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Laparoscopic ultrasound manipulator with a spring-based elastic mechanism

Published on Jul 1, 2018in International Journal of Computer Assisted Radiology and Surgery2.155
· DOI :10.1007/s11548-018-1709-7
Jumpei Arata15
Estimated H-index: 15
(UTokyo: University of Tokyo),
Kazunari Fukami (Nagoya Institute of Technology)+ 8 AuthorsMakoto Hashizume47
Estimated H-index: 47
(Kyushu University)
Abstract
Purpose Image guidance is a key technology that can improve the outcome of laparoscopic surgery. However, due to the large deformation caused by digestive organs, a computer-aided navigation system based on preoperative imaging data cannot indicate the correct target position of the lesion (e.g., liver tumors and vessels invisible from the organ surface). To overcome this issue, we developed a laparoscopic ultrasound manipulator with two motorized degrees of freedom at the tip, allowing for the performance of a dexterous ultrasound scan in a confined laparoscopic surgical area.
  • References (8)
  • Citations (0)
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References8
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#1Hideyuki Sato (UTokyo: University of Tokyo)H-Index: 21
#2Kanako Harada (UTokyo: University of Tokyo)H-Index: 11
Last. Mamoru Mitsuishi (UTokyo: University of Tokyo)H-Index: 26
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#1Jumpei Arata (Kyushu University)H-Index: 15
#2Shinya Kogiso (Nagoya Institute of Technology)H-Index: 1
Last. Makoto Hashizume (Kyushu University)H-Index: 47
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Purpose In minimally invasive surgery, instruments are inserted from the exterior of the patient’s body into the surgical field inside the body through the minimum incision, resulting in limited visibility, accessibility, and dexterity. To address this problem, surgical instruments with articulated joints and multiple degrees of freedom have been developed. The articulations in currently available surgical instruments use mainly wire or link mechanisms. These mechanisms are generally robust and ...
2 CitationsSource
#1Rafael DenadaiH-Index: 12
#2Andréia Padilha Toledo (USP: University of São Paulo)H-Index: 4
Last. Rogério Saad-Hossne (USP: University of São Paulo)H-Index: 10
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ABSTRACTPURPOSE: To propose a simulation-based ultrasound-guided central venous cannulation skills’ training program, during residency. METHODS: This study describes the strategies for learning the ultrasound-guided central venous cannulation on low-fidelity bench models. The preparation of bench models, educational goals, processes of skill acquisition, feedback and evaluation methods were also outlined. The training program was based on key references to the subject. RESULTS: It was formulated...
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#1Stéphane NicolauH-Index: 19
#2Luc SolerH-Index: 33
Last. Jacques MarescauxH-Index: 48
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Minimally invasive surgery represents one of the main evolutions of surgical techniques aimed at providing a greater benefit to the patient. However, minimally invasive surgery increases the operative difficulty since the depth perception is usually dramatically reduced, the field of view is limited and the sense of touch is transmitted by an instrument. However, these drawbacks can currently be reduced by computer technology guiding the surgical gesture. Indeed, from a patient’s medical image (...
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May 1, 2010 in ICRA (International Conference on Robotics and Automation)
#1Jumpei Arata (Nagoya Institute of Technology)H-Index: 15
#2Yoshitaka Saito (Nagoya Institute of Technology)H-Index: 2
Last. Hideo Fujimoto (Nagoya Institute of Technology)H-Index: 21
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In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-link mechanism is presented. The mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-link mechanism is a simple combination of a flat spring and a rigid ...
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#1Kozo Konishi (Kyushu University)H-Index: 23
#2Masahiko Nakamoto (Osaka University)H-Index: 18
Last. Makoto Hashizume (Kyushu University)H-Index: 47
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Objectives In laparoscopic liver surgery, intraoperative navigation is strongly recommended. We developed a navigation system based on intraoperative ultrasound (IOUS). The purpose of this study was to evaluate the usefulness and accuracy of this system using an animate model.
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Abstract Chronic hepatitis is accompanied by progressive deposit of hepatic fibrosis, which may lead to cirrhosis. Evaluation of liver fibrosis is, thus, of great clinical interest and, up to now, has been assessed with liver biopsy. This work aims to evaluate a new noninvasive device to quantify liver fibrosis: the shear elasticity probe or fibroscan®. This device is based on one-dimensional (1-D) transient elastography, a technique that uses both ultrasound (US) (5 MHz) and low-frequency (50 H...
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