Robot-assisted flexible needle insertion using universal distributional deep reinforcement learning
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Computer Assisted Radiology and Surgery"
DOI: 10.1007/s11548-019-02098-7
Abstract: Purpose Flexible needle insertion is an important minimally invasive surgery approach for biopsy and radio-frequency ablation. This approach can minimize intraoperative trauma and improve postoperative recovery. We propose a new path planning framework using multi-goal… read more here.
Keywords: framework; insertion; flexible needle; reinforcement learning ... See more keywords
Evaluation of a pneumatic surgical robot with dynamic force feedback
Sign Up to like & getrecommendations! Published in 2018 at "Journal of Robotic Surgery"
DOI: 10.1007/s11701-018-0878-2
Abstract: Robot-assisted surgery is limited by the lack of haptic feedback and increased operating times. Force scaling adjusts feedback transmitted to the operator through the use of scaling factors. Herein, we investigate how force scaling affects… read more here.
Keywords: feedback; robot; scaling factors; force ... See more keywords
A Computational Multilayer Model to Simulate Hollow Needle Insertion into Biological Porcine Liver Tissue.
Sign Up to like & getrecommendations! Published in 2021 at "Acta biomaterialia"
DOI: 10.1016/j.actbio.2021.09.057
Abstract: BACKGROUND Modelling of needle insertion in soft tissue has developed significant interest in recent years due to its application in robot-assisted minimally invasive surgeries such as biopsies and brachytherapy. However, this type of surgery requires… read more here.
Keywords: liver tissue; insertion; tissue; model ... See more keywords
Compartment Syndrome of the Leg After Intraosseous (IO) Needle Insertion.
Sign Up to like & getrecommendations! Published in 2019 at "Annals of vascular surgery"
DOI: 10.1016/j.avsg.2019.10.066
Abstract: Intraosseous (IO) needles are used in patients who are critically ill when it is not possible to obtain venous access. While IO allows for immediate access, IO infusions are associated with complications including fractures, infections… read more here.
Keywords: syndrome leg; compartment syndrome; needle insertion;
The biomechanics of autoinjector-skin interactions during dynamic needle insertion.
Sign Up to like & getrecommendations! Published in 2022 at "Journal of biomechanics"
DOI: 10.1016/j.jbiomech.2022.110995
Abstract: Autoinjector devices are rapidly becoming the preferred method of drug delivery for a wide array of pharmaceuticals such as monoclonal antibodies. Yet, our understanding of injection biomechanics is limited, but is crucially important to create… read more here.
Keywords: needle insertion; mechanics; model; biomechanics autoinjector ... See more keywords
In-plane and out-of-plane needle insertion comparison for a novel lateral block of the radial, ulnar, median and musculocutaneous nerves in cats.
Sign Up to like & getrecommendations! Published in 2019 at "Veterinary anaesthesia and analgesia"
DOI: 10.1016/j.vaa.2019.02.006
Abstract: OBJECTIVE To compare two needle insertion techniques in a novel lateral approach to the radial, ulnar, median and musculocutaneous (RUMM) nerve block in cat cadavers. STUDY DESIGN Prospective, cadaveric experimental study. ANIMALS A group of… read more here.
Keywords: plane; nerve; median musculocutaneous; needle insertion ... See more keywords
A novel adaptive needle insertion sequencing for robotic, single needle MR-guided high-dose-rate prostate brachytherapy.
Sign Up to like & getrecommendations! Published in 2017 at "Physics in medicine and biology"
DOI: 10.1088/1361-6560/aa664b
Abstract: MR-guided high-dose-rate (HDR) brachytherapy has gained increasing interest as a treatment for patients with localized prostate cancer because of the superior value of MRI for tumor and surrounding tissues localization. To enable needle insertion into… read more here.
Keywords: insertion; needle track; needle insertion; prostate brachytherapy ... See more keywords
Data-Driven 3-D Tactile Cues With Intermediate Soft Interfaces Toward Training Needle Insertions
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Sensors Journal"
DOI: 10.1109/jsen.2024.3354289
Abstract: During the training of medical operators, forming muscle memory through repetitions is a routine path. Needle insertion is a fundamental skill for all medical staff. However, such training courses often require human resources at a… read more here.
Keywords: force; data driven; needle insertion; tactile cues ... See more keywords
Human–Machine Collaboration Modalities for Semi-Automated Needle Insertion Into Soft Tissue
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2017.2768123
Abstract: Needle insertion is a minimally invasive medical procedure commonly used for biopsy, ablation, or deposition of therapeutic agents. In prostate brachytherapy, needles are inserted into the prostate in order to deposit multiple rice-grain-sized radioactive seeds… read more here.
Keywords: machine; insertion; tissue; collaboration ... See more keywords
Data-Driven Modelling and Control for Robot Needle Insertion in Deep Anterior Lamellar Keratoplasty
Sign Up to like & getrecommendations! Published in 2022 at "IEEE robotics and automation letters"
DOI: 10.1109/lra.2022.3140458
Abstract: Deep anterior lamellar keratoplasty (DALK) is a technique for cornea transplantation which is associated with reduced patient morbidity. DALK has been explored as a potential application of robot microsurgery because the small scales, fine control… read more here.
Keywords: deep anterior; anterior lamellar; robot; needle insertion ... See more keywords
Robotic Needle Insertion With 2D Ultrasound–3D CT Fusion Guidance
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2023.3322710
Abstract: Puncture robots pave a new way for stable, accurate and safe percutaneous liver tumor puncture operation. However, affected by respiratory motion, intraoperative accurate location of the tumor and its surrounding anatomical structures remains a difficult… read more here.
Keywords: puncture; guidance; robotic needle; tumor ... See more keywords