one of the most common valvular abnormalities, and the gold-standard for treatment is surgical mitral valve repair/replacement. Most patients with severe MR are over the age of 75, which makes open-heart surgery...
Kinematic Modeling and Jacobian-based Control of the COAST Guidewire Robot [0.03%]
COAST导丝机器人运动学建模与雅可比矩阵控制方法研究
Achraj Sarma,Timothy A Brumfiel,Yash Chitalia et al.
Achraj Sarma et al.
Manual guidewire navigation and placement for minimally invasive surgeries suffer from technical challenges due to imprecise tip motion control to traverse highly tortuous vasculature. Robotically steerable guidewires can address these chal...
Fluoroscopy-Guided Robotic System for Transforaminal Lumbar Epidural Injections [0.03%]
透视引导下机器人辅助经椎间孔腰椎硬膜外注射系统
Cong Gao,Henry Phalen,Adam Margalit et al.
Cong Gao et al.
We present an autonomous robotic spine needle injection system using fluoroscopic image-based navigation. Our system includes patient-specific planning, intra-operative image-based 2D/3D registration and navigation, and automatic robot-guid...
Electromyography-Based Control of Lower Limb Prostheses: A Systematic Review [0.03%]
基于肌电图的下肢假肢控制：系统性回顾
Bahareh Ahkami,Kirstin Ahmed,Alexander Thesleff et al.
Bahareh Ahkami et al.
Most amputations occur in lower limbs and despite improvements in prosthetic technology, no commercially available prosthetic leg uses electromyography (EMG) information as an input for control. Efforts to integrate EMG signals as part of t...
Control of Magnetic Surgical Robots With Model-Based Simulators and Reinforcement Learning [0.03%]
基于模型的模拟器和强化学习在磁控医疗机器人控制中的应用研究
Yotam Barnoy,Onder Erin,Suraj Raval et al.
Yotam Barnoy et al.
Magnetically manipulated medical robots are a promising alternative to current robotic platforms, allowing for miniaturization and tetherless actuation. Controlling such systems autonomously may enable safe, accurate operation. However, cla...