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Purpose
Vision‐based tissue tracking is a significant component for building efficient autonomous surgical robot system. While the methodology involves various challenges caused by occlusion, deformation and appearance changes.
Methods
We propose a novel correlation filter tissue tracking framework for minimally invasive surgery. Our model contains the innovative design of synthetic features, a...
Background
Accurate and real‐time biomechanical modelling of the liver is a major challenge in computer‐assisted surgery. Finite element method is often used to predict the deformation of organs for its high modelling accuracy. However, its high computation cost hinders its application in real time, such as virtual surgery simulations.
Method
A liver model with biomechanical properties similar...
Background
Fiducial marker‐based image‐to‐patient registration is the most common way in image‐guided neurosurgery, which is labour‐intensive, time consuming, invasive and error prone.
Methods
We proposed a method of facial landmark‐guided surface matching for image‐to‐patient registration using an RGB‐D camera. Five facial landmarks are localised from preoperative magnetic resonance (MR) images...
Background
In the transrectal ultrasound (TRUS)‐guided transperineal prostate biopsy, doctors determine the biopsy target by observing the prostate region in TRUS images. However, ultrasound images with low imaging quality make doctors easy to be interfered when determining the biopsy route, which reduces the biopsy success rate.
Methods
This paper introduces the guidance method of magnetic resonance...
Aim
Transrectal ultrasound (TRUS) guided prostate biopsy is a typical early prostate examination. However, the ultrasound imaging suffers from blurred contour, intensity inhomogeneity and small surrounding soft tissue differentiation. To take advantage of clear magnetic resonance imaging (MRI) into robotic prostate biopsy navigation, the prostate regions in the MRI and TRUS images need to be segmented...
Purpose
The surgeon is not timely in direct control of his field of view. Autonomous laparoscope control can provide appropriate surgical field of view and facilitate the intelligent level of surgical robot system.
Methods
This study explores an autonomous laparoscope control framework for semiautonomous surgery. We propose a novel concept that integrates two forms of Remote Center of Motion (RCM)...
Background
Intelligent surgical robot has great significance to alleviate the fatigue of surgeons. In the minimally invasive surgery robot system, adding intelligent control method to the laparoscope control has great realizability and significance.
Methods
Depth independent image Jacobian matrix was modified to make it suitable for laparoscope trocar constraint. We propose a method for intelligent...
Background
Unlike a manual surgical instrument, a surgical instrument used in robot‐assisted minimally invasive surgery (MIS) is configured with a wrist to improve flexibility in surgical operation. However, this configuration has a shortcoming that leads to coupled motion between the wrist and end‐effector.
Methods
Three methods are presented to eliminate the coupled motion between the wrist and...
Background
Applying transrectal ultrasound to robot‐assisted laparoscopic radical prostatectomy has attracted attention in recent years, and it is considered as a proper method to provide real‐time subsurface anatomic features. A precise registration between the ultrasound equipment and robotic surgical system is necessary, which usually requires a fast and accurate recognition of the registration...
Background
Surgical robot systems have been used in laparoendoscopic single‐site surgery (LESS) to improve patient outcomes. A magnetic anchoring surgical robot system for LESS can effectively extend the operation space.
Methods
A robot system based on visual servo control for LESS is proposed. It includes a magnetic anchoring robot and a control subsystem, in which an uncalibrated visual servo...
Background
Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single‐site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems.
Methods
In this work, an in vivo visual robot system with a new mechanism...
Background
Pose optimization and port placement are critical issues for preoperative preparation in robot‐assisted minimally invasive surgery (RMIS), and affect the robot performance and surgery quality.
Methods
This paper proposes a method for pose optimization and port placement for RMIS in cholecystectomy that considers both the robot and surgery requirements. The robot pose optimization was...
Background
It is difficult for surgeons to exert appropriate forces during delicate operations due to lack of force feedback in robot‐assisted minimally invasive surgery (RMIS). A 4‐DOF surgical grasper with a modular wrist and 6‐axis force sensing capability is developed.
Methods
A grasper integrated with a miniature force and torque sensor based on the Stewart platform is designed, and a cable...
BackgroundRobot‐assisted systems have been widely used in minimally invasive surgery (MIS) practice, and with them the precision and accuracy of surgical procedures can be significantly improved. Promoting the development of robot technology in MIS will improve robot performance and help in tackling problems from complex surgical procedures.
MethodsA medical robot system with a new mechanism for MIS...
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