Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedBT9 Fenix 1 Wednesday, October 10, 2012, 09:30–10:30
Medical Robotics II
Chair Fumihito Arai, Nagoya Univ.
Co-Chair Jake Abbott, Univ. of Utah
09:30–09:45 WedBT9.1
Space-Time Localization and Registration on the
Beating Heart
Nathan Wood, Kevin Waugh, Tian Yu Liu, Cameron Riviere
The Robotics Institute, Carnegie Mellon University, USA
Marco Zenati
BHS Department of Cardiothoracic Surgery, Harvard Medical School, USA
• The HeartLander Robot adheres to
and moves over the surface of the
heart.
• The heart deforms periodically due to
the physiological cycles of heartbeat
and respiration.
• Instead of rejecting the deformations
as noise, the periodic motion can be
used to aid in localization.
• Particle filter framework is used to
estimate the pose of the robot on the
heart and the cardiac phase, as well
as the pose of the heart.
10:00–10:15 WedBT9.3
Catheter Navigation Based on Probabilistic Fusion
of ElectromagneticTracking and Physically-Based
Simulation
Alessio Dore 1 , Gabrijel Smoljkic 2 , Emmanuel Vander Poorten 2 ,
Mauro Sette 2,3 , Jos Vander Sloten 2 , and Guang-Zhong Yang 1
1 Hamlyn Centre, Imperial College London, UK
2 Department of Mechanical Engineering, KU Leuven, Belgium
3 Institute of Mechatronic Systems, ZHAW, Switzerland
• Reduced use of fluoroscopy and better
visualization are key point to improve the
safety of catheter-based endovascular
procedures..
• A catheter navigation approach is
proposed based on the use of
electromagnetic tracking and physicallybased
catheter insertion simulation.
• Catheter shape and position are estimated
and registered to the pre-operative model
to provide improved visualization.
• The approach has been tested on a 2D
mockup obtaining an average localization
error of 2mm.
Example of 3D localization
performed in an aortic arch
silicon phantom
09:45–10:00 WedBT9.2
Reliable Planning and Execution of a Human-
Robot Cooperative System Based on
Noninvasive BCI with Uncertainty
Wenchuan Jia, Huayan Pu, Xin Luo, Xuedong Chen
State Key Laboratory of Digital Manufacturing Equipment and Technology,
Huazhong University of Science and Technology, China.
Dandan Huang, Ou Bai
EEG&BCI Laboratory, Virginia Commonwealth University, US
• Three cooperative modes is
proposed to trade-off of
robot’s autonomy and user’s
flexibility.
• Look-ahead visual feedback is
applied to achieve continuous
motion.
• The user can adjust the
intention and/or actively
correct extraction error of the
BCI before the robot reaches
current path node.
10:15–10:30 WedBT9.4
Organ-explanted Bionic Simulator (OBiS) :
Concurrent Microcardiovascular Anastomosis of Chick Embryo
1 Hirofumi Owaki, 1 Taisuke Masuda, 2 Tomohiro Kawahara, 1 Natsuki Takei,
1 Keiko Miwa-Kodama, 3 Kota Miyasaka, 3 Toshihiko Ogura, and 1 Fumihito Arai
1 Graduate School of Engineering, Nagoya University, Japan
2 Kyusyu Instutute of Technology, Japan as well as Massachusetts Institute of Technology, USA
3 Department of Developmental Neurobiology, Tohoku University, Japan
• Organ-explanted Bionic Simulator
(OBiS) is newly proposed.
• A heart isolated from chick embryo is
used for OBiS.
• Suction-induced vascular fixation
(SVF) method is proposed for
concurrent microcardiovascular
anastomosis.
• Dual-arm micromanipulator system is
developed for assisting the vascular
anastomosis.
• 4 blood vessels led to the chick’s heart
can be concurrently connected with
the alginate tubes by SVF method.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–136–
Monitoring
/ Control unit
Mechanical stimulus
Pump
Electrical stimulus
Chemical stimulus
CO2 / Heater
Culture
Microfluidic chip
Shape
(Dynamic)
Laser displacement
sensor
Explanted organ
Shape
(Static / Dynamic)
Image sensor
The concept of
bionic simulator system
pH
O2 Temp.
Patch-clamp
Electrical sensor