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Background
Impairment of haptic perception by surgical gloves could reduce requirements on haptic systems for surgery. While grip forces and manipulation capabilities were not impaired in previous studies, no data is available for perception thresholds.
Methods
Absolute and differential thresholds (20 dB above threshold) of 24 subjects were measured for frequencies of 25 and 250 Hz with a Ψ‐method...
Background
This paper presents a novel multi‐modality tracking and navigation system that provides a unique capability to guild a flexible drill tip inside the bone with accurate curved tunnelling.
Methods
As the flexible drill tip cannot be tracked optically inside the bone, this research focuses on developing a hybrid tracking and navigation system for tracking a flexible drill tip by using both...
Background
The performance of robotic end‐effector movements can reflect the user's operation skill difference in robot‐assisted minimally invasive surgery. This study quantified the trade‐off of speed–accuracy–stability by kinematic analysis of robotic end‐effector movements to assess the motion control skill of users with different levels of experience.
Methods
Using ‘MicroHand S’ system, 10...
Background
Robotic neuronavigation is becoming an important tool for neurosurgeons. We present a case study of a frameless stereotactic biopsy guided by the RONNA G3 robotic neuronavigation system.
Methods
A 45 year‐old patient with a history of vertigo, nausea and vomiting was diagnosed with multiple periventricular lesions. Neurological status was unremarkable. A frameless robotic biopsy of a...
Background
Complete brain tumour resection is an extremely critical factor for patients' survival rate and long‐term quality of life. This paper introduces a prototype medical robotic system that aims to automatically detect and clean up brain tumour residues after the removal of tumour bulk through conventional surgery.
Methods
We focus on the development of an integrated surgical robotic system...
Background
Since the US Food and Drug Administration approved robotically assisted surgical devices for human surgery in 2000, the number of surgeries utilizing this innovative technology has risen. In 2015, approximately 650 000 robot‐assisted procedures were performed worldwide. Surgeons must be properly trained to safely transition to using such innovative technology. Multiple virtual reality...
Background
The stereo laparoscope is an important tool for achieving depth perception in robot‐assisted minimally invasive surgery (MIS).
Methods
A dynamic convergence accommodation algorithm is proposed to improve the viewing experience and achieve accurate depth perception. Based on the principle of the human vision system, a positional kinematic model of the binocular view system is established...
Purpose
We designed an experiment to determine the comparative effectiveness of computer algorithms for performing automated long bone fracture reduction.
Methods
Automated reduction of 10 3D fracture models was performed using two computer algorithms, random sample matching (RANSAM) and Z‐buffering (Z‐Buffer), and one of five options of post‐processing: none; iterative closest point algorithm...
Background
A method of real‐time, accurate probe tracking at the entrance of the MRI bore is developed, which, fused with pre‐procedural MR images, will enable clinicians to perform cryoablation efficiently in a large workspace with image guidance.
Methods
Electromagnetic (EM) tracking coupled with optical tracking is used to track the probe. EM tracking is achieved with an MRI‐safe EM sensor working...
Background
Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery.
Method
The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog.
Results
Simulator experiments revealed a high tracking accuracy (81 μm root...
Background: Various systems exist for CT‐guided needle placement in the thorax and abdomen, but widespread adoption is lacking. The goal of this work is to develop a system for precise needle placement with a design focus on clinical acceptability, applicability and usability.
Methods: A system was outlined incorporating a needle guide on a mechanism with a remote centre of motion, manually placeable...
Background
Surgical skill assessment has predominantly been a subjective task. Recently, technological advances such as robot‐assisted surgery have created great opportunities for objective surgical evaluation. In this paper, we introduce a predictive framework for objective skill assessment based on movement trajectory data. Our aim is to build a classification framework to automatically evaluate...
Background
Fast and accurate mapping and localization of the retinal vasculature is critical to increasing the effectiveness and clinical utility of robot‐assisted intraocular microsurgery such as laser photocoagulation and retinal vessel cannulation.
Methods
The proposed EyeSLAM algorithm delivers 30 Hz real‐time simultaneous localization and mapping of the human retina and vasculature during...
Background: Since the advent of robotic‐assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi‐step procedures from start to finish. Many intraocular surgical steps continue to be manually performed.
Methods: An intraocular robotic interventional surgical system (IRISS)...
Background
For current LESS robotic systems, the trade‐off between dexterity and payload capability is always present. This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms.
Methods
Each manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7‐DoF compliant status and 5‐DoF rigid...
Background
For some surgical interventions, like the Total Mesorectal Excision (TME), traditional laparoscopes lack the flexibility to safely maneuver and reach difficult surgical targets. This paper answers this need through designing, fabricating and modelling a highly dexterous 2‐module soft robot for minimally invasive surgery (MIS).
Methods
A soft robotic approach is proposed that uses flexible...
Objectives
The aim of this work was to compare different 12 cases (3 patients * 4 cases = 12 cases) with varying gaps between implant and bone by analyzing the effect of these gaps on implant and screws using FEM.
Methods
In each patient's case 1 using CSOG and in case 2, 3, and 4 without using CSOG tumor cutting was done. Hence in each patient zero gaps at case 1 and overcutting at case 2, 3,...
Background
Image registration (IR) is an important process of developing a spatial relationship between pre‐operative data and the physical patient in the operation theatre. Current IR techniques for Computer Assisted Orthopaedic Surgery (CAOS) are time consuming and costly. There is a need to automate and accelerate this process.
Methods
Bespoke quick, cost effective, contactless and automated...
Background
A method for the identification of semi‐active fiducial magnetic resonance (MR) markers is presented based on selectively optically tuning and detuning them.
Methods
Four inductively coupled solenoid coils with photoresistors were connected to light sources. A microcontroller timed the optical tuning/detuning of coils and image collection. The markers were tested on an MR manipulator...
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