A pack hunting strategy for heterogeneous robots in rescue operations.

This study focuses on improving coordination among teams of heterogeneous robots, including unmanned aerial vehicles and unmanned ground vehicles, drawing inspiration from natural pack-hunting strategies. The goal is to increase the effectiveness of rescue operations using a new framework that combines hierarchical decision-making with decentralised control. The approach features dynamic target assignment and real-time task allocation based on a scoring function that considers multiple factors, such as the distance to the target, energy usage, communication ability, and potential for energy exchange.

M-fiducial phantom based fast automatic ultrasound calibration technique: A novel approach for 2D to 3D image registration.

This study introduces a novel M-fiducial phantom-based automatic ultrasound (US) calibration technique aimed at improving 2D to 3D image registration in ultrasound-guided procedures. The technique addresses limitations in existing methods by enhancing feature extraction capabilities and improving calibration accuracy. The proposed method utilizes an M-fiducial phantom, an extended version of the standard N-fiducial phantom, designed to facilitate automatic extraction with a linear probe, particularly in small field-of-view scenarios.

Sensorless Based Haptic Feedback Integration In Robot-assisted Pedicle Screw Insertion For Lumbar Spine Surgery: A preliminary cadaveric study.

Pedicle screw fixation is an essential surgical technique for addressing various spinal pathologies, including degenerative diseases, trauma, tumors, neoplasms, and infections. Despite its efficacy, the procedure poses significant challenges, notably the limited visibility of spinal anatomical landmarks and the consequent reliance on surgeon's hand-eye coordination. These challenges often result in inaccuracies and high radiation exposure due to the frequent use of fluoroscopy X-ray guidance.

Concurrent function of high-strength dry carbon fiber as resistive heating element and thermistor in ambient air.

Measuring temperature through carbon fiber reinforced plastics requires an implanted contact-based temperature sensor during resistive heating. Implanting the sensor brings about considerable complications in the heat-joining of soft biocompatible Carbon Fiber Reinforced Plastics (CFRPs). In this paper, the concurrent temperature-dependent Electrical Resistance (ER) behavior of Carbon Fiber (CF) tow along with resistive heating is introduced.

Interactive 3D Force/Torque Parameter Acquisition and Correlation Identification during Primary Trocar Insertion in Laparoscopic Abdominal Surgery: 5 Cases.

Laparoscopic procedures have become indispensable in gastrointestinal surgery. As a minimally invasive process, it begins with primary trocar insertion. However, this step poses the threat of injuries to the gastrointestinal tract and blood vessels.

Surface coating of orthopedic implant to enhance the osseointegration and reduction of bacterial colonization: a review.

The use of orthopedic implants in surgical technology has fostered restoration of physiological functions. Along with successful treatment, orthopedic implants suffer from various complications and fail to offer functions correspondent to native physiology. The major problems include aseptic and septic loosening due to bone nonunion and implant site infection due to bacterial colonization.

Endonasal endoscopic transsphenoidal approach robot prototype: A cadaveric trial.

Background: The Endonasal Endoscopic Transsphenoidal Surgery (EETS) is a minimally invasive procedure to approach and remove pituitary tumors and other sellar lesions. The process causes less pain, faster recovery, and provides further minimal invasive access in critical cases. However, a slight deviation of tools from the target area can be fatal to the patients.

Anatomical Workspace Study of Endonasal Endoscopic Transsphenoidal Approach.

Purpose: To determine the workspace through an anatomical dimensional study of the skull base to further facilitate the design of the robot for endonasal endoscopic transsphenoidal (EET) surgery.

Methods: There were 120 cases having a paranasal sinus CT scan in the database. The internal volumes of the nasal cavities (NC), the volumes of the sphenoid sinuses (SS), and the distance between the anterior nasal spine and base of the sellar (d-ANS-BS) were measured.

A Novel Design of N-Fiducial Phantom for Automatic Ultrasound Calibration.

Background: Freehand ultrasound (US) is a technique used to acquire three-dimensional (3D) US images using a tracked 2D US probe. Calibrating the probe with a proper calibration phantom improves the precision of the technique and allows several applications in computer-assisted surgery. N-fiducial phantom is widely used due to the robustness of precise fabrication and convenience of use.

On the feasibility of a liquid crystal polymer pressure sensor for intracranial pressure measurement.

Intracranial pressure (ICP) monitoring is crucial in determining the appropriate treatment in traumatic brain injury. Minimally invasive approaches to monitor ICP are subject to ongoing research because they are expected to reduce infections and complications associated with conventional devices. This study aims to develop a wireless ICP monitoring device that is biocompatible, miniature and implantable.

Analysis of Endonasal Endoscopic Transsphenoidal (EET) surgery pathway and workspace for path guiding robot design.

Background: Endoscopic Endonasal Transsphenoidal Surgery (EETS) is the standard method to treat pituitary adenoma, tumor in the pituitary gland which would affect human beings in terms of hormonal malfunction and other symptoms. This procedure provides extra minimal invasive access in severe cases. The objective of this paper is to design and develop a prototype of EET robot with navigation guidance system based on the study of EET workspace and pathway to determine a safe space for surgical tool insertion.

Breast biopsy navigation system with an assisted needle holder tool and 2D graphical user interface.

Objective: This paper proposes the development of a breast biopsy navigation system with an assisted needle holder tool for a coaxial needle and a graphical user interface, which utilizes an optical tracking device to localize the needle position relative to the ultrasound image with the aim to improve performance especially for a new radiologist or an inexperienced group.

Materials And Methods: The system consists of an assisted needle holder tool, which as an attachment for the 2D ultrasound transducer and the graphical user interface (GUI) that shows the needle pathway, needle line and warning signs. An optical tracking system is used to track the needle motion, ultrasound image and transform all information to with respect to the technique.