Increasing Reachability in Robotic Ultrasound Through Base Placement and Tool Design.

Background: Robotic ultrasound visualises internal organs in real-time for various medical applications without the harm of X-rays. The ultrasound probe is attached to the robot's end effector using custom-developed probe holders. This paper analyzes the impact of different probe holder geometries on the robot's base placement and reachability.

Robotic Assisted Ultrasound-Guided Endovascular Stent Implantation in a Vascular Model.

Background: Endovascular procedures are the preferred method for treating peripheral arterial disease. However, limited imaging options during these procedures, such as X-rays and contrast media, expose patients and healthcare professionals to potentially harmful radiation. This study introduces a robotic ultrasound system (RUSS) for navigating endovascular procedures in order to reduce radiation and provide additional information.

Corrigendum: SonoBox: development of a robotic ultrasound tomograph for the ultrasound diagnosis of paediatric forearm fractures.

[This corrects the article DOI: 10.3389/frobt.2024.

KISS-Keep It Static SLAMMOT-The Cost of Integrating Moving Object Tracking into an EKF-SLAM Algorithm.

The treatment of moving objects in simultaneous localization and mapping (SLAM) is a key challenge in contemporary robotics. In this paper, we propose an extension of the EKF-SLAM algorithm that incorporates moving objects into the estimation process, which we term KISS. We have extended the robotic vision toolbox to analyze the influence of moving objects in simulations.

SonoBox: development of a robotic ultrasound tomograph for the ultrasound diagnosis of paediatric forearm fractures.

Introduction: Paediatric forearm fractures are a prevalent reason for medical consultation, often requiring diagnostic X-rays that present a risk due to ionising radiation, especially concerning given the sensitivity of children's tissues. This paper explores the efficacy of ultrasound imaging, particularly through the development of the SonoBox system, as a safer, non-ionising alternative. With emerging evidence supporting ultrasound as a viable method for fracture assessment, innovations like SonoBox will become increasingly important.

Automatic robotic doppler sonography of leg arteries.

Purpose: Robot-assisted systems offer an opportunity to support the diagnostic and therapeutic treatment of vascular diseases to reduce radiation exposure and support the limited medical staff in vascular medicine. In the diagnosis and follow-up care of vascular pathologies, Doppler ultrasound has become the preferred diagnostic tool. The study presents a robotic system for automatic Doppler ultrasound examinations of patients' leg vessels.

Large area robotically assisted optical coherence tomography (LARA-OCT).

We demonstrate large-area robotically assisted optical coherence tomography (LARA-OCT), utilizing a seven-degree-of-freedom robotic arm in conjunction with a 3.3 MHz swept-source OCT to raster scan samples of arbitrary shape. By combining multiple fields of view (FOV), LARA-OCT can probe a much larger area than conventional OCT.

Ultrasonic Aspirator for Tissue Contact Detection: An Online Classification on Time-Series.

The goal of neurosurgical tumor surgery is to remove the tumor completely without damaging healthy brain structures and thereby impairing the patient's neurological functions. This requires careful planning and execution of the operation by experienced neurosurgeons using the latest intraoperative technologies to achieve safe and rapid tumor reduction without harming the patient. To achieve this goal, a standard ultrasonic aspirator designed for tissue removal is equipped with additional intraoperative tissue detection using machine learning methods.

Recurrent neural networks for generalization towards the vessel geometry in autonomous endovascular guidewire navigation in the aortic arch.

Purpose: Endovascular intervention is the state-of-the-art treatment for common cardiovascular diseases, such as heart attack and stroke. Automation of the procedure may improve the working conditions of physicians and provide high-quality care to patients in remote areas, posing a major impact on overall treatment quality. However, this requires the adaption to individual patient anatomies, which currently poses an unsolved challenge.

Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves.

To deal with the problem of optimal path planning in 2D space, this paper introduces a new toolbox named "Navigation with Polytopes" and explains the algorithms behind it. The toolbox allows one to create a polytopic map from a standard grid map, search for an optimal corridor, and plan a safe B-spline reference path used for mobile robot navigation. Specifically, the B-spline path is converted into its equivalent Bézier representation via a novel calculation method in order to reduce the conservativeness of the constrained path planning problem.

Augmenting Image-Guided Procedures through In Situ Visualization of 3D Ultrasound via a Head-Mounted Display.

Medical ultrasound (US) is a commonly used modality for image-guided procedures. Recent research systems providing an in situ visualization of 2D US images via an augmented reality (AR) head-mounted display (HMD) were shown to be advantageous over conventional imaging through reduced task completion times and improved accuracy. In this work, we continue in the direction of recent developments by describing the first AR HMD application visualizing real-time volumetric (3D) US in situ for guiding vascular punctures.

Landmark tracking in 4D ultrasound using generalized representation learning.

Purpose: In this study, we present and validate a novel concept for target tracking in 4D ultrasound. The key idea is to replace image patch similarity metrics by distances in a latent representation. For this, 3D ultrasound patches are mapped into a representation space using sliced-Wasserstein autoencoders.

Toward intraoperative tissue classification: exploiting signal feedback from an ultrasonic aspirator for brain tissue differentiation.

Purpose: During brain tumor surgery, care must be taken to accurately differentiate between tumorous and healthy tissue, as inadvertent resection of functional brain areas can cause severe consequences. Since visual assessment can be difficult during tissue resection, neurosurgeons have to rely on the mechanical perception of tissue, which in itself is inherently challenging. A commonly used instrument for tumor resection is the ultrasonic aspirator, whose system behavior is already dependent on tissue properties.

UltrARsound: in situ visualization of live ultrasound images using HoloLens 2.

Purpose: Augmented Reality (AR) has the potential to simplify ultrasound (US) examinations which usually require a skilled and experienced sonographer to mentally align narrow 2D cross-sectional US images in the 3D anatomy of the patient. This work describes and evaluates a novel approach to track retroreflective spheres attached to the US probe using an inside-out technique with the AR glasses HoloLens 2. Finally, live US images are displayed in situ on the imaged anatomy.

Using Deep Neural Networks to Improve Contact Wrench Estimation of Serial Robotic Manipulators in Static Tasks.

Reliable force-driven robot-interaction requires precise contact wrench measurements. In most robot systems these measurements are severely incorrect and in most manipulation tasks expensive additional force sensors are installed. We follow a learning approach to train the dependencies between joint torques and end-effector contact wrenches.

Aortic Valve Leaflet Shape Synthesis With Geometric Prior From Surrounding Tissue.

Even though the field of medical imaging advances, there are structures in the human body that are barely assessible with classical image acquisition modalities. One example are the three leaflets of the aortic valve due to their thin structure and high movement. However, with an increasing accuracy of biomechanical simulation, for example of the heart function, and extense computing capabilities available, concise knowledge of the individual morphology of these structures could have a high impact on personalized therapy and intervention planning as well as on clinical research.

Medical Device Development for Children and Young People-Reviewing the Challenges and Opportunities.

Development of specific medical devices (MDs) is required to meet the healthcare needs of children and young people (CYP). In this context, MD development should address changes in growth and psychosocial maturation, physiology, and pathophysiology, and avoid inappropriate repurposing of adult technologies. Underpinning the development of MD for CYP is the need to ensure MD safety and effectiveness through pediatric MD-specific regulations.

Instrument localisation for endovascular aneurysm repair: Comparison of two methods based on tracking systems or using imaging.

Background: In endovascular aneuysm repair (EVAR) procedures, medical instruments are currently navigated with a two-dimensional imaging based guidance requiring X-rays and contrast agent.

Methods: Novel approaches for obtaining the three-dimensional instrument positions are introduced. Firstly, a method based on fibre optical shape sensing, one electromagnetic sensor and a preoperative computed tomography (CT) scan is described.

Towards automated ultrasound imaging-robotic image acquisition in liver and prostate for long-term motion monitoring.

Real-time volumetric (4D) ultrasound has shown high potential for diagnostic and therapy guidance tasks. One of the main drawbacks of ultrasound imaging to date is the reliance on manual probe positioning and the resulting user dependence. Robotic assistance could help overcome this issue and facilitate the acquisition of long-term image data to observe dynamic processesover time.

Interdisciplinary Clinical Target Volume Generation for Cardiac Radioablation: Multicenter Benchmarking for the RAdiosurgery for VENtricular TAchycardia (RAVENTA) Trial.

Purpose: Cardiac radioablation is a novel treatment option for therapy-refractory ventricular tachycardia (VT) ineligible for catheter ablation. Three-dimensional clinical target volume (CTV) definition is a key step, and this complex interdisciplinary procedure includes VT-substrate identification based on electroanatomical mapping (EAM) and its transfer to the planning computed tomography (PCT). Benchmarking of this process is necessary for multicenter clinical studies such as the RAVENTA trial.

Tumor-dose-rate variations during robotic radiosurgery of oligo and multiple brain metastases.

Purpose: For step-and-shoot robotic stereotactic radiosurgery (SRS) the dose delivered over time, called local tumor-dose-rate (TDR), may strongly vary during treatment of multiple lesions. The authors sought to evaluate technical parameters influencing TDR and correlate TDR to clinical outcome.

Material And Methods: A total of 23 patients with 162 oligo (1-3) and multiple (>3) brain metastases (OBM/MBM) treated in 33 SRS sessions were retrospectively analyzed.

Three-dimensional guidance including shape sensing of a stentgraft system for endovascular aneurysm repair.

Purpose: During endovascular aneurysm repair (EVAR) procedures, medical instruments are guided with two-dimensional (2D) fluoroscopy and conventional digital subtraction angiography. However, this requires X-ray exposure and contrast agent is used, and the depth information is missing. To overcome these drawbacks, a three-dimensional (3D) guidance approach based on tracking systems is introduced and evaluated.

Feasibility of an endovascular training and research environment with exchangeable patient specific 3D printed vascular anatomy: Simulator with exchangeable patient-specific 3D-printed vascular anatomy for endovascular training and research.

Purpose: Endovascular interventions have become standard procedures for the therapy of abdominal aortic aneurysms. Therefore, endovascular surgeons need special skills which have to be learned and trained. Additionally, authentic simulators are needed for further development of new endovascular devices and procedures.

Navigation and visualisation with HoloLens in endovascular aortic repair.

Introduction: Endovascular aortic repair (EVAR) is a minimal-invasive technique that prevents life-threatening rupture in patients with aortic pathologies by implantation of an endoluminal stent graft. During the endovascular procedure, device navigation is currently performed by fluoroscopy in combination with digital subtraction angiography. This study presents the current iterative process of biomedical engineering within the disruptive interdisciplinary project , which includes advanced navigation, image techniques and augmented reality with the aim of reducing side effects (namely radiation exposure and contrast agent administration) and optimising visualisation during EVAR procedures.

In-vivo treatment accuracy analysis of active motion-compensated liver SBRT through registration of plan dose to post-therapeutic MRI-morphologic alterations.

Background/purpose: In-vivo-accuracy analysis (IVA) of dose-delivery with active motion-management (gating/tracking) was performed based on registration of post-radiotherapeutic MRI-morphologic-alterations (MMA) to the corresponding dose-distributions of gantry-based/robotic SBRT-plans.

Methods: Forty targets in two patient cohorts were evaluated: (1) gantry-based SBRT (deep-inspiratory breath-hold-gating; GS) and (2) robotic SBRT (online fiducial-tracking; RS). The planning-CT was deformably registered to the first post-treatment contrast-enhanced T1-weighted MRI.