This paper outlines the design of a portable manipulator system for use in remote detection and care of hemorrhage using high intensity focused ultrasound (HIFU). We have developed a kinematically redundant manipulator that uses high fidelity force control for safe interaction with human patients. The manipulator is outfitted with a dual imaging and sonication end-effector for hemorrhage detection and treatment. Unlike most available force controlled manipulators, the design presented in this paper has all the actuation embedded inside its body eliminating the need for a base which greatly improves portability. We review the main design features, advantages, and trade-offs of this approach and present experimental data of hemorrhage detection and controlled sonication of biological tissue samples.
[Show abstract][Hide abstract] ABSTRACT: The developments of medical practices and medical technologies have always progressed concurrently. The relatively recent developments in endoscopic technologies have allowed the realization of the “minimally invasive” form of surgeries. The advancements in robotics facilitate precise surgeries that are often integrated with medical image guidance capability. This in turn has driven the further development of technology to compensate for the unique complexities engendered by this new format and to improve the performance and broaden the scope of the procedures that can be performed. Medical robotics has been a central component of this development due to the highly suitable characteristics that a robotic system can purport, including highly optimizable mechanical conformation and the ability to program assistive functions in medical robots for surgeons to perform safe and accurate minimally invasive surgeries. In addition, combining the robot-assisted interventions with touch-sensing and medical imaging technologies can greatly improve the available information and thus help to ensure that minimally invasive surgeries continue to gain popularity and stay at the focus of modern medical technology development. This paper presents a state-of-the-art review of robotic systems for minimally invasive and noninvasive surgeries, precise surgeries, diagnoses, and their corresponding technologies.
Journal of Robotics 01/2012; 2012(5):14. DOI:10.1155/2012/412816
[Show abstract][Hide abstract] ABSTRACT: We propose a learning-based controller to enable autonomous execution of the eFAST scanning by a lightweight robotic manipulator according to expert demonstrations. The benefits of this approach are two-fold. Firstly, the automatically acquired USS images can be sent to the expert radiologist from a remote location without the need for complex robotic tele-operation. Secondly, the application of learning by demonstration alleviates the complexity of robotic programming and allows extracting operator-specific knowledge in situ in a natural and intuitive way. The provision of incorporating force information can further improve the versatility of the system, allowing easy adaptation to different dynamic environments.
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on; 01/2013
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