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Horio K, Harada K, Muto J, Nakatomi H, Saito N, Morita A, Watanabe E, Mitsuishi M. Real-Time Suture Thread Detection with an Image Classifier. JOURNAL OF ROBOTICS AND MECHATRONICS 2022. [DOI: 10.20965/jrm.2022.p1245] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/23/2022]
Abstract
Micro-anastomosis is considered to be a difficult task even for skilled surgeons. Our group has developed a surgical robotic system to assist surgeons. Going further, the detection of surgically relevant objects in the microscopic view is indispensable for the automation or semi-automation of the system. This paper proposes a novel surgical thread detector inspired by an automatic crack detection method. The proposed method achieved a Dice score of 76.30% and an intersection over union (IOU) of 66.08% at 34.50 fps.
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Chao D, Li Q, Hu G. WITHDRAWN: The Role of Intercostal Nerve Block Combined with Puncture Surgery Robot Controlled by Fuzzy Proportion Integral Differential Algorithm under the Guidance of MRI Image in the Treatment of Lung Cancer. Neurosci Lett 2020:135204. [PMID: 32590042 DOI: 10.1016/j.neulet.2020.135204] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/21/2020] [Revised: 06/15/2020] [Accepted: 06/22/2020] [Indexed: 10/24/2022]
Abstract
This article has been withdrawn at the request of the Editor-in-Chief. The Publisher apologizes for any inconvenience this may cause. The full Elsevier Policy on Article Withdrawal can be found at https://www.elsevier.com/about/our-business/policies/article-withdrawal.
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Affiliation(s)
- Dong Chao
- Department of Thoracic Surgery, The 940th Hospital of Joint Logistics Support Force of Chinese People's Liberation Army, Lanzhou City, 730050, Gansu Province, China.
| | - Qingxin Li
- Department of Thoracic Surgery, The 940th Hospital of Joint Logistics Support Force of Chinese People's Liberation Army, Lanzhou City, 730050, Gansu Province, China
| | - Gawei Hu
- Department of Thoracic Surgery, The 940th Hospital of Joint Logistics Support Force of Chinese People's Liberation Army, Lanzhou City, 730050, Gansu Province, China
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Yokouchi K, Kamegawa T, Matsuno T, Hiraki T, Yamaguchi T, Gofuku A. Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot. JOURNAL OF ROBOTICS AND MECHATRONICS 2020. [DOI: 10.20965/jrm.2020.p0692] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
In recent years, interventional radiology (IR) as a medical procedure has attracted considerable attention. Among the various IR techniques, computed tomography (CT)-guided IR is performed by inserting a specific needle into a lesion under CT guidance, leading to this medical procedure being less invasive. However, as the procedure requires the doctor to be positioned near the CT, radiation exposure may be a major concern. To overcome this problem, we developed a remote-controlled robotic system for needle insertion during CT-guided interventional procedures. The current needle holder for the robot is risky in that it might hurt a patient since a needle is always held firmly even when the patient moves. To solve this problem, we designed and fabricated a gripper with variable stiffness through jamming transition. Subsequently, we conducted experiments to investigate the effect of elements constituting the gripper to improve its performance.
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Zhang B, Chen K, Zhang Z, Zhang L, Zhang L, Luan W, Huang Q, Fujie MG. Flexible needle posture control stratagem for ultrasound-based puncture manipulator system. Adv Robot 2019. [DOI: 10.1080/01691864.2019.1661284] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/26/2022]
Affiliation(s)
- Bo Zhang
- Beijing Advanced Innovation Centre for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, People’s Republic of China
- Future Robotics Organization, Waseda University, Tokyo, Japan
- TCC Media Lab Co., Ltd., Tokyo, Japan
| | - Kui Chen
- TCC Media Lab Co., Ltd., Tokyo, Japan
| | - Zheming Zhang
- Beijing Advanced Innovation Centre for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, People’s Republic of China
| | - Lei Zhang
- Beijing Advanced Innovation Centre for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, People’s Republic of China
| | - Liqun Zhang
- Beijing Advanced Innovation Centre for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, People’s Republic of China
| | - Wennan Luan
- Beijing Advanced Innovation Centre for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, People’s Republic of China
| | - Qiang Huang
- Beijing Advanced Innovation Centre for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, People’s Republic of China
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, People’s Republic of China
| | - Masakatsu G. Fujie
- Beijing Advanced Innovation Centre for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, People’s Republic of China
- Future Robotics Organization, Waseda University, Tokyo, Japan
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