相关论文: Robotic Applications in Cardiac Surgery
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
This paper presents the first implementation of autonomous robotic auscultation of heart and lung sounds. To select auscultation locations that generate high-quality sounds, a Bayesian Optimization (BO) formulation leverages visual…
In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the…
The electrocardiogram (ECG) has always been an important biomedical test to diagnose cardiovascular diseases. Current approaches for ECG monitoring are based on body attached electrodes leading to uncomfortable user experience. Therefore,…
Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedures such as the removal of tumors or polyps. In TLM, a laser beam is used to cut target tissue, while forceps are employed to grasp,…
Advanced surgical procedures for congenital heart diseases (CHDs) require precise planning before the surgeries. The conventional approach utilizes 3D-printing and cutting physical heart models, which is a time and resource intensive…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
Hypertension is a medical condition that is well-established as a risk factor for many major diseases. For example, it can cause alterations in the cardiac structure and function over time that can lead to heart related morbidity and…
Designing a robotic system that functions effectively within the specific environment of a Magnetic Resonance Imaging (MRI) scanner requires solving numerous technical issues, such as maintaining the robot's precision and stability under…
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…
Large prospective epidemiological studies acquire cardiovascular magnetic resonance (CMR) images for pre-symptomatic populations and follow these over time. To support this approach, fully automatic large-scale 3D analysis is essential. In…
This paper introduces a novel approach to interactive robots by leveraging the form-factor of cards to create thin robots equipped with vibrational capabilities for locomotion and haptic feedback. The system is composed of flat-shaped…
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or…
A recent study by the Robotic Industries Association has highlighted how service robots are increasingly broadening our horizons beyond the factory floor. From robotic vacuums, bomb retrievers, exoskeletons and drones, to robots used in…
Purpose: Echocardiography is commonly used as a non-invasive imaging tool in clinical practice for the assessment of cardiac function. However, delineation of the left ventricle is challenging due to the inherent properties of ultrasound…
Robots are frequently utilized in search-and-rescue operations. In recent years, significant advancements have been made in the field of victim assessment. However, there are still open issues regarding heart rate measurement, and no…
We propose a novel multi-stage trans-dimensional architecture for multi-view cardiac image segmentation. Our method exploits the relationship between long-axis (2D) and short-axis (3D) magnetic resonance (MR) images to perform a sequential…
Robotic telesurgery has a potential to provide extreme and urgent health care services and bring unprecedented opportunities to deliver highly specialized skills globally. It has a significant societal impact and is regarded as one of the…
The increasing demand for healthcare workers, driven by aging populations and labor shortages, presents a significant challenge for hospitals. Humanoid robots have the potential to alleviate these pressures by leveraging their human-like…