Int J Rob Res
Robotics, Automation, and Medical Systems (RAMS) Laboratory, Maryland Robotics Center, Institute for System Research, University of Maryland, College Park, MD, USA.
Published: April 2014
Magnetic Resonance Imaging (MRI) provides superior soft-tissue contrast in cancer diagnosis compared to other imaging modalities. However, the strong magnetic field inside the MRI bore along with limited scanner bore size poses significant challenges. Since current approaches in breast biopsy using MR images is primarily a blind targeting approach, it is necessary to develop a MRI-compatible robot that can avoid multiple needle insertions into the breast tissue. This MRI-compatible robotic system could potentially lead to improvement in the targeting accuracy and reduce sampling errors. A master-slave surgical system has been developed comprising of a MRI-compatible slave robot which consists of one piezo motor and five pneumatic cylinders connected by long pneumatic transmission lines. The slave robot follows the configuration of the master robot, which provides an intuitive manipulation interface for the physician and operates inside the MRI bore to adjust the needle position and orientation and perform needle insertion task. Based on the MRI experiments using the slave robot, there was no significant distortion in the images and hence the slave robot can be safely operated inside the MRI with minimal loss in signal-to-noise ratio (SNR). and experiments have been conducted to evaluate the performance of the master-slave surgical system.
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http://dx.doi.org/10.1177/0278364913500365 | DOI Listing |
World Neurosurg
January 2025
Bhabha Atomic Research Centre, Mumbai, India-400085.
This paper deals with neuro-registration using tele-manipulation (Master-Slave Manipulation) to facilitate tele-surgery and enhance the overall accuracy and reach of the robot-assisted neurosurgery. Accurate Neuro-registration is important as the success of the surgical procedure highly depends on it. A 6-degree-of-freedom Parallel Kinematic Mechanism (6D-PKM) master-slave robot in tele-manipulation mode is utilized for both neuro-registration and neurosurgery.
View Article and Find Full Text PDFSurg Endosc
November 2024
Gansu Provincial Hospital, Lanzhou, 730000, China.
Background: In addition to the Da Vinci surgical robot, domestic surgical robots are being developed rapidly. Chinese Toumai® laparoscopic surgical robot was approved for urological surgery in 2022.This study aims to systematically evaluate the safety and efficacy of the Toumai® robotic surgical system in performing complex gastrointestinal surgeries.
View Article and Find Full Text PDFUrology
November 2024
Department of Urology, Gansu Provincial Hospital, Lanzhou 730000, China.
Soft Robot
October 2024
School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, P. R. China.
The unique rigid-flex connection between the fin-rays and fin-surface in a bionic undulatory fin robot endows the fin-surface with both active flexibility and load-bearing capacity, enabling this robot to perform amphibious motions in underwater, terrestrial, and even marshy environments. However, investigations into dynamic modeling problems for the undulatory fin robot, considering the impact of nonlinear deformation and frictional contact on ground locomotion performance, are scarce. Given this, based on the absolute nodal coordinate formulation (ANCF), this paper presents an efficient and accurate nonlinear dynamic model for this robot to elucidate the fin's flexible deformation and motion law.
View Article and Find Full Text PDFInjury
November 2024
School of Mechatronic Engineering and Automation, Shanghai University, China.
Purpose: This paper evaluates the accuracy and safety of a long bone fracture reduction robot under different surgical modes.
Methods: A long bone fracture reduction robot system was developed, which can be controlled via an autonomous surgical mode or a master-slave surgical mode. Reduction experiments were conducted on a long bone cadaver specimen.
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