Titlebook: Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004; 7th International Co Christian Barillot,David R. Haynor,Pierre H

ANIM

誰在削木頭

GRAVE

Dense 3D Depth Recovery for Soft Tissue Deformation During Robotically Assisted Laparoscopic Surgery a tissue phantom with known 3D geometry and motion characteristics. It has been shown that the performance of the proposed approach compares favorably against existing methods. Example results of the technique applied to . robotic assisted minimally invasive surgery data are also provided.

全等

A Tactile Magnification Instrument for Minimally Invasive Surgery under four conditions: no amplification, with haptic feedback, with sound feedback, and with passive touch. We found that both haptic and auditory feedback significantly improved detection performance, which demonstrated that an enhanced arthroscopic probe provided useful information for the detection of small cuts in tissue-like materials.

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Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Punctureion. The agreement between the subjective feeling of a skilled surgeon and the sensor was good. In several cases the sensor detected the puncture even when the surgeon could not clearly identify it. It was suggested that the sensor is potentially more sensitive than skilled professionals.

AMEND

Flexible Needle Steering and Optimal Trajectory Planning for Percutaneous Therapiesis not unique and can be optimized to minimize lateral pressure of the needle body on the tissue. Experimental results are provided of robotically assisted insertion of flexible needle while avoiding “obstacle”.

GUISE

Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventionsn to perform locomotion. A fiber optic videoscope displays visual feedback to the physician, who controls the device through a joystick interface. A working channel provides access for the insertion of various therapeutic tools. This prototype has demonstrated successful prehension and walking during open-chest beating-heart porcine trials.

權(quán)宜之計

冒煙

山羊

Handheld Laparoscopic Forceps Manipulator Using Multi-slider Linkage Mechanismsnd suturing the stomach surface tissue in 22.3 ± 5.4 seconds per suture. Furthermore, we operated cholecystectomy with an animal within 45 minutes. In conclusion we were sure of a usefulness of a new handheld laparoscopic forceps manipulator for speedy and dexterous laparoscopic surgery.