Abstract：
PURPOSE:Tele-operation of robotic surgery reduces the radiation exposure during the interventional radiological operations. However, endoscope vision without force feedback on the surgical tool increases the difficulty for precise manipulation and the risk of tissue damage. The shared control of vision and force provides a novel approach of enhanced control with haptic guidance, which could lead to subtle dexterity and better maneuvrability during MIS surgery. METHODS:The paper provides an innovative shared control method for robotic minimally invasive surgery system, in which vision and haptic feedback are incorporated to provide guidance cues to the clinician during surgery. The incremental potential field (IPF) method is utilized to generate a guidance path based on the anatomy of tissue and surgical tool interaction. Haptic guidance is provided at the master end to assist the clinician during tele-operative surgical robotic task. RESULTS:The approach has been validated with path following and virtual tumor targeting experiments. The experiment results demonstrate that comparing with vision only guidance, the shared control with vision and haptics improved the accuracy and efficiency of surgical robotic manipulation, where the tool-position error distance and execution time are reduced. CONCLUSIONS:The validation experiment demonstrates that the shared control approach could help the surgical robot system provide stable assistance and precise performance to execute the designated surgical task. The methodology could also be implemented with other surgical robot with different surgical tools and applications.
journal_name
Int J Comput Assist Radiol Surgauthors
Xiong L,Chng CB,Chui CK,Yu P,Li Ydoi
10.1007/s11548-016-1425-0subject
Has Abstractpub_date
2017-01-01 00:00:00pages
137-147issue
1eissn
1861-6410issn
1861-6429pii
10.1007/s11548-016-1425-0journal_volume
12pub_type
杂志文章abstract：PURPOSE:Sustained delivery of regenerative retinal therapies by robotic systems requires intra-operative tracking of the retinal fundus. We propose a supervised deep convolutional neural network to densely predict semantic segmentation and optical flow of the retina as mutually supportive tasks, implicitly inpainting r...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-020-02160-9
更新日期：2020-05-01 00:00:00
abstract：PURPOSE:Prostate carcinoma is a commonly diagnosed cancer in men. Nonsurgical treatment of early stage prostate cancer is an important alternative. The use of MRI for tumor cryoablation is of particular interest: it offers lower morbidity compared with other localized techniques. However, the current manual procedure i...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-011-0558-4
更新日期：2011-11-01 00:00:00
abstract：PURPOSE:Delayed cerebral ischemia represents a significant cause of poor functional outcome for patients with vasospasm after subarachnoid hemorrhage. We investigated whether delayed cerebral ischemia could be detected by the arterial opacification of internal carotid artery at the level of the skull base. METHODS:In ...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-020-02268-y
更新日期：2020-12-01 00:00:00
abstract：PURPOSE:Epidural and spinal needle insertions, as well as facet joint denervation and injections are widely performed procedures on the lumbar spine for delivering anesthesia and analgesia. Ultrasound (US)-based approaches have gained popularity for accurate needle placement, as they use a non-ionizing, inexpensive and...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-017-1552-2
更新日期：2017-06-01 00:00:00
abstract：PURPOSE:B-mode ultrasound (B-US) and strain elastography ultrasound (SE-US) images have a potential to distinguish thyroid tumor with different lymph node (LN) status. The purpose of our study is to investigate whether the application of multi-modality images including B-US and SE-US can improve the discriminability of...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-018-1796-5
更新日期：2018-10-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-019-01915-3
更新日期：2019-05-01 00:00:00
abstract：PURPOSE:In lung cancer screening, pulmonary nodules are first identified in low-dose chest CT images. Costly follow-up procedures could be avoided if it were possible to establish the malignancy status of these nodules from these initial images. Preliminary computer methods have been proposed to characterize the malign...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-015-1245-7
更新日期：2016-01-01 00:00:00
abstract：PURPOSE:This work presents a new monocular peer-to-peer tracking concept overcoming the distinction between tracking tools and tracked tools for optical navigation systems. A marker model concept based on marker triplets combined with a fast and robust algorithm for assigning image feature points to the corresponding m...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-019-02111-z
更新日期：2020-03-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-013-0831-9
更新日期：2013-11-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
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更新日期：2018-02-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-018-1712-z
更新日期：2018-05-01 00:00:00
abstract：PURPOSE:In both structural and functional MRI, there is a need for accurate and reliable automatic segmentation of brain regions. Inconsistent segmentation reduces sensitivity and may bias results in clinical studies. The current study compares the performance of publicly available segmentation tools and their impact o...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-016-1433-0
更新日期：2016-11-01 00:00:00
abstract：PURPOSE:Fusion of pre/perioperative images and intra-operative images may add relevant information during image-guided procedures. In abdominal procedures, respiratory motion changes the position of organs, and thus accurate image guidance requires a continuous update of the spatial alignment of the (pre/perioperative)...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-015-1218-x
更新日期：2015-09-01 00:00:00
abstract：PURPOSE:Cardiac strain calculated from tagged magnetic resonance (MR) images provides clinicians information about abnormalities of heart-wall motion in patients. It is important to develop an accurate method to determine the cardiac strain efficiently. An adaptive windowed harmonic phase (AWHARP) method is proposed fo...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-012-0689-2
更新日期：2013-01-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-015-1284-0
更新日期：2016-03-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-016-1457-5
更新日期：2016-12-01 00:00:00
abstract：PURPOSE:In surgical navigation, pre-operative organ models are presented to surgeons during the intervention to help them in efficiently finding their target. In the case of soft tissue, these models need to be deformed and adapted to the current situation by using intra-operative sensor data. A promising method to rea...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-019-01965-7
更新日期：2019-07-01 00:00:00
abstract：PURPOSE:During needle interventions, successful automated detection of the needle immediately after insertion is necessary to allow the physician identify and correct any misalignment of the needle and the target at early stages, which reduces needle passes and improves health outcomes. METHODS:We present a novel appr...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-018-1798-3
更新日期：2018-09-01 00:00:00
abstract：PURPOSE:Brain tumor patients are usually accompanied by impairments in cognitive functions, and these dysfunctions arise from the altered diffusion tensor of water molecules and disrupted neuronal conduction in white matter. Diffusion tensor imaging (DTI) is a powerful noninvasive imaging technique that can reflect dif...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-015-1330-y
更新日期：2016-11-01 00:00:00
abstract：PURPOSE:Automated segmentation of anatomical structures in medical image analysis is a prerequisite for autonomous diagnosis as well as various computer- and robot-aided interventions. Recent methods based on deep convolutional neural networks (CNN) have outperformed former heuristic methods. However, those methods wer...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-018-01910-0
更新日期：2019-03-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-020-02293-x
更新日期：2021-01-19 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-014-1078-9
更新日期：2015-02-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-017-1651-0
更新日期：2017-11-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-017-1629-y
更新日期：2017-08-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-009-0300-7
更新日期：2009-06-01 00:00:00
abstract：PURPOSE:Minimally invasive interventions offer benefits for patients, while also entailing drawbacks for surgeons, such as the loss of depth perception. Thus estimating distances, which is of particular importance in gastric bypasses, becomes difficult. In this paper, we propose an approach based on stereo endoscopy th...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-015-1291-1
更新日期：2016-03-01 00:00:00
abstract：OBJECTIVE:By adding a tracking sensor to a 3D ultrasound (US) probe and thus locating the probe in space, new applications within the fields of image guided surgery and radiation therapy are possible. To locate the US volume in space, a calibration is necessary to determine the mathematical transformation for mapping p...
journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-008-0258-x
更新日期：2009-03-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-015-1239-5
更新日期：2016-01-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-016-1409-0
更新日期：2016-06-01 00:00:00
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journal_title：International journal of computer assisted radiology and surgery
pub_type： 杂志文章
doi：10.1007/s11548-019-01928-y
更新日期：2019-10-01 00:00:00
