International journal of computer assisted radiology and surgery
31289997
PURPOSE: Current manual catheters for transbronchial biopsy in the lung lack a steering ability, which hampers a physician's ability to reach nodules in the peripheral lung. The objective of this paper is to design and build a multisection robot with...
International journal of computer assisted radiology and surgery
31646436
PURPOSE: In minimally invasive surgery and endoscopy, the rise of soft robotics, using materials of similar softness as biological soft tissues, opens many new opportunities. Soft actuated catheters could become an alternative to current steerable ca...
This paper presents the design, fabrication, and test results for a novel basket catheter that utilizes soft robotic technology, which can conform to complex patient anatomy. Two designs of basket-shaped balloons in three sizes are fabricated based o...
Computer methods and programs in biomedicine
32171151
Background and objectivesAutomated segmentation and tracking of surgical instruments and catheters under X-ray fluoroscopy hold the potential for enhanced image guidance in catheter-based endovascular procedures. This article presents a novel method ...
Journal of ultrasound in medicine : official journal of the American Institute of Ultrasound in Medicine
32181922
OBJECTIVES: We sought to create a deep learning (DL) algorithm to identify vessels, bones, nerves, and tendons on transverse upper extremity (UE) ultrasound (US) images to enable providers new to US-guided peripheral vascular access to identify anato...
Computer methods and programs in biomedicine
32738678
BACKGROUND AND OBJECTIVE: Peripherally inserted central catheter (PICC) is a novel drug delivery mode which has been widely used in clinical practice. However, long-term retention and some improper actions of patients may cause some severe complicati...
The goal of this study was to propose and validate a control framework with level-2 autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a kinematic model for the flexible portion of typical ablation catheters was dev...
Owing to their compliance, lightweight, and high force density characteristics, pneumatic actuation systems have been widely implemented in various soft robots. However, pneumatic actuation systems exhibit low efficiency, poor control performance, an...
Minimally invasive medical procedures, such as endovascular catheterization, have considerably reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain inaccessible due...