相关论文: Robotic Applications in Cardiac Surgery
Monitoring the activity of the heart is important for diagnosing and preventing cardiovascular diseases. The electrocardiogram (ECG) is the gold standard for diagnosing such diseases. It monitors the heart's electrical activity, and while…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
High-fidelity teleoperation of dexterous robotic hands is essential for bringing robots into unstructured domestic environments. However, existing teleoperation systems often face a trade-off between performance and portability:…
In robotic surgery, the surgeon controls robotic instruments using dedicated interfaces. One critical limitation of current interfaces is that they are designed to be operated by only the hands. This means that the surgeon can only control…
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and generalisation abilities, fully manual teleoperated systems also…
Myocardial infarction significantly degrades heart function, and current treatments can bring forth serious cost and complications including blood clots and infections. To improve the current state of treatment, researchers are developing…
In order to provide information for the use of radar in diagnostics a qualitative map of movements in the thorax has been obtained. This map was based on magnetic resonance image sequences of a human thorax during suspended respiration. The…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Cardiac segmentation of atriums, ventricles, and myocardium in computed tomography (CT) images is an important first-line task for presymptomatic cardiovascular disease diagnosis. In several recent studies, deep learning models have shown…
This paper introduces a novel robotic system designed to manage severe bleeding in emergency scenarios, including unique environments like space stations. The robot features a shape-adjustable "ring mechanism", transitioning from a circular…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…
The rhythmic pumping motion of the heart stands as a cornerstone in life, as it circulates blood to the entire human body through a series of carefully timed contractions of the individual chambers. Changes in the size, shape and movement…
Cardiac parametric mapping is useful for evaluating cardiac fibrosis and edema. Parametric mapping relies on single-shot heartbeat-by-heartbeat imaging, which is susceptible to intra-shot motion during the imaging window. However, reducing…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
The occurrence of in-stent restenosis following percutaneous coronary intervention highlights the need for the creation of computational tools that can extract pathophysiological insights and optimize interventional procedures on a…
Clinicians require substantial training and experience to become comfortable with steering Intracardiac echocardiography (ICE) catheter to localize and measure the area of treatment to watch for complications while device catheters are…
Surgeons' technical skill directly impacts patient outcomes. To date, the angular motion of the instruments has been largely overlooked in objective skill evaluation. To fill this gap, we have developed metrics for surgical skill evaluation…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
Laparoscopic surgery has the advantage of avoiding large open incisions and thereby decreasing blood loss, pain, and discomfort to patients. However, on the other side, it is hampered by restricted workspace, ambiguous communication, and…