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A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery

Xingchi He, Marcin Balicki, Peter Gehlbach, James Handa, Russell Taylor, Iulian Iordachita
2013 2013 IEEE International Conference on Robotics and Automation  
The sclera section provides vital feedback for cooperative robot control to minimize potentially dangerous forces on the eye.  ...  This paper reports the development of a new force sensor based on fiber Bragg grating (FBG) with the ability to sense forces at the tip of the surgical instrument located inside the eye and also provide  ...  Acknowledgments Research supported in part by NIH BRP grant 1 R01 EB 007969, in part by Wilmer Eye Institute's Research to Prevent Blindness, and in part by Johns Hopkins University internal funds.  ... 
doi:10.1109/icra.2013.6630578 pmid:24795831 pmcid:PMC4006971 dblp:conf/icra/HeBGHTI13 fatcat:l4wy2kst2fesdlr2mwoorclk4e

Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector

Mahdi Tavakoli, Rajni Patel, Mehrdad Moallem
2005 International Journal of Medical Robotics and Computer Assisted Surgery  
Conventional endoscopic surgery has some drawbacks that can be addressed by using robots. The robotic systems used for surgery are still in their infancy.  ...  The sensorized end-effector can be used as the last arm of a surgical robot to incorporate haptic feedback and/or to evaluate skills and learning curves of residents and surgeons in endoscopic surgery.  ...  The need for robot-assisted surgery Robots have found extensive use in ''assisting'' surgical interventions despite the challenges they create, for example, the possible collisions of different arms (  ... 
doi:10.1581/mrcas.2005.010205 fatcat:23xrv46wozerdig4h3wlawcj5m

Haptic interaction in robot-assisted endoscopic surgery: a sensorized end-effector

M Tavakoli, R V Patel, M Moallem
2005 International Journal of Medical Robotics and Computer Assisted Surgery  
Conventional endoscopic surgery has some drawbacks that can be addressed by using robots. The robotic systems used for surgery are still in their infancy.  ...  The sensorized end-effector can be used as the last arm of a surgical robot to incorporate haptic feedback and/or to evaluate skills and learning curves of residents and surgeons in endoscopic surgery.  ...  The need for robot-assisted surgery Robots have found extensive use in ''assisting'' surgical interventions despite the challenges they create, for example, the possible collisions of different arms (  ... 
doi:10.1002/rcs.16 pmid:17518379 fatcat:bf2yi36zenbhtgmcopk3y5eaxu

Development and preliminary data of novel integrated optical micro-force sensing tools for retinal microsurgery

Zhenglong Sun, M. Balicki, Jin Kang, J. Handa, R. Taylor, I. Iordachita
2009 2009 IEEE International Conference on Robotics and Automation  
The design and analysis of the force sensing tool is presented with preliminary testing data and some initial experiments using the tool with both freehand and robotic manipulation.  ...  This paper reports the development of novel micro-force sensing tools for retinal microsurgery.  ...  The author Zhenglong Sun would like to thank Prof Louis Phee from School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, for his financial sponsorship during this  ... 
doi:10.1109/robot.2009.5152836 dblp:conf/icra/SunBKHTI09 fatcat:j2lfyrm5wfe7fgcqevlqmxoxyu

New steady-hand Eye Robot with micro-force sensing for vitreoretinal surgery

Ali Uneri, Marcin A. Balicki, James Handa, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita
2010 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics  
Realtime characterization and precise manipulation of this delicate tissue has thus far been hindered by human limits on tool control and the lack of a surgically compatible endpoint sensing instrument  ...  Here we present the design of a new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook.  ...  In other recent work [8] , we reported a first-generation steady-hand robot (Eye Robot 1) specifically designed for vitreoretinal surgery.  ... 
doi:10.1109/biorob.2010.5625991 pmid:21461178 pmcid:PMC3065995 fatcat:3tetktlkwrhjviwmuc4qfnhaui

A Review of Robotic and OCT-Aided Systems for Vitreoretinal Surgery

Elan Z. Ahronovich, Nabil Simaan, Karen M. Joos
2021 Advances in Therapy  
There are four categories of robotic systems that have emerged through the research: (1) handheld instruments with intrinsic robotic assistance, (2) hand-on-hand robotic systems, (3) teleoperated robotic  ...  To overcome the barriers of perception, tremor, and dexterity, robotic technologies have been investigated with current advancements nearing the feasibility for clinical use.  ...  In the second method, a hand-onhand approach is used where the surgical instrument is held by a robot and the surgeon's hand.  ... 
doi:10.1007/s12325-021-01692-z pmid:33813718 fatcat:2jihy3uoh5a3zm2ykvjnsyi2oi

ARssist: augmented reality on a head-mounted display for the first assistant in robotic surgery

Long Qian, Anton Deguet, Peter Kazanzides
2018 Healthcare technology letters  
In robot-assisted laparoscopic surgery, the first assistant (FA) is responsible for tasks such as robot docking, passing necessary materials, manipulating hand-held instruments, and helping with trocar  ...  The performance of the FA is critical for the outcome of the surgery.  ...  For the marker on the hand-held instrument, the relative transformation of the marker with respect to the instrument coordinate system is also calculated using a pivot calibration. 4.2.2 Display calibration  ... 
doi:10.1049/htl.2018.5065 pmid:30800322 pmcid:PMC6372092 fatcat:wivqkbrrmbbbdeze3drcwyq7aa

Improving rigid 3D calibration for robotic surgery [article]

Andrea Roberti, Nicola Piccinelli, Daniele Meli, Riccardo Muradore, Paolo Fiorini
2020 arXiv   pre-print
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future.  ...  Different tests performed on relevant use cases for surgery prove that we significantly improve precision and accuracy with respect to the state of the art solutions for similar devices on a surgical-size  ...  We separate the calibration of the two slave manipulators from the hand-eye calibration of the camera.  ... 
arXiv:2007.08427v1 fatcat:2bhmmmklx5dtnjmtsnyutwomsa

Human-computer interfaces for interaction with surgical tools in robotic surgery

C. Staub, S. Can, B. Jensen, A. Knoll, S. Kohlbecher
2012 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
Strain-gauges sensors installed at the instrument are used to detect hand tapping sequences, which trigger activation of specified commands.  ...  The second technique supports scrub nurses during surgical tool interaction, e.g. tool exchange, via haptic gestures executed on the robot.  ...  In the case of robotic surgery, the physician typically has two input devices available, controlling the left and right surgical instrument respectively.  ... 
doi:10.1109/biorob.2012.6290850 fatcat:j57kxydu4zf2pet6jtolpw45iy

A Miniature Instrument Tip Force Sensor for Robot/Human Cooperative Microsurgical Manipulation with Enhanced Force Feedback [chapter]

Peter J. Berkelman, Louis L. Whitcomb, Russell H. Taylor, Patrick Jensen
2000 Lecture Notes in Computer Science  
This sensor will enable enhanced force feedback during surgical intervention in which a user directly manipulates surgical instruments cooperatively with a forcereflecting robot arm.  ...  This "steady-hand" scaled force interaction enables a surgeon to sense millinewton forces between the instrument and delicate body tissues during microsurgery which would otherwise be far below the threshold  ...  Direct hand-guided robot manipulation for surgery has been investigated by a number of authors [3, 4, 5] .  ... 
doi:10.1007/978-3-540-40899-4_93 fatcat:e7pwe4dux5ecxlf7szsyv3do54

A multimodal training platform for minimally invasive robotic surgery

Rainer Konietschke, Andreas Tobergte, Carsten Preusche, Paolo Tripicchio, Emanuele Ruffaldi, Sabine Webel, Ulrich Bockholt
2010 19th International Symposium in Robot and Human Interactive Communication  
This paper gives an overview of a multimodal training platform developed for minimally invasive robotic surgery, based on the DLR MiroSurge system.  ...  The training platform shares the same surgical operator workstation as MiroSurge and simulates the behaviour of the telemanipulator arms and the surgical instruments.  ...  Natural hand-eye-coordination is lost due to the entry point that binds two degrees of freedom and requires a reversed motion of the instruments outside the patient.  ... 
doi:10.1109/roman.2010.5598608 dblp:conf/ro-man/KonietschkeTPTRWB10 fatcat:mbu6ebazibbm5o6nlkd6qpnq6q

A computationally efficient method for hand–eye calibration

Zhiqiang Zhang, Lin Zhang, Guang-Zhong Yang
2017 International Journal of Computer Assisted Radiology and Surgery  
In practice, due to changes in surgical instruments, online hand-eye calibration must be performed regularly.  ...  Methods We present a computationally efficient iterative method for hand-eye calibration.  ...  [41] had successfully applied robotic surgical instruments with well-known geometry as the calibration object for hand-eye calibration, how to accurately and robustly extract the new poses based on  ... 
doi:10.1007/s11548-017-1646-x pmid:28726116 pmcid:PMC5608875 fatcat:7hdca6fwcvd2jbsmwukmfoiyha

Towards Robotic Eye Surgery: Marker-Free, Online Hand-Eye Calibration Using Optical Coherence Tomography Images

Mingchuan Zhou, Mahdi Hamad, Jakob Weiss, Abouzar Eslami, Kai Huang, Mathias Maier, Chris P. Lohmann, Nassir Navab, Alois Knoll, M. Ali Nasseri
2018 IEEE Robotics and Automation Letters  
In this work, we developed a flexible framework for hand-eye calibration of an ophthalmic robot with a microscope-integrated Optical Coherence Tomography (MIOCT) without any markers.  ...  One of the problems is the lack of proper calibration between the robotic manipulator and appropriate imaging device.  ...  In this paper, we address the problem of hand-eye calibration for a surgical robot with the MI-OCT camera. For this purpose, we use a surgical robot developed by [18] .  ... 
doi:10.1109/lra.2018.2858744 dblp:journals/ral/ZhouHWEHMLNKN18 fatcat:n4xmutix7bci7a57hypkiy3rdy

Gaze-Contingent Motor Channelling and Haptic Constraints for Minimally Invasive Robotic Surgery [chapter]

George P. Mylonas, Ka-Wai Kwok, Ara Darzi, Guang-Zhong Yang
2008 Lecture Notes in Computer Science  
The use of master-slave surgical robots for Minimally Invasive Surgery (MIS) has created a physical separation between the surgeon and the patient.  ...  The method also uses 3D eye gaze to dynamically prescribe and update safety boundaries during robotic assisted MIS without prior knowledge of the soft-tissue morphology.  ...  For 2D haptic interactions, a synthetic surgical scene with a deforming soft-tissue surface was used.  ... 
doi:10.1007/978-3-540-85990-1_81 fatcat:7wtveacqrrg7xbavm2ky26zjyi

A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery

Xingchi He, Marcin Balicki, Peter Gehlbach, James Handa, Russell Taylor, Iulian Iordachita
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
The calibration and validation of the multi-function force sensing instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom  ...  Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye.  ...  Our approach is the Steady-Hand Eye Robot with hands-on cooperative control [13] - [16] , where the user and the robot both hold the surgical instrument.  ... 
doi:10.1109/icra.2014.6907037 pmid:25383234 pmcid:PMC4220308 dblp:conf/icra/HeBGHTI14 fatcat:ovmxgycv2ndkpegokeuhflb2vm
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