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The purpose of this article is to review the history of robotic surgery, its impact on teaching as well as a description of historical and current robots used in the medical arena.Although the history of robots dates back to 2000 years or more, the last two decades have seen an outstanding revolution in medicine, due to all the changes that robotic surgery has made in the way of performing, teaching...
Minimally invasive surgery is a favorable choice for many operations. But it suffers from lack of tactile sensing information when grasping and handling of tissues. Sole force information in grasper-tissue interface cannot represent the firmness of the grasping nor is sufficient for guaranteeing safety of tissue while handling it. Measurement of stiffness in the grasper-tissue interface is proposed...
Due to complex anatomy and functionality of brain, volumetric excision of abnormal tissue targets such as tumors/cancers poses a great risk as it is difficult without causing harm to the overlying normal structures. Minimally invasive and non-invasive robotic approaches are being widely investigated as alternatives to traditional open surgery due to their advantages in accurate planning, registration,...
This paper presents fusion of real-time images and data from various sensors for on-line surgical planning as integrated in a non-invasive surgical robotic system. High intensity focused ultrasound (HIFU) is used as a treatment modality while on-line images are acquired using diagnostic ultrasound and registered with the proprioceptive sensors of a customized robotic system for ablative procedures...
In this paper, we present a method for simulating the field intensity of ultrasound beam using a two dimensional phased array transducer for High Intensity Focused Ultrasound (HIFU) based surgery. The parameters used and the field modeling is based on Huygen's principle. We further simulated the field intensity of ultrasound beam in two media, taking into consideration the effect of different attenuation...
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