A medical transportation robot for carrying and positioning patients between different devices

2019 ◽  
Vol 46 (5) ◽  
pp. 599-607
Author(s):  
Weidong Wang ◽  
Chengjin Du ◽  
Zhijiang Du
Keyword(s):  
Radiation Dose ◽  
Mobile Robot ◽  
Image Fusion ◽  
Medical Devices ◽  
Positioning System ◽  
Imaging Diagnosis ◽  
Positioning Accuracy ◽  
Automatic Diagnosis ◽  
Content Type ◽  
Fully Automatic

Purpose This paper aims to present a prototype of medical transportation robot whose positioning accuracy can reach millimeter-level in terms of patient transportation. By using this kind of mobile robot, a fully automatic image diagnosis process among independent CT/PET devices and the image fusion can be achieved. Design/methodology/approach Following a short introduction, a large-load 4WD-4WS (four-wheel driving and four-wheel steering) mobile robot for carrying patient among multiple medical imaging equipments is developed. At the same time, a specially designed bedplate with self-locking function is also introduced. For further improving the positioning accuracy, the authors proposed a calibration method based on Gaussian process regression (GPR) to process the measuring data of the sensors. The performance of this robot is verified by the calibration experiment and Image fusion experiment. Finally, concluding comments are drawn. Findings By calibrating the robot’s positioning system through the proposed GPR method, one can obtain the accuracy of the robot’s offset distance and deflection angle, which are 0.50 mm and +0.21°, respectively. Independent repeated trials were then set up to verify this result. Subsequent phantom experiment shows the accuracy of image fusion can be accurate within 0.57 mm in the front-rear direction and 0.83 in the left-right direction, respectively, while the clinical experiment shows that the proposed robot can practically realize the transportation of patient and image fusion between multiple imaging diagnosis devices. Practical implications The proposed robot offers an economical image fusion solution for medical institutions whose imaging diagnosis system basically comprises independent MRI, CT and PET devices. Also, a fully automatic diagnosis process can be achieved so that the patient’s suffering of getting in and out of the bed and the doctor’s radiation dose can be obviated. Social implications The general bedplate presented in Section 2 that can be mounted on the CT and PET devices and the self-locking mechanism has realized the catching and releasing motion of the patient on different medical devices. They also provide a detailed method regarding patient handling and orientation maintenance, which was hardly mentioned in previous research. By establishing the positioning system between the robot and different medical equipment, a fully automatic diagnosis process can be achieved so that the patient’s suffering of getting in and out of the bed and the doctor’s radiation dose can be obviated. Originality/value The GPR-based method proposed in this paper offers a novel method for enhancing the positioning accuracy of the industrial AGV while the transportation robot proposed in this paper also offers a solution for modern imaging fusion diagnosis, which are basically predicated on the conjoint analysis between different kinds of medical devices.

scholarly journals Mobile Robot Indoor Positioning System Based on K-ELM

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Haixia Wang ◽  
Junliang Li ◽  
Wei Cui ◽  
Xiao Lu ◽  
Zhiguo Zhang ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Indoor Localization ◽  
Indoor Positioning ◽  
Positioning System ◽  
Positioning Accuracy ◽  
Positioning Method ◽  
Kernel Extreme Learning Machine ◽  
Learning Machine ◽  
Positioning Algorithm ◽  
Indoor Positioning System

Mobile Robot Indoor Positioning System has wide application in the industry and home automation field. Unfortunately, existing mobile robot indoor positioning methods often suffer from poor positioning accuracy, system instability, and need for extra installation efforts. In this paper, we propose a novel positioning system which applies the centralized positioning method into the mobile robot, in which real-time positioning is achieved via interactions between ARM and computer. We apply the Kernel extreme learning machine (K-ELM) algorithm as our positioning algorithm after comparing four different algorithms in simulation experiments. Real-world indoor localization experiments are conducted, and the results demonstrate that the proposed system can not only improve positioning accuracy but also greatly reduce the installation efforts since our system solely relies on Wi-Fi devices.

Inexpensive spatial position system for the automation of inspection with mobile robots

2014 ◽  
Vol 41 (6) ◽  
pp. 508-517 ◽  
Author(s):  
Mohammed Abdullah Al Rashed ◽  
Tariq Pervez Sattar
Keyword(s):  
Mobile Robot ◽  
Complex Geometry ◽  
Measurement Unit ◽  
Positioning System ◽  
Destructive Testing ◽  
Wireless System ◽  
Content Type ◽  
Wireless Positioning ◽  
Spatial Positioning ◽  
Pulse Echo

Purpose – The purpose of this paper is to develop a wireless positioning system. The automation of non-destructive testing (NDT) of large and complex geometry structures such as aircraft wings and fuselage is prohibitively expensive, though automation promises to improve on manual ultrasound testing. One inexpensive way to achieve automation is by using a small wall-climbing mobile robot to move a single ultrasound probe over the surface through a scanning trajectory defined by a qualified procedure. However, the problem is to guide the robot though the trajectory and know whether it has followed it accurately to confirm that the qualified procedure has been carried out. Design/methodology/approach – The approach is to use sophisticated bulk electronics developed for game playing in combination with MATLAB to develop a wireless positioning system. Findings – The paper describes the development of an inexpensive wireless system comprising an optical spatial positioning system and inertial measurement unit that relates the 3D location of an NDT probe carried by a mobile robot to a computer-aided drawing (CAD) representation of the test structure in a MATLAB environment. The probe is located to an accuracy of ± 2 mm at distances of 5 m. Research limitations/implications – Positioning range is limited to 5 m. Further development is required to increase this range. Practical implications – The wireless system is used to develop tools to guide the robot remotely to follow a desired scanning trajectory, obtain feedback about the actual trajectory executed by the robot, know exactly where an ultrasound pulse echo was captured, map identified defects on the CAD and relate them to the real test object. Originality/value – An inexpensive spatial positioning system with sufficient accuracy for automated NDT purposes.

Geometrical accuracy of the Novalis stereotactic radiosurgery system for trigeminal neuralgia

2004 ◽  
Vol 101 (Supplement3) ◽  
pp. 351-355 ◽  
Author(s):  
Javad Rahimian ◽  
Joseph C. Chen ◽  
Ajay A. Rao ◽  
Michael R. Girvigian ◽  
Michael J. Miller ◽  
...  
Keyword(s):  
Quality Assurance ◽  
Trigeminal Neuralgia ◽  
Image Fusion ◽  
Stereotactic Radiosurgery ◽  
Ct Images ◽  
Radiochromic Film ◽  
Quality Assurance Program ◽  
Content Type ◽  
Geometrical Accuracy ◽  
Fine Print

Object. Stringent geometrical accuracy and precision are required in the stereotactic radiosurgical treatment of patients. Accurate targeting is especially important when treating a patient in a single fraction of a very high radiation dose (90 Gy) to a small target such as that used in the treatment of trigeminal neuralgia (3 to 4—mm diameter). The purpose of this study was to determine the inaccuracies in each step of the procedure including imaging, fusion, treatment planning, and finally the treatment. The authors implemented a detailed quality-assurance program. Methods. Overall geometrical accuracy of the Novalis stereotactic system was evaluated using a Radionics Geometric Phantom Chamber. The phantom has several magnetic resonance (MR) and computerized tomography (CT) imaging—friendly objects of various shapes and sizes. Axial 1-mm-thick MR and CT images of the phantom were acquired using a T1-weighted three-dimensional spoiled gradient recalled pulse sequence and the CT scanning protocols used clinically in patients. The absolute errors due to MR image distortion, CT scan resolution, and the image fusion inaccuracies were measured knowing the exact physical dimensions of the objects in the phantom. The isocentric accuracy of the Novalis gantry and the patient support system was measured using the Winston—Lutz test. Because inaccuracies are cumulative, to calculate the system's overall spatial accuracy, the root mean square (RMS) of all the errors was calculated. To validate the accuracy of the technique, a 1.5-mm-diameter spherical marker taped on top of a radiochromic film was fixed parallel to the x–z plane of the stereotactic coordinate system inside the phantom. The marker was defined as a target on the CT images, and seven noncoplanar circular arcs were used to treat the target on the film. The calculated system RMS value was then correlated with the position of the target and the highest density on the radiochromic film. The mean spatial errors due to image fusion and MR imaging were 0.41 ± 0.3 and 0.22 ± 0.1 mm, respectively. Gantry and couch isocentricities were 0.3 ± 0.1 and 0.6 ± 0.15 mm, respectively. The system overall RMS values were 0.9 and 0.6 mm with and without the couch errors included, respectively (isocenter variations due to couch rotation are microadjusted between couch positions). The positional verification of the marker was within 0.7 ± 0.1 mm of the highest optical density on the radiochromic film, correlating well with the system's overall RMS value. The overall mean system deviation was 0.32 ± 0.42 mm. Conclusions. The highest spatial errors were caused by image fusion and gantry rotation. A comprehensive quality-assurance program was developed for the authors' stereotactic radiosurgery program that includes medical imaging, linear accelerator mechanical isocentricity, and treatment delivery. For a successful treatment of trigeminal neuralgia with a 4-mm cone, the overall RMS value of equal to or less than 1 mm must be guaranteed.

Stereotactic radiation treatment planning and follow-up studies involving fused multimodality imaging

2004 ◽  
Vol 101 (Supplement3) ◽  
pp. 326-333 ◽  
Author(s):  
Klaus D. Hamm ◽  
Gunnar Surber ◽  
Michael Schmücking ◽  
Reinhard E. Wurm ◽  
Rene Aschenbach ◽  
...  
Keyword(s):  
Image Fusion ◽  
Treatment Planning ◽  
Radiation Treatment ◽  
Data Sets ◽  
Slice Thickness ◽  
Radiation Treatment Planning ◽  
Content Type ◽  
Follow Up Studies ◽  
Fine Print

Object. Innovative new software solutions may enable image fusion to produce the desired data superposition for precise target definition and follow-up studies in radiosurgery/stereotactic radiotherapy in patients with intracranial lesions. The aim is to integrate the anatomical and functional information completely into the radiation treatment planning and to achieve an exact comparison for follow-up examinations. Special conditions and advantages of BrainLAB's fully automatic image fusion system are evaluated and described for this purpose. Methods. In 458 patients, the radiation treatment planning and some follow-up studies were performed using an automatic image fusion technique involving the use of different imaging modalities. Each fusion was visually checked and corrected as necessary. The computerized tomography (CT) scans for radiation treatment planning (slice thickness 1.25 mm), as well as stereotactic angiography for arteriovenous malformations, were acquired using head fixation with stereotactic arc or, in the case of stereotactic radiotherapy, with a relocatable stereotactic mask. Different magnetic resonance (MR) imaging sequences (T1, T2, and fluid-attenuated inversion-recovery images) and positron emission tomography (PET) scans were obtained without head fixation. Fusion results and the effects on radiation treatment planning and follow-up studies were analyzed. The precision level of the results of the automatic fusion depended primarily on the image quality, especially the slice thickness and the field homogeneity when using MR images, as well as on patient movement during data acquisition. Fully automated image fusion of different MR, CT, and PET studies was performed for each patient. Only in a few cases was it necessary to correct the fusion manually after visual evaluation. These corrections were minor and did not materially affect treatment planning. High-quality fusion of thin slices of a region of interest with a complete head data set could be performed easily. The target volume for radiation treatment planning could be accurately delineated using multimodal information provided by CT, MR, angiography, and PET studies. The fusion of follow-up image data sets yielded results that could be successfully compared and quantitatively evaluated. Conclusions. Depending on the quality of the originally acquired image, automated image fusion can be a very valuable tool, allowing for fast (∼ 1–2 minute) and precise fusion of all relevant data sets. Fused multimodality imaging improves the target volume definition for radiation treatment planning. High-quality follow-up image data sets should be acquired for image fusion to provide exactly comparable slices and volumetric results that will contribute to quality contol.

Gamma knife surgery for trigeminal neuralgia: improved initial response with two isocenters and increasing dose

2005 ◽  
Vol 102 (Special_Supplement) ◽  
pp. 185-188 ◽  
Author(s):  
Tracy E. Alpert ◽  
Chung T. Chung ◽  
Lisa T. Mitchell ◽  
Charles J. Hodge ◽  
Craig T. Montgomery ◽  
...  
Keyword(s):  
Radiation Dose ◽  
Trigeminal Neuralgia ◽  
Gamma Knife ◽  
Linear Regression Analysis ◽  
Initial Response ◽  
Gamma Knife Surgery ◽  
Invasive Treatment ◽  
Content Type ◽  
Improvement Score ◽  
Fine Print

Object. The authors sought to evaluate the initial response of trigeminal neuralgia (TN) to gamma knife surgery (GKS) based on the number of shots delivered and radiation dose. Methods. Between September 1998 and September 2003, some 63 patients with TN refractory to medical or surgical management underwent GKS at Upstate Medical University. Ten patients had multiple sclerosis and 25 patients had undergone prior invasive treatment. Gamma knife surgery was delivered to the trigeminal nerve root entry zone in one shot in 27 patients or two shots in 36 patients. The radiation dose was escalated to less than or equal to 80 Gy in 20 patients, 85 Gy in 21 patients, and greater than or equal to 90 Gy in 22 patients. Pain before and after GKS was assessed using the Barrow Neurological Institute Pain Scale and the improvement score was analyzed as a function of dose grouping and number of shots. Sixty patients were available for evaluation, with an initial overall and complete response rate of 90% and 27%, respectively. There was a greater improvement score for patients who were treated with two shots compared with one shot, mean 2.83 compared with 1.72 (p < 0.001). There was an increased improvement in score at each dose escalation level: less than or equal to 80 Gy (p = 0.017), 85 Gy (p < 0.001), and greater than or equal to 90 Gy (p < 0.001). Linear regression analysis also indicated that there was a greater response with an increased dose (p = 0.021). Patients treated with two shots were more likely to receive a higher dose (p < 0.001). There were no severe complications. Five patients developed mild facial numbness. Conclusions. Gamma knife surgery is an effective therapy for TN. Initial response rates appear to correlate with the number of shots and dose.

Dynamic and Positioning Performances of Linear Electromechanical Actuator

2015 ◽  
Vol 809-810 ◽  
pp. 682-687
Author(s):  
Vasile Nasui ◽  
Mihai Banica ◽  
Dinu Darabă
Keyword(s):  
Dynamic Characteristics ◽  
Practical Importance ◽  
Correct Identification ◽  
Positioning System ◽  
Positioning Error ◽  
Servo Motor ◽  
Positioning Accuracy ◽  
Electromechanical Actuator ◽  
Initial Errors ◽  
Selection For

This paper presents the dynamic characteristics and the proposed positioning performance of the system to them investigated experimentally. In this research, we developed the positioning system and we evaluated positioning accuracy. The developed system uses a servo motor for motion actuation. In this paper, we focused on studying the dependency of the positioning error – elementary errors – the position of the conducting element for the mechanism of the transformation of the rotation translation movement, representatively the mechanism screw – screwdriver and on emphasizing the practical consequences in the field of design, regulation and exploitation of the correct identification of all the initial errors in the structure of the mechanism, their character and the selection for an ultimate calculus of these which are of a real practical importance.

scholarly journals Improved Visible Light-Based Indoor Positioning System Using Machine Learning Classification and Regression

2019 ◽  
Vol 9 (6) ◽  
pp. 1048 ◽  
Author(s):  
Huy Tran ◽  
Cheolkeun Ha
Keyword(s):  
Machine Learning ◽  
Visible Light ◽  
Noise Reduction ◽  
Indoor Positioning ◽  
Computational Time ◽  
Dual Function ◽  
Positioning System ◽  
Positioning Accuracy ◽  
Positioning Systems ◽  
Machine Learning Classification

Recently, indoor positioning systems have attracted a great deal of research attention, as they have a variety of applications in the fields of science and industry. In this study, we propose an innovative and easily implemented solution for indoor positioning. The solution is based on an indoor visible light positioning system and dual-function machine learning (ML) algorithms. Our solution increases positioning accuracy under the negative effect of multipath reflections and decreases the computational time for ML algorithms. Initially, we perform a noise reduction process to eliminate low-intensity reflective signals and minimize noise. Then, we divide the floor of the room into two separate areas using the ML classification function. This significantly reduces the computational time and partially improves the positioning accuracy of our system. Finally, the regression function of those ML algorithms is applied to predict the location of the optical receiver. By using extensive computer simulations, we have demonstrated that the execution time required by certain dual-function algorithms to determine indoor positioning is decreased after area division and noise reduction have been applied. In the best case, the proposed solution took 78.26% less time and provided a 52.55% improvement in positioning accuracy.

scholarly journals Favorable Outcome of Neonatal Cerebrospinal Fluid Shunt-Associated Candida Meningitis with Caspofungin

2013 ◽  
Vol 57 (5) ◽  
pp. 2391-2393 ◽  
Author(s):  
Jop Jans ◽  
Roger J. M. Brüggemann ◽  
V. Christmann ◽  
Paul E. Verweij ◽  
Adilia Warris
Keyword(s):  
Cerebrospinal Fluid ◽  
Medical Devices ◽  
Systemic Exposure ◽  
Favorable Outcome ◽  
Cerebrospinal Fluid Shunt ◽  
Device Removal ◽  
Content Type ◽  
Pharmacokinetic Assessment ◽  
Complex Cases

ABSTRACTInvasiveCandidainfections associated with medical devices are very difficult to cure without device removal. We present a case of neonatal cerebrospinal fluid shunt-associatedCandidameningitis, in which removal of the device was precluded, that was successfully treated with caspofungin. Pharmacokinetic assessment of caspofungin concentrations in cerebrospinal fluid showed that exposure was adequate in the presence of a high systemic exposure. In complex cases of neonatalCandidainfections involving medical devices, the addition of caspofungin might be beneficial.

scholarly journals An Ultra-Short Baseline Underwater Positioning System with Kalman Filtering

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 143
Author(s):  
Qinghua Luo ◽  
Xiaozhen Yan ◽  
Chunyu Ju ◽  
Yunsai Chen ◽  
Zhenhua Luo
Keyword(s):  
Phase Difference ◽  
Kalman Filtering ◽  
Negative Impact ◽  
Minimum Mean Square Error ◽  
Acoustic Signals ◽  
Positioning System ◽  
Short Baseline ◽  
Positioning Accuracy ◽  
Wrong Decision ◽  
Underwater Positioning

The ultra-short baseline underwater positioning is one of the most widely applied methods in underwater positioning and navigation due to its simplicity, efficiency, low cost, and accuracy. However, there exists environmental noise, which has negative impacts on the positioning accuracy during the ultra-short baseline (USBL) positioning process, which results in a large positioning error. The positioning result may lead to wrong decision-making in the latter processing. So, it is necessary to consider the error sources, and take effective measurements to minimize the negative impact of the noise. In our work, we propose a USBL positioning system with Kalman filtering to improve the positioning accuracy. In this system, we first explore a new kind of element array to accurately capture the acoustic signals from the object. We then organically combine the Kalman filters with the array elements to filter the acoustic signals, using the minimum mean-square error rule to obtain accurate acoustic signals. We got the high-precision phase difference information based on the non-equidistant quaternary original array and the phase difference acquisition mechanism. Finally, on account of the obtained accurate phase difference information and position calculation, we determined the coordinates of the underwater target. Comprehensive evaluation results demonstrate that our proposed USBL positioning method based on the Kalman filter algorithm can effectively enhance the positioning accuracy.

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