Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exists remarkable similarity in the fundamental simplified kinematic models that have been applied to continuum robots. However, this can easily be obscured, especially to a newcomer to the field, by the different applications, coordinate frame choices, and analytical formalisms employed. In this paper we review several modeling approaches in a common frame and notational convention, illustrating that for piecewise constant curvature, they produce identical results. This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific. These mappings are then developed both for the single-section and for the multi-section case. Similarly, we discuss the decomposition of differential kinematics (the robotâ??s Jacobian) into robot-specific and robot-independent portions. The paper concludes with a perspective on several of the themes of current research that are shaping the future of continuum robotics.

/pdf/design-and-kinematic-modeling-of-constant-curvature-4wrx5stlzx.pdf

Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review

Bhushan S. Pattni,† Vladimir V. Chupin,‡ and Vladimir P. Torchilin*,†,§,∥ †Department of Pharmaceutical Sciences, Center for Pharmaceutical Biotechnology and Nanomedicine, Northeastern University, Boston, Massachusetts 02115, United States ‡Laboratory for Advanced Studies of Membrane Proteins, Moscow Institute of Physics and Technology, Dolgoprudny 141700, Russia Department of Biochemistry, Faculty of Science, King Abdulaziz University, Jeddah 21589, Saudi Arabia

New Developments in Liposomal Drug Delivery.

In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural compliance and ease of miniaturization. After decades of pioneering research, a host of designs have now been investigated and have demonstrated capabilities beyond the scope of conventional rigid-link robots. Recently, we have seen increasing efforts aimed at leveraging these qualities to improve the frontiers of minimally invasive surgical interventions. Several concepts have now been commercialized, which are inspiring and enabling a current paradigm shift in surgical approaches toward flexible access routes, e.g., through natural orifices such as the nose. In this paper, we provide an overview of the current state of this field from the perspectives of both robotics science and medical applications. We discuss relevant research in design, modeling, control, and sensing for continuum manipulators, and we highlight how this work is being used to build robotic systems for specific surgical procedures. We provide perspective for the future by discussing current limitations, open questions, and challenges.

Continuum Robots for Medical Applications: A Survey

Microwave Tumor Ablation: Mechanism of Action, Clinical Results and Devices

Simulation optimization (SO) refers to the optimization of an objective function subject to constraints, both of which can be evaluated through a stochastic simulation. To address specific features of a particular simulation—discrete or continuous decisions, expensive or cheap simulations, single or multiple outputs, homogeneous or heterogeneous noise—various algorithms have been proposed in the literature. As one can imagine, there exist several competing algorithms for each of these classes of problems. This document emphasizes the difficulties in SO as compared to algebraic model-based mathematical programming, makes reference to state-of-the-art algorithms in the field, examines and contrasts the different approaches used, reviews some of the diverse applications that have been tackled by these methods, and speculates on future directions in the field.

/pdf/simulation-optimization-a-review-of-algorithms-and-3437395l44.pdf

Simulation optimization: a review of algorithms and applications

Thermal tissue ablation is an interventional procedure increasingly being used for treatment of diverse medical conditions. Microwave ablation is emerging as an attractive modality for thermal therapy of large soft tissue targets in short periods of time, making it particularly suitable for ablation of hepatic and other tumors. Theoretical models of the ablation process are a powerful tool for predicting the temperature profile in tissue and resultant tissue damage created by ablation devices. These models play an important role in the design and optimization of devices for microwave tissue ablation. Furthermore, they are a useful tool for exploring and planning treatment delivery strategies. This review describes the status of theoretical models developed for microwave tissue ablation. It also reviews current challenges, research trends and progress towards development of accurate models for high temperature microwave tissue ablation.

/pdf/theoretical-modeling-for-hepatic-microwave-ablation-2weuuxracy.pdf

Theoretical Modeling for Hepatic Microwave Ablation

The liver is a common site of disease for both primary and metastatic cancer. Since most patients have a disease that is not amenable to surgical resection, tumor ablation modalities are increasingly being used for treatment of liver cancer. This review describes the current status of ablative technologies used as alternatives for resection, clinical experience with these technologies, currently available devices and design rules for the development of new devices and the improvement of existing ones. It focuses on probe design for radiofrequency ablation, microwave ablation and cryoablation, and compares the advantages and disadvantages of each ablation modality.

Current status of liver tumor ablation devices.

Microwave ablation (MWA) is a minimally invasive thermal therapy modality increasingly employed for the treatment of tumors and benign disease. For successful treatment, complete thermal coverage of the tumor and margin of surrounding healthy tissue must be achieved. Currently available interstitial antennas for MWA have cylindrically symmetric radiation patterns. Thus, when treating targets in proximity to critical structures, caution must be taken to prevent unintended thermal damage. A novel coaxial antenna design for MWA with an asymmetrical cylindrical heating pattern is presented in this paper. This radiation pattern is achieved by employing a hemicylindrical reflector positioned at a critical distance from a conventional coaxial monopole antenna. Finite-element method simulations were employed to optimize the geometric dimensions of the antenna with the objective of minimizing the antenna reflection coefficient at the 2.45-GHz operating frequency, and maximizing volume of the ablation zone. Prototype antennas were fabricated and experimentally evaluated. Simulations indicated an optimal S 11 of –32 dB at 2.45 GHz in close agreement with experimental measurements of –29 dB. Ex vivo experiments were performed to validate simulations and observe effects to the antennas’ heating pattern with the varying input power and geometry of the reflector. Ablation zones up to 20 mm radially were observed in the forward direction, with minimal heating (less than 4 mm) behind the reflector.

A Directional Interstitial Antenna for Microwave Tissue Ablation: Theoretical and Experimental Investigation

Microwave ablation (MWA) is a minimally invasive technique increasingly used for thermal therapy of liver tumors. Effective MWA requires efficient interstitial antennas that destroy tumors and a margin of healthy tissue, in situ, while minimizing damage to the rest of the organ. Previously, we presented a method for optimizing MWA antenna designs by coupling finite element method models of antennas with a real-coded, multiobjective genetic algorithm. We utilized this procedure to optimize the design of a minimally invasive choke antenna that can be used to create near-spherical ablation zones of adjustable size (radius 1-2 cm) by adjusting treatment durations and a sliding structure of the antenna. Computational results were validated with experiments in ex vivo bovine liver. The optimization procedure yielded antennas with reflection coefficients below -30 dB, which were capable of creating spherical ablation zones up to 2 cm in radius using 100 W input power at 2.45 GHz with treatment durations under 2 min.

An Optimal Sliding Choke Antenna for Hepatic Microwave Ablation

Purpose: The relationship between microwave ablation system operating frequency and ablation performance is not currently well understood. The objective of this study was to comparatively assess the differences in microwave ablation at 915 MHz and 2.45 GHz. Methods: Analytical expressions for electromagnetic radiation from point sources were used to compare power deposition at the two frequencies of interest. A 3D electromagnetic-thermal bioheat transfer solver was implemented with the finite element method to characterize power deposition and thermal ablation with asymmetrical insulated dipole antennas (single-antenna and dual-antenna synchronous arrays). Simulation results were validated against experiments in ex vivo tissue. Results: Theoretical, computational, and experimental results indicated greater power deposition and larger diameter ablation zones when using a single insulated microwave antenna at 2.45 GHz; experimentally, 32 ± 4.1 mm and 36.3 ± 1.0 mm for 5 and 10 min, respectively, at 2.45 GHz, compared to 24 ± 1.7 mm and 29.5 ± 0.6 mm at 915 MHz, with 30 W forward power at the antenna input port. In experiments, faster heating was observed at locations 5 mm (0.91 vs 0.49 °C/s) and 10 mm (0.28 vs 0.15 °C/s) from the antenna operating at 2.45 GHz. Larger ablation zones were observed with dual-antenna arraysmore » at 2.45 GHz; however, the differences were less pronounced than for single antennas. Conclusions: Single- and dual-antenna arrays systems operating at 2.45 GHz yield larger ablation zone due to greater power deposition in proximity to the antenna, as well as greater role of thermal conduction.« less

Punit Prakash

Papers

Theoretical Modeling for Hepatic Microwave Ablation

Current status of liver tumor ablation devices.

A Directional Interstitial Antenna for Microwave Tissue Ablation: Theoretical and Experimental Investigation

An Optimal Sliding Choke Antenna for Hepatic Microwave Ablation

Microwave ablation at 915 MHz vs 2.45 GHz: A theoretical and experimental investigation.