Proof-of-concept of a robotic-driven photogrammetric scanner for intra-operative knee cartilage repair.

This work presents a proof-of-concept of a robotic-driven intra-operative scanner designed for knee cartilage lesion repair, part of a system for direct in vivo bioprinting. The proposed system is based on a photogrammetric pipeline, which reconstructs the cartilage and lesion surfaces from sets of photographs acquired by a robotic-handled endoscope, and produces 3D grafts for further printing path planning. A validation on a synthetic phantom is presented, showing that, despite the cartilage smooth and featureless surface, the current prototype can accurately reconstruct osteochondral lesions and their surroundings with mean error values of 0.

Fast and versatile platform for pedicle screw insertion planning.

Purpose: Computer-assisted surgical planning methods help to reduce the risks and costs in transpedicular fixation surgeries. However, most methods do not consider the speed and versatility of the planning as factors that improve its overall performance. In this work, we propose a method able to generate surgical plans in minimal time, within the required safety margins and accounting for the surgeon's personal preferences.

Surgical planning assistance in keyhole and percutaneous surgery: A systematic review.

Surgical planning of percutaneous interventions has a crucial role to guarantee the success of minimally invasive surgeries. In the last decades, many methods have been proposed to reduce clinician work load related to the planning phase and to augment the information used in the definition of the optimal trajectory. In this survey, we include 113 articles related to computer assisted planning (CAP) methods and validations obtained from a systematic search on three databases.

Knowledge-based automated planning system for StereoElectroEncephaloGraphy: A center-based scenario.

Surgical planning for StereoElectroEncephaloGraphy (SEEG) is a complex and patient specific task, where the experience and medical workflow of each institution may influence the final planning choices. To account for this variability, we developed a data-based Computer Assisted Planning (CAP) solution able to exploit the knowledge extracted by past cases. By the analysis of retrospective patients' data sets, our system proposes a pool of trajectories commonly used by the institution, which can be selected to initialize a new patient plan.

White and grey matter development in utero assessed using motion-corrected diffusion tensor imaging and its comparison to ex utero measures.

Objective: Fetal brain diffusion tensor imaging (DTI) offers quantitative analysis of the developing brain. The objective was to 1) quantify DTI measures across gestation in a cohort of fetuses without brain abnormalities using full retrospective correction for fetal head motion 2) compare results obtained in utero to those in preterm infants.

Materials And Methods: Motion-corrected DTI analysis was performed on data sets obtained at 1.

Experience-based SEEG planning: from retrospective data to automated electrode trajectories suggestions.

StereoElectroEncephaloGraphy (SEEG) is a minimally invasive technique that consists of the insertion of multiple intracranial electrodes to precisely identify the epileptogenic focus. The planning of electrode trajectories is a cumbersome and time-consuming task. Current approaches to support the planning focus on electrode trajectory optimisation based on geometrical constraints but are not helpful to produce an initial electrode set to begin with the planning procedure.

A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait.

The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame.

Self-Calibrated In-Process Photogrammetry for Large Raw Part Measurement and Alignment before Machining.

Photogrammetry methods are being used more and more as a 3D technique for large scale metrology applications in industry. Optical targets are placed on an object and images are taken around it, where measuring traceability is provided by precise off-process pre-calibrated digital cameras and scale bars. According to the 2D target image coordinates, target 3D coordinates and camera views are jointly computed.

Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation.

Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury).

A review of surgical robots for spinal interventions.

Background: This study aimed to describe the state of the art in surgical robotics for spinal interventions, a challenging problem for which robots can provide valuable assistance.

Methods: Multiple electronic databases were searched for articles published during the last 10 years (2002-2012). Results were refined by defined inclusion criteria.

Volume visualization using a spatially aware mobile display device.

Volume visualization is a difficult three-dimensional task and a significant amount of research is devoted to the development of a suitable computer input device for it. Most of the proposed models use fixed displays, thus rendering extracted slices in orientations unrelated to their real locations within the volume. We present a new device which takes a different approach, as it leaves the volume in a fixed location and demands the user to change his or her posture to explore it from different angles.