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In recent years, research and development work have been done on surgical robots and navigation systems. Although these systems have potential to realize minimally invasive and precise surgery, it is considerably difficult to control these robots accurately because organ sometimes shows unanticipated behavior during operation. Therefore, the robot control system which can respond to the various change...
The clinical target of this study is intrauterine patch coverage of fetal myelomeningocele. We propose a new surgical robotic system for intrauterine fetal surgery with patch-stabilizer and laser manipulator. The target disease of the fetal surgery is spina bifida or myelomeningocele, which is incomplete closure in the spinal column and one of the common fetal diseases. In the fetal surgery, the collagen...
Tele-surgery enables medical care even in remote regions, and has been accomplished in clinical cases by means of dedicated communication lines. To make tele-surgery a more widespread method of providing medical care, a surgical environment needs to be made available using public lines of communication, such as the Internet. Moreover, a support system during surgery is required, as the use of surgical...
Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype...
Radiofrequency ablation (RFA) for liver cancer has increasingly been used over the past few years because RFA is minimally invasive treatment for patients. However, precise control of the formation of coagulation zones is difficult for operators due to inadequate imaging modalities. With this in mind, we have proposed a model-based robotic ablation system using numerical simulation to analyze temperature...
We describe here a palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer. The mechanical palpation probe locates cancerous tissue from force information and reduces tissue displacement during needle insertion. We compared palpation-based needle insertion to normal needle insertion by numerical simulation of a breast tissue model and by experiments in vitro. The...
We describe a control method, for a surgical robot, which prevents the overload at fragile tissues. In particular, we focused on the control parameter setting method to ensure the robustness of the performance relative to the variation of the organ stiffness parameter. Firstly, we present Position/ Limited Stress control to achieving both precise positioning and prevention of overload. FEM based organ...
Radio frequency ablation (RFA) has increasingly been used over the past few years and RFA treatment is minimally invasive for patients. However, it is difficult for operators to control the precise formation of coagulation zones due to inadequate imaging modalities. With this in mind, an ablation system using numerical simulation to analyze the temperature distribution of the organ is needed to overcome...
Safe use of master-slave robots for endoscopic surgery requires autonomous motions to avert contact with vital organs, blood vessels, and nerves. Here we describe an avoidance control algorithm with delay compensation that takes the dynamic characteristics of the robot into account. To determine the operating parameters, we measured frequency characteristics of each joint of the slave-manipulator...
Needle insertion treatments require accurate placement of the needle tip into the target cancer. However, it is difficult to insert the needle into the cancer because of cancer displacement due to the organ deformation. Then, a path planning using needle insertion simulation to analyze the deformation of the organ is important for the accurate needle insertion. A frictional model for needle insertion...
The clinical target of this study is intrauterine patch coverage of fetal myelomeningocele. We propose a new surgical robotic system for intrauterine fetal surgery with patch-stabilizer and laser manipulator. The target disease of the fetal surgery is spina bifida or myelomeningocele, which is incomplete closure in the spinal column and one of the common fetal diseases. In the fetal surgery, the collagen...
Tele-surgery enables medical care even in remote regions and has been accomplished in clinical cases by means of special communication lines. To make tele-surgery a more common method of medical care, the surgical environment must be made available using public lines of communication, such as the Internet. Moreover, a support system during operation is required as the use of surgical tools occurs...
There are various medical treatments for breast cancer. One of the most minimally invasive and promising medical treatments for early-stage noninvasive breast cancer is radiofrequency ablation (RFA). RFA can reduce both mental and physical damage to women with breast cancer. However, it is very difficult to accurately insert diagnosis and treatment needles in cases of early-stage breast cancer, because...
One of the most minimally invasive and promising medical treatments for early-stage breast cancer is radio frequency ablation (RFA). However, with RFA it is difficult to insert the needle into the cancer because of the needle deforms the organ and, therefore, displaces the cancer. To solve this problem, we have developed a novel approach called "palpation based needle insertion." to achieve...
Accurate values of material parameters of human tissue are key elements in a surgical robot system using an organ deformation model. However, it is generally difficult to determine the values of the material parameters of human tissue to be input into the model, because the individual differences of these material properties make them inherently uncertain. In this work, we discuss a method for identifying...
Radio frequency ablation (RFA), which is an important method for treating nonresectable and metastatic liver tumors, has increasingly been used over the past few years. On the positive side, RFA treatment is minimally invasive. On the negative side, the exact dimensions of the coagulated zone are not clearly visible in medical diagnostic images. A practical temperature distribution simulator is needed...
Needle insertion treatments require accurate placement of the needle tip into the target cancer. However, it is difficult to insert the needle into the cancer because of cancer displacement due to the organ deformation. Then, a path planning using numerical simulation to analyze the deformation of the organ and the timing of puncture is important for the accurate needle insertion. In this study, we...
This paper shows the viscoelastic and nonlinear organ deformation model for organ model-based control of needle insertion, in which the deformation of an organ is calculated intraoperatively and the needle is manipulated with organ deformation taken into consideration. An organ model including such detailed material characteristics is important to achieve the control method in question. Firstly, the...
This paper shows the viscoelastic and nonlinear organ deformation model for organ model-based control of needle insertion, in which the deformation of an organ is calculated intraoperatively and the needle is manipulated with organ deformation taken into consideration. An organ model including such detailed material characteristics is important to achieve the control method in question. Firstly, the...
It is generally difficult to determine the material values of human tissue to input into an organ deformation model, because the material properties of human tissues are inherently uncertain because of their individual differences. In our work, we developed a promising approach that allows identification of the material parameters of the organ model by using information obtained during surgery. The...
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