J. DAnwl B8NrL.nd, Ph.D., isIlssU14nt professor Andhed, Physic Section, Dep.:ntm ent ofR.4dUaion Oncology, Wa e Forest Unit/miry School of Medicine in Winston-Salem, N.G. He ischairman ofthe AAPM Electronic Media Coordinating Committee, chairman ofthe new AAPM Subcommitteeon MoieCHlaTImaging in Clinical Radiation Oncology, and aformer member ofthe AAPM RildiAtion Therllpy Committee. The AAPM is headqNllTtered in College PIlTk, Md. WHO WE ARE The America n Assoc iation of Physicists in Medicine (AAPM) h J S ap proximately 4.62S mcmbers who practice or arc associn ed with medical physics.

American Association of Physicists in Medicine

In this paper, a bio-inspired parallel manipulator with one translation along z-axis and two rotations along x- and y- axes is developed as the hybrid head mechanism of a groundhog robotic system. Several important issues including forward kinematic modeling, performance mapping, and multi-objective improvement are investigated with specific methods or technologies. Accordingly, the forward kinematics is addressed based on the integration of radial basis function network and inverse kinematics. A novel performance index called dexterous stiffness is defined, derived and mapped. The multi-objective optimization with particle swarm algorithm is conducted to search for the optimal dexterous stiffness and reachable workspace.

Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator

Dexterous continuum manipulators (DCMs) can largely increase the reachable region and steerability for minimally and less invasive surgery. Many such procedures require the DCM to be capable of producing large deflections. The real-time control of the DCM shape requires sensors that accurately detect and report large deflections. We propose a novel, large deflection, shape sensor to track the shape of a 35 mm DCM designed for a less invasive treatment of osteolysis. Two shape sensors, each with three fiber Bragg grating sensing nodes is embedded within the DCM, and the sensors’ distal ends fixed to the DCM. The DCM centerline is computed using the centerlines of each sensor curve. An experimental platform was built and different groups of experiments were carried out, including free bending and three cases of bending with obstacles. For each experiment, the DCM drive cable was pulled with a precise linear slide stage, the DCM centerline was calculated, and a 2D camera image was captured for verification. The reconstructed shape created with the shape sensors is compared with the ground truth generated by executing a 2D–3D registration between the camera image and 3D DCM model. Results show that the distal tip tracking accuracy is 0.40 ± 0.30 mm for the free bending and 0.61 ± 0.15 mm, 0.93 ± 0.05 mm and 0.23 ± 0.10 mm for three cases of bending with obstacles. The data suggest FBG arrays can accurately characterize the shape of large-deflection DCMs.

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Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors

Augmented reality (AR) and robotic-assisted surgery (RAS) are both rapidly evolving technologies in recent years. RAS systems, such as the da Vinci Surgical System, aim to improve surgical precision and dexterity, as well as access to minimally-invasive procedures, while AR provides an advanced interface to enhance user perception. Combining the features of both, AR-integrated RAS has become an appealing concept with increased interest among the academic community. In this paper, we review the existing literature about AR-integrated RAS. We discuss the hardware components, application paradigms and clinical relevance of the literature. The concept of AR-integrated RAS has been shown to be feasible for various procedures. Encouraging preliminary results include reduced sight diversion and improved situation awareness. Special techniques, e.g., activation-on-demand, are taken into consideration to address visual clutter of the AR interface and ensure that the system is fail-safe. Although AR-integrated RAS is not yet mature, we believe that if the current trend of development continues, it will soon demonstrate its clinical value.

A Review of Augmented Reality in Robotic-Assisted Surgery

CUBE, a Cable-driven Device for Limb Rehabilitation


 Single-incision laparoscopic surgery (SILS) is on the path of becoming a standard procedure in minimally invasive surgery due to the outstanding results obtained both during and after the medical act, these being defined by the reduced hospitalization time, the reduced recovery time, and the reduced visibility of the incision. The paper presents the modeling and simulation of a new parallel robot concept with 6 Degrees of Freedom (DOF), called PARA-SILSROB used for the single incision laparoscopic surgery. The paper focuses on the inverse kinematics, the preliminary design, and the robot control system architecture of PARA-SILSROB. A CAD motion simulation validates the mathematical model using Siemens NX.

Application Oriented Modelling and Simulation of an Innovative Parallel Robot for Single Incision Laparoscopic Surgery

Brachytherapy (BT) is an advanced form of radiation therapy enabling the concentration of high doses in specific target points, enabling the direct treatment of tumors without damaging the proximal healthy tissues. BT usage is limited by the insufficient accuracy of radioactive seeds placement in the body. For this purpose, the paper presents an innovative family of modular parallel robots designed specifically to overcome the limitations of current BT procedures. The robotic structures employ two distinct modules in conjunction, which result in a reduced number of moving parts and removal of unwanted motions.

An Innovative Family of Modular Parallel Robots for Brachytherapy

In this paper is presented a study of a new centrifugal blower where the mass flow variation is controlled by mobile ante rotor and not by speed variation of the electrical motor. A 3-D analysis of the centrifugal blower is involved, where is studied the interaction between rotor, stator and scroll, with a special attention on losses done by each component. Also an optimization of the stator geometry is also done to maximize the efficiency of the blower. It is known that the wall functions cannot accurately predict the separation and reattachment regions. For this reason, the fine mesh of impeller has the averaged y+ nearly 1, to properly capture the separation flows near leading edge at off-design regimes.

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Aerodynamic geometry optimization of a centrifugal blower

The paper presents the design of a novel brachytherapy automated instrument with 6 needles meant to be used within a medical robotic system as an end effector. Based on the design requirements derived from the medical procedure, the medical instrument uses a needle storage mechanism and a gripper which have a synchronized motion in order to perform needle loading, insertion and releasing. The functionality of the instrument is explained and the experimental model is presented. Experimental scenarios are also presented followed by conclusion and proposed future research which aims to optimize the medical instrument and validate it for the medical procedure. Key words: medical instrument, multiple needle insertion, medical robot, brachytherapy.

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An innovative automated instrument for robotically assisted brachytherapy used in cancer treatment

Considering the latest results in robotic assisted surgery it is obvious that robots became useful tools in minimally invasive surgery (MIS), providing benefits such as reduction in hand tremor, the possibility of reaching positions and places that could prove difficulty in reaching using classical instruments, navigation and workspace scaling. In this paper the inverse dynamic model for a parallel robot conceived for MIS using virtual work principle is presented. The results of the analytic dynamic model have been validated by means of a Multi-Body simulation.

Bogdan Gherman

Papers

Application Oriented Modelling and Simulation of an Innovative Parallel Robot for Single Incision Laparoscopic Surgery

An Innovative Family of Modular Parallel Robots for Brachytherapy

Aerodynamic geometry optimization of a centrifugal blower

An innovative automated instrument for robotically assisted brachytherapy used in cancer treatment

On the Dynamics of a 5 DOF Parallel Hybrid Robot Used in Minimally Invasive Surgery