Author
Yili Fu
Bio: Yili Fu is an academic researcher from Harbin Institute of Technology. The author has contributed to research in topics: Computer science & Artificial intelligence. The author has an hindex of 13, co-authored 71 publications receiving 748 citations.
Papers published on a yearly basis
Papers
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TL;DR: The emergence of the active catheter has prompted the development of catheterization in minimally invasive surgery, however, it is still operated using only the physician's vision; information supplied by the guiding image and tracking sensors has not been fully utilized.
Abstract: Background
The emergence of the active catheter has prompted the development of catheterization in minimally invasive surgery. However, it is still operated using only the physician's vision; information supplied by the guiding image and tracking sensors has not been fully utilized.
Methods
In order to supply the active catheter with more useful information for automatic navigation, we extract the skeleton of blood vessels by means of an improved distance transform method, and then present the crucial geometric information determining navigation. With the help of tracking sensors' position and pose information, two operations, advancement in the proximal end and direction selection in the distal end, are alternately implemented to insert the active catheter into a target blood vessel.
Results
The skeleton of the aortic arch reconstructed from slice images is extracted fast and automatically. A navigation path is generated on the skeleton by manually selecting the start and target points, and smoothed with the cubic cardinal spline curve. Crucial geometric information determining navigation is presented, as well as requirements for the catheter entering the target blood vessel. Using a shape memory alloy active catheter integrated with magnetic sensors, an experiment is carried out in a vascular model, in which the catheter is successfully inserted from the ascending aorta, via the aortic arch, into the brachiocephalic trunk.
Conclusions
The navigation strategy proposed in this paper is feasible and has the advantage of increasing the automation of catheterization, enhancing the manoeuvrability of the active catheter and providing the guiding image with desirable interactivity. Copyright © 2009 John Wiley & Sons, Ltd.
33 citations
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TL;DR: The proposed system can accelerate neural plasticity and motor recovery in those patients with little muscle strength by using the exoskeleton device, and other independent joints can be trained by easily changing the VR training interface.
Abstract: According to the neuro-rehabilitation theory, compared with unilateral training, bilateral training is proven to be an effective method for hemiparesis, which affects the most part of stroke patients. In this study, a novel bilateral rehabilitation training system, which incorporates a lightweight exoskeleton device worn on the affected limb; a haptic device (Phantom Premium), which is used for generating a desired tactile feedback for the affected limb; and a VR (virtual reality) graphic interface, has been developed. The use of VR technology during rehabilitation can provide goal directed tasks with rewards and motivate the patient to undertake extended rehabilitation. This paper is mainly focused on elbow joint training, and other independent joints can be trained by easily changing the VR training interface. The haptic device is adopted to enable patients to use their own decision making abilities with a tactical feedback. Integrated with a VR-based graphic interface, the goal-oriented task can help to gradually recovery their motor function with a coordinative motion between two limbs. In particular, the proposed system can accelerate neural plasticity and motor recovery in those patients with little muscle strength by using the exoskeleton device. The exoskeleton device can provide from relatively high joint impedance to near-zero impedance, and can provide a partial assist as the patient requires.
30 citations
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22 May 2011TL;DR: A novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test is developed.
Abstract: Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantages, such as poor maneuverability, radiation injury and undesirable interactivity, Thus it is difficult to guarantee the safety and efficiency. In order to improve these limitations, this paper develops a novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test. The results demonstrate that the constructed system can reduce the usage of X-rays; surgeons can be located in the control room away from the operating room in the master-slave way; catheterization can be performed successfully and safely to the target point with high maneuverability.
29 citations
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TL;DR: An active catheter is a minimally invasive surgery catheter that can perform deflectable motions and moves like a snake, utilizing a multi‐joint mechanism with distributed shape memory alloy (SMA) actuators.
Abstract: Background
An active catheter is a minimally invasive surgery catheter that can perform deflectable motions. The active catheter can be controlled from outside the body and moves like a snake, utilizing a multi-joint mechanism with distributed shape memory alloy (SMA) actuators.
Methods
It was considered that the deflection curve of the axis of the catheter is determined by the output force of the SMA actuators. Based on the large deflection theory, the deflection curve equation of the axis of the catheter was derived, using the precise form of the curvature.
Results
Through experimentation, the axial bending curve shape of the blended active catheter was measured precisely, and the experimental results were compared with the calculation results obtained from the large deflection theory and the circular arc hypothesis. The experimental results show that the curves calculated by large deflection theory are very close to the actual axis curves.
Conclusions
An active catheter prototype has been designed using the theory presented in this paper. Utilizing a vascular model, the active catheter-based invasive surgery was simulated. The experiment confirmed that the large deflection theory calculation method can be used to guide the design of the active catheter. Copyright © 2008 John Wiley & Sons, Ltd.
24 citations
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TL;DR: The proposed mechanism based on the RMIS requirements can achieve the remote centre of motion for the laparoscope and can be applied on other robots for providing the instrument necessary motion in minimally invasive surgery.
Abstract: Robot-assisted minimally invasive surgery (RMIS) is promising for improving surgical accuracy and dexterity. As the end effector of the robotic arm, the remote centre of motion mechanism is one of the requisite terms for guaranteeing patient safety. The existing remote centre of motion mechanisms are complex and large in volume, as well as high assembly requirement and unsatisfactory precise. This paper aimed to present a new remote centre of motion mechanism for solving these problems. A new mechanism based on the RMIS requirements is proposed for holding the laparoscope and generating a remote centre of motion for the laparoscope. The mechanism kinematics is then analysed from the perspective of the structural function, and its inverse kinematics is determined with a small number of calculations. Finally, the position deviation of the laparoscope rotational point is chosen as the index to evaluate the mechanism performance. The experiments are performed to test the deviation. The position deviations of the laparoscope rotational point do not exceed 2 mm, which is lower than that of the existing remote centre of motion mechanism. The 2 mm positioning error of the laparoscope won’t affect surgeon observation of the surgical field, and the pressure caused by the positioning error was acceptable for the skin elasticity. The proposed mechanism meets the RMIS requirement. The proposed mechanism can achieve the remote centre of motion for the laparoscope. Its simple and compact structure is beneficial to avoid the collision of robotic arms, and it can be applied on other robots for providing the instrument necessary motion in minimally invasive surgery.
22 citations
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9,362 citations
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TL;DR: The state of the art in continuum robot manipulators and systems intended for application to interventional medicine are described, and relevant research in design, modeling, control, and sensing for continuum manipulators are discussed.
Abstract: 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.
986 citations
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28 Aug 2019TL;DR: A submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface is presented.
Abstract: Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot's body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot's body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.
594 citations
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351 citations