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...
Motorized template for MRI-guided focal cryoablation of prostate cancer [0.03%]
磁共振引导下前列腺癌局部冷冻消融的模板制作及应用
Pedro Moreira,John Grimble,Mariana C Bernardes et al.
Pedro Moreira et al.
MR-guided focal cryoablation of prostate cancer has often been selected as a minimally-invasive treatment option. Placing multiple cryo-needles accurately to form an ablation volume that adequately covers the target volume is crucial for be...
Towards the Design and Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant [0.03%]
一种经导管二尖瓣夹持装置的机器人输送系统的设计与研发
Namrata U Nayar,Ronghuai Qi,Jaydev P Desai
Namrata U Nayar
Minimally-invasive surgeries using transcatheter approaches and sophisticated imaging modalities are gaining popularity to treat mitral regurgitation (MR). This paper proposes the next generation of a robotic catheter to deliver an implant ...
A Surgical Robotic System for Osteoporotic Hip Augmentation: System Development and Experimental Evaluation [0.03%]
骨质疏松性髋关节增强手术机器人系统：系统研发与实验评估
Mahsan Bakhtiarinejad,Cong Gao,Amirhossein Farvardin et al.
Mahsan Bakhtiarinejad et al.
Minimally-invasive Osteoporotic Hip Augmentation (OHA) by injecting bone cement is a potential treatment option to reduce the risk of hip fracture. This treatment can significantly benefit from computer-assisted planning and execution syste...
Vaginal Cuff Closure with Dual-Arm Robot and Near-Infrared Fluorescent Sutures [0.03%]
采用双机械臂机器人和近红外荧光缝线进行阴道 cuff 吻合术
Simon Leonard,Justin Opfermann,Nicholas Uebele et al.
Simon Leonard et al.
This paper presents a dual-arm suturing robot. We extend the Smart Tissue Autonomous Robot (STAR) with a second robot manipulator, whose purpose is to manage loose suture thread, a task that was previously executed by a human assistant. We ...