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Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot
2017
IEEE Transactions on robotics
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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
2009
2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society
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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
2014
IEEE Transactions on Biomedical Engineering
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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
2022
Proceedings of the IEEE
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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]
2020
arXiv
pre-print
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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
2019
Frontiers in Robotics and AI
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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
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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
2011
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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
2021
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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
2012
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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
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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
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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
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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
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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
2020
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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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