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Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot

Yeongjin Kim, Shing Shin Cheng, Mahamadou Diakite, Rao P. Gullapalli, J. Marc Simard, Jaydev P. Desai
2017 IEEE Transactions on robotics  
Robot motion under forced cooling of SMA springs was evaluated as well as the MRI compatibility of the robot and its motion capability in brainlike gelatin environment.  ...  In this work, we present the design, kinematic, and force analysis of a flexible spring-based minimally invasive neurosurgical intracranial robot (MINIR-II).  ...  The content is solely the responsibility of the authors and does not necessarily represent the official views of the National Institutes of Health.  ... 
doi:10.1109/tro.2017.2719035 pmid:29225557 pmcid:PMC5718214 fatcat:f3uewc34wfhevi3tipz2jnqlyu

Characterization of SMA actuator for applications in robotic neurosurgery

Mingyen Ho, J.P. Desai
2009 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society  
Towards the Development of a SMA-Actuated MRI-Compatible Tendon-Driven Neurosurgical Robot. In • Portions reprinted, with permission, from "Mingyen Ho and Jaydev P. Desai.  ...  Toward a meso-scale SMA-actuated MRI-compatible neurosurgical robot.  ...  well-known MRI-compatible neurosurgical robotic system, named neu-roArm, was developed at the University of Calgary by Sutherland et al. [38] .  ... 
doi:10.1109/iembs.2009.5333118 pmid:19964183 fatcat:onyvcj5m3rfnhfew4vu55aorzq

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

Christos Bergeles, Guang-Zhong Yang
2014 IEEE Transactions on Biomedical Engineering  
Within only a few decades from its initial introduction, the field of surgical robotics has evolved into a dynamic and rapidly growing research area with increasing clinical uptake worldwide.  ...  This paper provides an overview of the significant achievements in surgical robotics and identifies the current trends and future research directions of the field in making surgical robots safer, smaller  ...  The tendons can be actuated by pulling, as, for example, in the tendon-driven bimanual flexible robot of Simaan et al. [67] .  ... 
doi:10.1109/tbme.2013.2293815 pmid:24723622 fatcat:yk4pihc3ynavja7ryahjk5kqia

State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions

Hao Su, Ka-Wai Kwok, Kevin Cleary, Iulian Iordachita, M. Cenk Cavusoglu, Jaydev P. Desai, Gregory S. Fischer
2022 Proceedings of the IEEE  
With the ever-expanding clinical use of MRI, MRI-compatible robotic systems have been heralded as a new approach to assist interventional procedures to allow physicians to treat patients more accurately  ...  Deploying robotic systems inside the bore synergizes the visual capability of MRI and the manipulation capability of robotic assistance, resulting in a closed-loop surgery architecture.  ...  This work was followed by the development of a polymer-based neurosurgical robot prototype that was actuated by SMA spring actuators [27] - [29] .  ... 
doi:10.1109/jproc.2022.3169146 pmid:35756185 pmcid:PMC9231642 fatcat:acpw6dahirch7jwxkypbw42qq4

Advanced Intelligent Systems for Surgical Robotics [article]

Mai Thanh Thai, Phuoc Thien Phan, Shing Wong, Nigel H. Lovell, Thanh Nho Do
2020 arXiv   pre-print
This paper will overview a historical development of surgery from conventional open to robotic-assisted approaches with discussion on the capabilities of advanced intelligent systems and devices that are  ...  surgical systems towards the achievement of fully autonomous operation.  ...  Acknowledgements The authors acknowledge support from the UNSW Start-Up Grant (PS51378) and UNSW Scientia Fellowship Grant (PS46197).  ... 
arXiv:2001.00285v1 fatcat:eymmyaqgtve6jghuj4fd25jmby

Automated Steerable Path Planning for Deep Brain Stimulation Safeguarding Fiber Tracts and Deep Gray Matter Nuclei

Alice Segato, Valentina Pieri, Alberto Favaro, Marco Riva, Andrea Falini, Elena De Momi, Antonella Castellano
2019 Frontiers in Robotics and AI  
Also, robotically-driven curvilinear trajectories (CTs) computed on the basis of state-of-the-art neuroimaging would decrease DBS invasiveness, circumventing patient-specific obstacles.  ...  The prospect of automatically computing trajectory plans relying on sophisticated newly engineered steerable devices represents a breakthrough in the field of microsurgical robotics.  ...  stylet, active cannula, tendon actuated tip, and programmable bevel tip.  ... 
doi:10.3389/frobt.2019.00070 pmid:33501085 pmcid:PMC7806057 fatcat:cd5uxwndiffe3bedsv6aqvgm2u

Wet Poster Session

2019 Biomedical Engineering  
These deep correlation features are generated through the use of gram-based correlation features and given to a neural network for learning the correlation between them.  ...  The method generates images that contain recognizable characteristics of a specific cell type, for example the average size and the ordered pattern, but lack in artifacts that occur randomly in the original  ...  Our results have shown the functional feasibility of our pneumatic-muscle-powered and fully MRI-compatible stepper motor designs.  ... 
doi:10.1515/bmt-2019-6023 fatcat:mxp5r64yufccjg7dwe4orqjssa

A flexible access platform for robot-assisted minimally invasive surgery

David Noonan, Ara Darzi, Guang-Zhong Yang
2011
The main focus of this thesis is the development and applications of a flexible robotic device that is capable of providing controlled flexibility along curved pathways inside the body.  ...  The principal component of the device is its modular mechatronic joint design which utilises an embedded micromotor-tendon actuation scheme to provide independently addressable degrees of freedom and three  ...  the SMA actuators.  ... 
doi:10.25560/9113 fatcat:ckhyhitsajhydbvidoszrnys3a

Human robot interface and control methods for steerable catheter procedures in neurosurgery

Eloise Matheson, Ferdinando Rodriguez Y Baena, Brian Davis, European Union
2021
This thesis explores novel human-machine interface hardware, methods and algorithms for robotic assisted surgical needle steering, including the design and validation of a novel neurosurgical robotic platform  ...  This same technique is applied when actuating a 4-segment PBN, and low level control modalities can exploit the kinematics of the catheter in following clinically advantageous motion profiles that may  ...  An example is the tendon driven actuated tip placed on a flexible shaft [157] .  ... 
doi:10.25560/90130 fatcat:3yio6rbry5ajzmryxxowrlzamq

A Snake-Like Articulated Robot for Flexible Access Minimally Invasive Surgery - Modelling, Optimisation and Kinematic Control

Valentina Vitiello, Guang-Zhong Yang, Dan Elson
2012
The design of the robot is based on a modular, flexible access platform featuring serially connected rigid links and a hybrid micromotor-tendon actuation strategy to construct independently addressable  ...  The integration of robotic technologies in surgical instrumentation has contributed to the further development of Minimally Invasive Surgery (MIS) aimed at reducing the patient trauma and hospitalisation  ...  In the field of urological interventions, Stoianovici et al at Johns Hopkins University are currently developing a Magnetic Resonance Imaging (MRI) compatible robotic system for fully automated brachytherapy  ... 
doi:10.25560/9463 fatcat:rcxk5mn7f5bbxkowcl642ebsfa

ECR 2015 Book of Abstracts - A - Postgraduate Educational Programme

2015 Insights into Imaging  
Such platform will Postgraduate Educational Programme represent a step toward the development of new automated techniques which integrate "all -omics data", allowing real-world actuation of PM.  ...  MRI findings of tendon degeneration start of foci of mildly increased signals within the tendon, often longitudinally orientated.  ...  C-arm, robotic arm, …) determines the potential use cases of the systems.  ... 
doi:10.1007/s13244-015-0386-0 pmid:25708993 pmcid:PMC4349897 fatcat:m7eyvqcwojfpvf3lr5hy6dwjb4

ECR 2016 Book of Abstracts - A - Postgraduate Educational Programme

2016 Insights into Imaging  
Such platform will Postgraduate Educational Programme represent a step toward the development of new automated techniques which integrate "all -omics data", allowing real-world actuation of PM.  ...  MRI findings of tendon degeneration start of foci of mildly increased signals within the tendon, often longitudinally orientated.  ...  C-arm, robotic arm, …) determines the potential use cases of the systems.  ... 
doi:10.1007/s13244-016-0474-9 pmid:26873353 pmcid:PMC4762839 fatcat:itxslbcacjhh3kixfkcwmdbt44

ECR 2013 Book of Abstracts - A - Postgraduate Educational Programme

2013 Insights into Imaging  
Such platform will Postgraduate Educational Programme represent a step toward the development of new automated techniques which integrate "all -omics data", allowing real-world actuation of PM.  ...  MRI findings of tendon degeneration start of foci of mildly increased signals within the tendon, often longitudinally orientated.  ...  C-arm, robotic arm, …) determines the potential use cases of the systems.  ... 
doi:10.1007/s13244-013-0227-y pmid:23468009 pmcid:PMC3666656 fatcat:yitsk227mba2pl7wcypouf6tz4

ECR 2011 Book of Abstracts - A - Postgraduate Educational Programme

2011 Insights into Imaging  
Such platform will Postgraduate Educational Programme represent a step toward the development of new automated techniques which integrate "all -omics data", allowing real-world actuation of PM.  ...  MRI findings of tendon degeneration start of foci of mildly increased signals within the tendon, often longitudinally orientated.  ...  C-arm, robotic arm, …) determines the potential use cases of the systems.  ... 
doi:10.1007/s13244-011-0078-3 pmid:23100070 pmcid:PMC3533621 fatcat:qa3ln4hhvve2hhumgwwnmykgoe

Cable-driven parallel mechanisms for minimally invasive robotic surgery

Timo Joric Corman Oude Vrielink, George Mylonas, Ara Darzi, ERANDA Rothschild Foundation
2020
This research presents the first structured exploration of CDPMs for MIS and demonstrates the potential of this type of mechanism through the development of multiple prototypes: the ESD CYCLOPS, CDAQS,  ...  Cable-driven parallel mechanisms (CDPMs) have unique properties, which can be used to overcome existing challenges in surgical robotics.  ...  The integration of advanced sensor technology with accurate mechatronics within the same control loop has also been a point of focus in the development MRI compatible robotic systems [344] [345] .  ... 
doi:10.25560/79835 fatcat:4lymyxbt7jao3emlnrnyx5re4u
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