AIMC Topic: Needles
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Computed tomography (CT)-compatible remote center of motion needle steering robot: Fusing CT images and electromagnetic sensor data.
Medical engineering & physics
May 13, 2017
Lung cancer is the most common cause of cancer-related death, and early detection can reduce the mortality rate. Patients with lung nodules greater than 10 mm usually undergo a computed tomography (CT)-guided biopsy. However, aligning the needle with...
Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation.
The international journal of medical robotics + computer assisted surgery : MRCAS
Feb 20, 2017
BACKGROUND: Haptic feedback has been proven to play a key role in enhancing the performance of teleoperated medical procedures. However, due to safety issues, commercially-available medical robots do not currently provide the clinician with haptic fe...
The Role of Direct and Visual Force Feedback in Suturing Using a 7-DOF Dual-Arm Teleoperated System.
IEEE transactions on haptics
Oct 12, 2016
The lack of haptic feedback in robotics-assisted surgery can result in tissue damage or accidental tool-tissue hits. This paper focuses on exploring the effect of haptic feedback via direct force reflection and visual presentation of force magnitudes...
Towards human-controlled, real-time shape sensing based flexible needle steering for MRI-guided percutaneous therapies.
The international journal of medical robotics + computer assisted surgery : MRCAS
Aug 4, 2016
BACKGROUND: Accurate needle placement into soft tissue is essential to percutaneous prostate cancer diagnosis and treatment procedures.
Refractometry
Transducers
Micro-Electrical-Mechanical Systems
Magnetic Resonance Imaging, Interventional
Phantoms, Imaging
Injections
Humans
Equipment Failure Analysis
Needles
Reproducibility of Results
Man-Machine Systems
Image-Guided Biopsy
Sensitivity and Specificity
Systems Integration
Feedback
Computer Systems
Robotics
Equipment Design
Automatic entry point planning for robotic post-mortem CT-based needle placement.
Forensic science, medicine, and pathology
Jul 15, 2016
INTRODUCTION: Post-mortem computed tomography guided placement of co-axial introducer needles allows for the extraction of tissue and liquid samples for histological and toxicological analyses. Automation of this process can increase the accuracy and...
A novel curvature-controllable steerable needle for percutaneous intervention.
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine
May 19, 2016
Over the last few decades, flexible steerable robotic needles for percutaneous intervention have been the subject of significant interest. However, there still remain issues related to (a) steering the needle's direction with less damage to surroundi...
Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy.
PloS one
Mar 16, 2016
The "robotic-assisted liver tumor coagulation therapy" (RALTCT) system is a promising candidate for large liver tumor treatment in terms of accuracy and speed. A prerequisite for effective therapy is accurate surgical planning. However, it is difficu...
Robot-assisted needle insertion for venous catheterization.
Einstein (Sao Paulo, Brazil)
Aug 21, 2015
Vein access can be challenging for a variety of patients. The development of robots-assisted central or peripheral veins puncture would facilitate life of health professionals and patients. New robots are under development for this purpose and probab...
Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions.
The international journal of medical robotics + computer assisted surgery : MRCAS
Aug 12, 2015
BACKGROUND: To propose a human-operated in-room master-slave bevel-tip needle steering system under continuous MRI guidance for prostate biopsy, in which the patient is kept in the scanner at all times and the process of needle placement is under con...
Comparison of CT Fluoroscopy-Guided Manual and CT-Guided Robotic Positioning System for In Vivo Needle Placements in Swine Liver.
Cardiovascular and interventional radiology
Nov 7, 2014
PURPOSE: To compare CT fluoroscopy-guided manual and CT-guided robotic positioning system (RPS)-assisted needle placement by experienced IR physicians to targets in swine liver.
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