The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The focus of this research is the implementation of a control system which actuates a wearable mechatronics-enabled elbow brace (ME-brace) through elbow motion tracking tasks using estimates derived from an EMG-driven mapping model. The accuracy and repeatability of the control system during a tracking task, using data collected from healthy subjects, has been quantified to support improvement of...
The 10 mm incisions used in minimally invasive cancer surgery prevent direct manual palpation of internal organs, making intraoperative tumor localization difficult. A tactile sensing instrument (TSI), that uses a commercially available sensor to measure distributed pressure profiles along the contacting surface, has been developed to facilitate remote tissue palpation. The objective of this research...
The restricted access conditions during minimally invasive surgery (MIS) result in perceptual-motor relationships that are unfamiliar to the novice surgeon and require training to overcome. To aid in MIS skills assessment and training, a novel sensorized instrument has been designed. Strain gauges attached to the instrument measure forces and torques acting at its tip, corresponding to all 5 degrees...
Restricted access during minimally invasive surgery precludes manual palpation, making the localization of lung tumours challenging. This paper investigates the force sensing performance that would allow an instrumented kinesthetic probe to localize tumours based on stiffness variations of the lung parenchyma. Agar injected into ex vivo porcine lungs produced a model approximating commonly encountered...
An integrated system for minimally invasive robot-assisted image-guided lung brachytherapy has been developed. The system incorporates an experimental setup for accurate radioactive seed placement with commercially available dosimetry planning software. The end result is a complete system that allows planning and executing a brachytherapy procedure with increased accuracy. The results of the in vitro...
Minimally invasive surgery is a technique that provides numerous benefits to the patient, but presents challenges to the surgeon in that dexterity, hand-eye coordination and haptic perception are compromised. Robot-assisted minimally invasive approaches have addressed the problems of dexterity and coordination; however, the lack of kinesthetic and tactile feedback remains a significant drawback. Despite...
An experimental test-bed for robot-assisted image-guided minimally invasive lung brachytherapy has been developed. The setup includes surgical robots, a device to accurately drop brachytherapy seeds, an ultrasound system, electromagnetic trackers, and navigational software. An evaluation using the test-bed was performed to compare the open procedure and the video-assisted thoracoscopic procedure with...
A device for robot-assisted brachytherapy has been designed for use with a minimally-invasive surgical robot such as the ZEUStrade It may be loaded with a standard brachytherapy needle allowing the robot to position its tip at a specified location within cancerous tissue. The device accurately retracts a hollow needle loaded with radioactive seeds while a stationary plunger pushes the seeds out into...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.