Image-based Force Localization and Estimation of a Micro-scale Continuum Guidewire Robot [0.03%]
基于图像的微尺度连续体导丝机器人的力定位与估计
Timothy A Brumfiel,Ronghuai Qi,Sharan Ravigopal et al.
Timothy A Brumfiel et al.
Many intravascular procedures are prefaced by the placement of a slender wire called a guidewire. Steering these guidewires is met with challenges in controlling the distal end along with the possibility of damaging vessel walls, or even pe...
Simulation-based Flexible Needle Control with Single-core FBG Feedback for Spinal Injections [0.03%]
基于仿真和单核FBG反馈的脊髓注射柔性针控制方法研究
Yanzhou Wang,Yangsheng Xu,Jiarong Kang et al.
Yanzhou Wang et al.
Objective: We present a general framework of simultaneous needle shape reconstruction and control input generation for robot-assisted spinal injection procedures, without continuous imaging feedback. ...
Walking on Real-world Terrain with an Ankle Exoskeleton in Cerebral Palsy [0.03%]
踝部外骨骼在脑瘫患者行走中的应用研究
Emmanuella A Tagoe,Ying Fang,Jack R Williams et al.
Emmanuella A Tagoe et al.
Despite medical treatment focused on addressing walking disability, many millions of people with neurological conditions, like cerebral palsy (CP), struggle to maintain independent mobility. Lower limb exoskeletons and exosuits may hold pot...
Design and Modeling of a Sub-2 mm Steerable Neuroendoscopic Grasping Tool [0.03%]
一种可转向的神经内窥镜抓取工具的设计与建模
Timothy A Brumfiel,Ronghuai Qi,Coley Chapman et al.
Timothy A Brumfiel et al.
Minimally invasive procedures, such as endoscopic third ventriculostomy (ETV), benefit from the increased dexterity and safety that surgical continuum robots can bring. However, due to their natural compliance, new compatible end-effectors,...
Towards MR-Guided Robotic Intracerebral Hemorrhage Evacuation: Aiming Device Design and ex vivo Ovine Head Trial [0.03%]
基于MR的机器人颅内血肿清除：指向设备设计及离体绵羊头实验研究
Anthony L Gunderman,Saikat Sengupta,Zhefeng Huang et al.
Anthony L Gunderman et al.
Stereotactic neurosurgery is a well-established surgical technique for navigation and guidance during treatment of intracranial pathologies. Intracerebral hemorrhage (ICH) is an example of various neurosurgical conditions that can benefit f...
Ultrasound Plane Pose Regression: Assessing Generalized Pose Coordinates in the Fetal Brain [0.03%]
胎儿大脑超声平面姿态回归：评估泛化的姿态坐标
Chiara Di Vece,Maela Le Lous,Brian Dromey et al.
Chiara Di Vece et al.
In obstetric ultrasound (US) scanning, the learner's ability to mentally build a three-dimensional (3D) map of the fetus from a two-dimensional (2D) US image represents a significant challenge in skill acquisition. We aim to build a US plan...
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...