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A Remote-Controlled Robotic System with Safety Protection Strategy Based on Force-Sensing and Bending Feedback for Transcatheter Arterial Chemoembolization

Junqiang Zhou, Ziyang Mei, Jia Miao, Jingsong Mao, Lingyun Wang, Dezhi Wu, Daoheng Sun, Yang Zhao
2020 Micromachines  
In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of the surgery operation and reduce X-ray exposure time of the surgeons.  ...  Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now.  ...  Conflicts of Interest: There are no conflicts of interest to declare.  ... 
doi:10.3390/mi11090805 pmid:32854264 fatcat:bxn5zmwi5vg43hn2eppuyujbhy

Applications of micromechatronics in minimally invasive surgery

F. Tendick, S.S. Sastry, R.S. Fearing, M. Cohn
1998 IEEE/ASME transactions on mechatronics  
The authors' millirobotic system for MIS of the abdomen is used as an example.  ...  Many surgical procedures are now performed using the techniques of minimally invasive surgery (MIS), in which unnecessary trauma is limited by reducing the size of incisions to less than about 1 cm or  ...  A major difficulty in designing safe surgical systems is the lack of good data on soft tissue behavior.  ... 
doi:10.1109/3516.662866 fatcat:ji7va7q2ere5vepifeim6tauk4

Current Trends and Prospects in Compliant Continuum Robots: A Survey

Shiyao Li, Guangbo Hao
2021 Actuators  
Compared with a traditional serial robot, they have more degrees of freedom and can deform their flexible bodies to go through a constrained environment.  ...  The merits, materials and potential drawbacks of each type of CCR are described.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/act10070145 fatcat:emlzf42xhneszprqqsnjpgwq54

Robot-Assisted Image-Guided Interventions

Michael Unger, Johann Berger, Andreas Melzer
2021 Frontiers in Robotics and AI  
This paper offers a brief overview of the developments of robotic systems for image-guided interventions since 2015 and includes samples of our current research in this field.  ...  Image guidance is a common methodology of minimally invasive procedures. Depending on the type of intervention, various imaging modalities are available.  ...  ACKNOWLEDGMENTS We acknowledge support from Leipzig University for Open Access Publishing.  ... 
doi:10.3389/frobt.2021.664622 fatcat:f4ghwappj5bfndftwxvjil5xke

Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct exploration

C. Basdogan, C.-H. Ho, M.A. Srinivasan
2001 IEEE/ASME transactions on mechatronics  
The major hardware components of our system include a computer monitor to display visual interactions between three-dimensional (3-D) virtual models of organs and instruments together with a pair of force  ...  The catheter was modeled using a set of virtual particles that were uniformly distributed along the centerline of catheter and connected to each other via linear and torsional springs and damping elements  ...  She also provided them with a standard laparoscopic trainer, which helped them to design and test the catheter insertion procedure. They are also grateful to Dr. S.  ... 
doi:10.1109/3516.951365 fatcat:ej6yledvtzftji3ol5k5ddsgzi

Nitinol medical devices and implants

D. Stoeckel
2000 MITAT. Minimally invasive therapy & allied technologies  
This paper reviews 7 of these less-obvious but very important reasons for Nitinol's success, bot h past and future.  ...  Superelastic Nitinol is now a common and well-known engineering material in the medical industry.  ...  The stress hysteresis of Nit inol allows the design of self-expand ing stents with biased stiffness, mean ing that the stents exert on ly low outward force, but resist deformation with a much higher force  ... 
doi:10.3109/13645700009063054 fatcat:s6q2st3ebjev7drr5tvalevqlu

Effect of overhang and stiffness on accessibility of catheter tip to lung defects under surgical constraints

Jajun Ryu, Jung Hwan Ahn, Hwa Young Kim, Hyo Yeong Ahn
2020 Annals of Translational Medicine  
Accurate control of tip position/slope of steerable catheters is critical for providing glue to air-leaking defects on lung during FGAP.  ...  The purpose of this paper is to present a novel method that can accurately control the tip of the catheter, and thus enhance its target accessibility.  ...  The steerable catheter comprises a proximal shaft of hard material with relatively high stiffness and a distal shaft of soft material with relatively low stiffness so that the former can convey the distal  ... 
doi:10.21037/atm.2020.02.22 pmid:32309316 pmcid:PMC7154481 fatcat:vxli6cjblfejpgw5vucxtt6f74

Flexible Instruments for Endovascular Interventions: Improved Magnetic Steering, Actuation, and Image-Guided Surgical Instruments

Christoff Heunis, Jakub Sikorski, Sarthak Misra
2018 IEEE robotics & automation magazine  
However, limited research has been conducted to quantify the effectiveness of magnetic actuation for catheterization procedures.  ...  Endovascular interventions employing magnetically actuated catheters deliver the promise of higher accuracy and shorter  ...  Acknowledgment This work was supported by funds from The Netherlands Organization for Scientific Research (Innovational Research Incentives Scheme-VIDI: SAMURAI project # 14855).  ... 
doi:10.1109/mra.2017.2787784 fatcat:5wwajj5yqfdkjn6nbamvtfi4pe

Silicone‐based biomaterials for biomedical applications: Antimicrobial strategies and 3D printing technologies

Mina Zare, Erfan Rezvani Ghomi, Prabhuraj D. Venkatraman, Seeram Ramakrishna
2021 Journal of Applied Polymer Science  
Silicone biomaterials are renowned for their biocompatibility due to their inert nature and hydrophobic surface.  ...  A timeline illustration shows critical development periods of using silicone in varied biomedical applications.  ...  the lens design. 12 T A B L E 1 Properties of silicone and other common soft polymers 2 | Drains and shunts A shunt is a flexible tube used to drain the brain's excess fluid, usually in the brain's  ... 
doi:10.1002/app.50969 fatcat:5rvbefvfvvgonp3b57fyqy5q2m

Novel miniature MRI-compatible fiber-optic force sensor for cardiac catheterization procedures

Panagiotis Polygerinos, Pinyo Puangmali, Tobias Schaeffter, Reza Razavi, Lakmal D Seneviratne, Kaspar Althoefer
2010 2010 IEEE International Conference on Robotics and Automation  
Abstract-This paper presents the prototype design and development of a miniature MR-compatible fiber optic force sensor suitable for the detection of force during MR-guided cardiac catheterization.  ...  The intention is to bridge the gap between the detection of contact forces from the tissue-catheter interaction during a cardiac catheterization and the need of MRI-compatible sensors with low manufacturing  ... 
doi:10.1109/robot.2010.5509416 dblp:conf/icra/PolygerinosPSRSA10 fatcat:buyzrcjmzfb6hemqqp7qzzrmsq

Total disc replacement

J.-M. Vital, L. Boissière
2014 Orthopaedics & Traumatology: Surgery & Research  
Although the biomechanical concepts are the same and both are inserted through an anterior approach, lumbar TDR is conventionally indicated for chronic low back pain, whereas cervical TDR is used for soft  ...  A sufficiently long follow-up, which has not yet been reached, will be necessary to establish definitively an advantage for TDR, particularly in the cervical spine. (J.-M.  ...  Constrained or non-constrained design A normal disc has 6 degrees of freedom (df): 3 in translation and 3 in rotation.  ... 
doi:10.1016/j.otsr.2013.06.018 pmid:24412045 fatcat:nhab74i7tbfi3aoqizbc4rv5ve

Tactile Perception Technologies and Their Applications in Minimally Invasive Surgery: A Review

Chao Huang, Qizhuo Wang, Mingfu Zhao, Chunyan Chen, Sinuo Pan, Minjie Yuan
2020 Frontiers in Physiology  
As a major limitation, the lack of tactile perception impairs the ability of surgeons in tissue distinction and maneuvers.  ...  However, only force data are widely used to restore part of the surgeon's sense of touch in MIS.  ...  AUTHOR CONTRIBUTIONS All authors researched the literature, drafted, and wrote the review article, and approved the submitted version.  ... 
doi:10.3389/fphys.2020.611596 pmid:33424634 pmcid:PMC7785975 fatcat:shsnm3hq2rehxipkwfvqgdnnai

Advances in Bio-Tactile Sensors for Minimally Invasive Surgery Using the Fibre Bragg Grating Force Sensor Technique: A Survey

Abdulfatah Abushagur, Norhana Arsad, Mamun Reaz, A. Bakar
2014 Sensors  
Providing MIS or microsurgery surgeons with accurate and precise measurements and control of the contact forces during tissues manipulation will benefit both surgeons and patients.  ...  This paper describes the current design, development and research of the optical fibre tactile techniques that are based on FBGs to enhance the performance of MIS procedures in general.  ...  Bakar were the main responsible of the bibliographic search and analysis while Abdulfatah A.G. Abushagur wrote the paper and worked on each section of the present manuscript. A. Ashrif A.  ... 
doi:10.3390/s140406633 pmid:24721774 pmcid:PMC4029712 fatcat:dco4kbsorrcu3iwjx7izj5uzie

Metal MEMS tools for beating-heart tissue approximation

Evan J. Butler, Chris Folk, Adam Cohen, Nikolay V. Vasilyev, Rich Chen, Pedro J. del Nido, Pierre E. Dupont
2011 2011 IEEE International Conference on Robotics and Automation  
The goal is to achieve the efficacy of surgical closure as performed on a stopped, open heart with the reduced risk and trauma of a beating-heart catheter-based procedure.  ...  The device is constructed using a metal MEMS fabrication process and is designed to both fit the manipulation capabilities of the robot as well as to reproduce the beneficial features of surgical closure  ...  Acknowledgments This work was supported by the National Institutes of Health under grants R01HL073647 and R01HL087797.  ... 
doi:10.1109/icra.2011.5980215 pmid:22229109 pmcid:PMC3252216 dblp:conf/icra/ButlerFCVCND11 fatcat:yliyqr7xgfaczdtishncnw76ne

Soft Robotics in Minimally Invasive Surgery

Mark Runciman, Ara Darzi, George P. Mylonas
2019 Soft Robotics  
There was low diversity in the device designs and a wide-ranging level of detail regarding their capabilities.  ...  We propose a standardized comparison methodology to characterize soft robotics for various MIS applications, which will aid designers producing the next generation of devices.  ...  The views expressed in this publication are those of the author(s) and not necessarily those of the NHS, the NIHR, or the Department of Health and Social Care.  ... 
doi:10.1089/soro.2018.0136 pmid:30920355 pmcid:PMC6690729 fatcat:5j2onzrxcjf2rdacvkjd6bvcb4
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