scholarly journals Image-guided, surgical robot-assisted percutaneous puncture of the foramen ovale and foramina stylomastoideum

2021 ◽  
Vol Publish Ahead of Print ◽  
Author(s):  
Fan-Hao Meng ◽  
Yu Song ◽  
Bo Qiao ◽  
Neng-Hao Jin ◽  
Yan-Ming Zhu ◽  
...  
Author(s):  
Wen Qi ◽  
Hang Su ◽  
Ke Fan ◽  
Ziyang Chen ◽  
Jiehao Li ◽  
...  

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification in a dynamic situation, we propose a multimodal data fusion framework to provide multiple information for accuracy enhancement. Firstly, a multi-sensors based hardware structure is designed to capture varied data from various devices, including depth camera and smartphone. Furthermore, in different surgical tasks, the robot control mechanism can shift automatically. The experimental results evaluate the efficiency of developing the multimodal framework for RAMIS by comparing it with a single sensor system. Implementing the KUKA LWR4+ in a surgical robot environment indicates that the surgical robot systems can work with medical staff in the future.


Author(s):  
Ghassan Hamarneh ◽  
Alborz Amir-Khalili ◽  
Masoud S. Nosrati ◽  
Ivan Figueroa ◽  
Jeremy Kawahara ◽  
...  

Robotica ◽  
2009 ◽  
Vol 28 (2) ◽  
pp. 215-234 ◽  
Author(s):  
Andrew A. Goldenberg ◽  
John Trachtenberg ◽  
Yang Yi ◽  
Robert Weersink ◽  
Marshall S. Sussman ◽  
...  

SUMMARYThis paper reports on recent progress made toward the development of a new magnetic resonance imaging (MRI)-compatible robot-assisted surgical system for closed-bore image-guided prostatic interventions: thermal ablation, radioactive seed implants (brachytherapy), and biopsy. Each type of intervention will be performed with a different image-guided, robot-based surgical tool mounted on the same MRI-guided robot through a modular trocar. The first stage of this development addresses only laser-based focal ablation. The robot mechanical structure, modular surgical trocar, control architecture, and current stage of performance evaluation in the MRI environment are presented. The robot actuators are ultrasonic motors. A methodology of using such motors in the MRI environment is presented. The robot prototype with surgical ablation tool is undergoing tests on phantoms in the MRI bore. The tests cover MRI compatibility, image visualization, robot accuracy, and thermal mapping. To date, (i) the images are artifact- and noise-free for certain scanning pulse sequences; (ii) the robot tip positioning error is less than 1.2 mm even at positions closer than 0.3 m from the MRI isocenter; (iii) penetration toward the target is image-monitored in near-real time; and (iv) thermal ablation and temperature mapping are achieved using a laser delivered on an optical fiber and MRI, respectively.


2009 ◽  
Vol 9 ◽  
pp. 479-489 ◽  
Author(s):  
Iqbal Singh ◽  
Ashok K. Hemal

The purpose of this study was to assess the current role of robot-assisted urological surgery in the female pelvis. The recently published English literature was reviewed to evaluate this role, with special emphasis on reconstructive procedures. These included colposuspension for genuine female stress urinary incontinence, repair of female genitourinary fistulas, ureterosciatic hernias, sacrocolpopexy for vault prolapse, ureterolysis and omental wrap for retroperitoneal fibrosis, ureteric reimplantation, and bladder surgery. To date, a wide spectrum of urogynecological reconstructive procedures have been performed with the assistance of the surgical robot and have been reported worldwide. Currently, a number of female pelvic ablative and reconstructive procedures are technically feasible with the aid of the surgical robot. While the role of robot-assisted surgery for bladder cancer, ureterolysis, ureteric reimplantation, repair of genitourinary fistulas, colposuspension, and sacrocolpopexy is nearly established among urologists, other procedures, such as myomectomy, simple hysterectomy, trachelectomy, and Wertheim's hysterectomy, are still evolving with gynecologists. The advantages of robot assistance include better hand-eye coordination, three-dimensional magnified stereoscopic vision with depth perception, intuitive movements with increased precision, and filtering of hand tremors. For most of the currently performed procedures in selected patients, the robot-assisted surgical outcomes appear to be relatively superior as compared to an open and purely laparoscopic surgical procedure.


2021 ◽  
Vol 103 (4) ◽  
Author(s):  
Shijie Zhu ◽  
Zhe Zhao ◽  
Yu Chen ◽  
Jiuzheng Deng ◽  
Bicong Zhang ◽  
...  

2015 ◽  
Vol 117 (6) ◽  
pp. 923-929 ◽  
Author(s):  
Peter Gilling ◽  
Rana Reuther ◽  
Arman Kahokehr ◽  
Mark Fraundorfer

2020 ◽  
Vol 136 ◽  
pp. e635-e645 ◽  
Author(s):  
Bowen Jiang ◽  
Zach Pennington ◽  
Tej Azad ◽  
Ann Liu ◽  
A. Karim Ahmed ◽  
...  

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