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International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS

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https://www.readbyqxmd.com/read/29356304/fast-image-based-mitral-valve-simulation-from-individualized-geometry
#1
Pierre-Frederic Villard, Peter E Hammer, Douglas P Perrin, Pedro J Del Nido, Robert D Howe
BACKGROUND: Common surgical procedures on the mitral valve of the heart include modifications to the chordae tendineae. Such interventions are used when there is extensive leaflet prolapse caused by chordae rupture or elongation. Understanding the role of individual chordae tendineae before operating could be helpful to predict whether the mitral valve will be competent at peak systole. Biomechanical modelling and simulation can achieve this goal. METHODS: We present a method to semi-automatically build a computational model of a mitral valve from micro CT (computed tomography) scans: after manually picking chordae fiducial points, the leaflets are segmented and the boundary conditions as well as the loading conditions are automatically defined...
January 22, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29349908/robotic-assisted-coronary-artery-bypass-surgery-an-18-year-single-centre-experience
#2
Vincenzo Giambruno, Michael W Chu, Cristina Cucchietti, Douglas W Boyd, Bob Kiaii
BACKGROUND: Minimally invasive robot-assisted direct coronary artery bypass (RADCAB) has emerged as a feasible minimally invasive surgical technique for revascularization that might offer several potential advantages over conventional approaches. We present our 18-year experience in RADCAB. METHODS: Between February 1998 and February 2016, 605 patients underwent RADCAB. Patients underwent post-procedural selective graft patency assessment using cardiac catheterization...
January 19, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29336121/inter-and-intra-operator-reliability-in-patient-specific-template-positioning-for-total-hip-arthroplasty-a-cadaver-study
#3
Manuel Krämer, Lüder A Kahrs, Karl-Ingo Friese, Christian von Falck, Christof Hurschler
BACKGROUND: The implantation of the acetabular cup essentially determines the clinical outcome of total hip arthroplasty. To address this issue, the aim of this study was to build patient-specific instruments (PSIs) with various reference surfaces, followed by in vitro investigations to examine the inter- and intra-operator reliability as well as the overall precision of these patient-specific templates. METHODS: Seven human hemi-pelvis specimens were used for this study...
January 15, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29318778/operator-dynamics-for-stability-condition-in-haptic-and-teleoperation-system-a-survey
#4
REVIEW
Hongbing Li, Lei Zhang, Kenji Kawashima
BACKGROUND: Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. METHODS: The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems...
January 10, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29318725/using-optical-tracking-for-kinematic-testing-of-medical-robots
#5
Changhan Jun, Ryan Decker, Dan Stoianovici
BACKGROUND: In image-guided robotic interventions, an error component is related to the positioning error of the manipulator. Therefore, measuring the kinematic error is required during robot development. However, no specialized measurement device exists for this task. This study explores the possibility of using optical tracking for robot measurement. METHODS: A CNC machine is used to position an optical marker, generating a gold standard reference. Repeated position measurements are acquired with an NDI Polaris Hybrid® optical tracker at each static location, and averaged...
January 10, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29316270/robot-guided-stereoelectroencephalography-without-a-computed-tomography-scan-for-referencing-analysis-of-accuracy
#6
Andrea Spyrantis, Adriano Cattani, Adam Strzelczyk, Felix Rosenow, Volker Seifert, Thomas M Freiman
OBJECTIVE: Recent studies with robot-guided stereotaxy use computed tomography (CT) scans for referencing. We will provide evidence that using preoperative MRI datasets referenced with a laser scan of the patient's face is sufficient for sEEG implantation. METHODS: In total, 40 sEEG electrodes were implanted in five patients by the robotic surgical assistant (ROSA). The postoperative CT scan for identifying electrode positions was fused with the preoperative MRI-based planning data...
January 8, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29316179/a-novel-planning-solution-for-semi-autonomous-aspiration-of-baker-s-cysts
#7
Adam Ciszkiewicz, Jacek Lorkowski, Grzegorz Milewski
No abstract text is available yet for this article.
January 8, 2018: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29282850/endoscopic-navigation-system-with-extended-field-of-view-using-augmented-reality-technology
#8
Jae Hwan Bong, Hyun-Jong Song, Yoojin Oh, Namji Park, Hyungmin Kim, Shinsuk Park
BACKGROUND: While endoscopic skull base surgery (ESBS) has emerged as an alternative surgical option, the limited field of view of the endoscope may lead to the surgeon's fatigue and discomfort. METHODS: The developed navigation system includes extended augmented reality (AR), which can provide an extended viewport to a conventional endoscopic view by overlaying 3D anatomical models generated from preoperative medical images onto endoscope images. To enhance the accuracy of the developed system, we adopted state-of-the-art endoscopic calibration and tracking techniques based on an optical tracking system...
December 28, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29266806/camera-augmented-mobile-c-arm-camc-a-feasibility-study-of-augmented-reality-imaging-in-the-operating-room
#9
Anna Maria von der Heide, Pascal Fallavollita, Lejing Wang, Philipp Sandner, Nassir Navab, Simon Weidert, Ekkehard Euler
BACKGROUND: In orthopaedic trauma surgery, image-guided procedures are mostly based on fluoroscopy. The reduction of radiation exposure is an important goal. The purpose of this work was to investigate the impact of a camera-augmented mobile C-arm (CamC) on radiation exposure and the surgical workflow during a first clinical trial. METHODS: Applying a workflow-oriented approach, 10 general workflow steps were defined to compare the CamC to traditional C-arms. The surgeries included were arbitrarily identified and assigned to the study...
December 21, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29266695/visual-and-tactile-feedback-for-a-direct-manipulating-tactile-sensor-in-laparoscopic-palpation
#10
Tomohiro Fukuda, Yoshihiro Tanaka, Astrid M L Kappers, Michitaka Fujiwara, Akihito Sano
BACKGROUND: A surgeon's tactile sense can contribute to intraoperative tumor detection, but it is limited by laparoscopic surgery. METHODS: We have developed a simple and biocompatible tactile sensor. This study aimed to design and evaluate visual and tactile feedback from the sensor for laparoscopic tumor detection. A line graph was offered through a monitor as the visual feedback. A normal force was presented to the user's foot as the tactile feedback. Twelve novices conducted a task of detecting a phantom tumor under 4 conditions (no feedback, visual feedback, tactile feedback and a combination of both types of feedback)...
December 21, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29232764/brain-biopsy-performed-with-the-ronna-g3-system-a-case-study-on-using-a-novel-robotic-navigation-device-for-stereotactic-neurosurgery
#11
Domagoj Dlaka, Marko Švaco, Darko Chudy, Bojan Jerbić, Bojan Šekoranja, Filip Šuligoj, Josip Vidaković, Fadi Almahariq, Dominik Romić
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 brain lesion was performed. RESULTS: Three tissue samples were obtained...
December 12, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29230932/a-multi-modality-tracking-navigation-and-calibration-for-a-flexible-robotic-drill-system-for-total-hip-arthroplasty
#12
Ahmad Nazmi Bin Ahmad Fuad, Kamal Deep, Wei Yao
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 optical and kinematic tracking. The tracking information is used to guide the THA (total hip arthroplasty) procedure, providing a real-time virtual model of the flexible drill...
December 12, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29205787/system-for-ct-guided-needle-placement-in-the-thorax-and-abdomen-a-design-for-clinical-acceptability-applicability-and-usability
#13
Maarten M Arnolli, Martijn Buijze, Michel Franken, Koert P de Jong, Dannis M Brouwer, Ivo A M J Broeders
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 around the patient at the desired entry point and lockable by push-button to the CT table...
December 5, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29205769/highly-dexterous-2-module-soft-robot-for-intra-organ-navigation-in-minimally-invasive-surgery
#14
Haider Abidi, Giada Gerboni, Margherita Brancadoro, Alessandro Diodato, Matteo Cianchetti, Helge Wurdemann, Kaspar Althoefer, Arianna Menciassi
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 fluidic actuators (FFAs) allowing highly dexterous and inherently safe navigation...
December 5, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29193643/performance-metrics-for-guidance-active-constraints-in-surgical-robotics
#15
Nima Enayati, Giancarlo Ferrigno, Elena De Momi
Active constraint (AC)/virtual fixture (VF) is among the most popular approaches towards the shared execution of subtasks by the surgeon and robotic systems. As more possibilities appear for the implementation of ACs in surgical scenarios, the need to introduce methods that guarantee a safe and intuitive user-interaction increases. The presence of the human in the loop adds a layer of interactivity and adaptability that renders the assessment of such methods non-trivial. In most works, guidance ACs have been evaluated mainly in terms of enhancement of accuracy and completion time with little regard for other aspects such as human factors, even though the continuous engagement of these methods can considerably degrade the user experience...
November 28, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29193606/real-time-probe-tracking-using-em-optical-sensor-for-mri-guided-cryoablation
#16
Wenpeng Gao, Baichuan Jiang, Daniel F Kacher, Barry Fetics, Erez Nevo, Thomas C Lee, Jagadeesan Jayender
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 under the scanner's magnetic field to compensate the line-of-sight issue of optical tracking...
November 28, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29168288/robotic-strong-s-procedure-for-the-treatment-of-superior-mesenteric-artery-syndrome-description-of-surgical-technique-on-occasion-of-the-first-reported-case-in-the-literature
#17
Harilaos Konstantinidis, Christos Charisis, Panagiotis Kottos
BACKROUND: Superior Mesenteric Artery Syndrome (SMAS) is a rare disorder caused by compression of the third portion of the duodenum by the SMA. Once a conservative approach fails, usual surgical strategies include Duodenojejunostomy and Strong's procedure. The latter avoids potential anastomotic risks and complications. Robotic Strong's procedure (RSP) combines both the benefits of a minimal invasive approach and also enchased robotic accuracy and efficacy. METHODS: For a young girl who was unsuccessfully treated conservatively, the paper describes the RSP surgical technique...
November 23, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29125206/a-comparative-analysis-and-guide-to-virtual-reality-robotic-surgical-simulators
#18
Danielle Julian, Alyssa Tanaka, Patricia Mattingly, Mireille Truong, Manuela Perez, Roger Smith
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 robotic simulators are now commercially available for educational and training purposes. There is a need for comparative evaluations of these simulators to aid users in selecting an appropriate device for their purposes...
November 10, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29105982/trends-in-the-diffusion-of-robotic-surgery-a-retrospective-observational-study
#19
Hani J Marcus, Archie Hughes-Hallett, Christopher J Payne, Thomas P Cundy, Dipankar Nandi, Guang-Zhong Yang, Ara Darzi
BACKGROUND: Recent studies have suggested that the use of robotic surgery for prostatectomy has been increasing, but characterization of the diffusion of robotic surgery in other procedures has not been available. METHODS: Data were analysed for the years 2006-2014 using hospital episode statistics (HES), a database of all admissions to National Health Service (NHS) hospitals in England. OPCS codes were used to determine the annual number of prostatectomy, partial nephrectomy, and total abdominal hysterectomy procedures...
November 6, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/29105281/semi-autonomous-image-guided-brain-tumour-resection-using-an-integrated-robotic-system-a-bench-top-study
#20
Danying Hu, Yuanzheng Gong, Eric J Seibel, Laligam N Sekhar, Blake Hannaford
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 for image-guided robotic brain surgery. The Behavior Tree framework is explored to coordinate cross-platform medical subtasks...
November 3, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
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