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

Session WedCT9 Fenix 1 Wednesday, October 10, 2012, 11:00–12:30
Sensing in Medical Robotics
Chair M. Cenk Cavusoglu, Case Western Res. Univ.
Co-Chair
11:00–11:15 WedCT9.1
Scanning the surface of soft tissues with a
micrometer precision thanks to endomicroscopy
based visual servoing
Benoît Rosa, Mustapha Suphi Erden, Jérôme Szewczyk, and
Guillaume Morel
ISIR, Université Pierre et Marie Curie, Paris, France
Tom Vercauteren
Mauna Kea Technologies, Paris, France
• Probe-based confocal endomicroscopy is a
promising imaging modality for performing
optical biopsies
• Problem: tissue deformation while scanning for
getting wide field of view mosaics
• Solution proposed: visual servo control using
the confocal images as a measurement of
probe/tissue displacement
• Ex vivo validation on different tissues and
trajectories using a precision robot
• Further work: in vivo trial with a dedicated
laparoscopic instrument
Mosaics from raster scans on
liver tissue. Up: without visual
servo control (light line is the
robot trajectory). Down: using
visual servo control.
11:30–11:45 WedCT9.3
Internal Bleeding Detection Algorithm Based on
Determination of Organ Boundary by Low-
Brightness Set Analysis
Keiichiro Ito, Shigeki Sugano, Fellow IEEE
Creative Science and Engineering, Waseda University, Japan
Hiroyasu Iwata, Member IEEE
Waseda Institute for Advanced Study, Waseda University, Japan
• This paper proposes an organ
boundary determination method for
detecting internal bleeding.
• We developed method for extracting
low-brightness areas and
determining algorithms of organ
boundaries by low-brightness set
analysis, and we detect internal
bleeding by combining these two
methods.
• Experimental results based on
clinical US images of internal
bleeding between Liver and Kidney
showed that proposed algorithms
had a sensitivity of 77.8% and
specificity of 95.7%.
Kidney
Liver
Gap between the organs
(Internal bleeding)
Internal Bleeding Detection Algorithm
12:00–12:15 WedCT9.5
Heart motion measurement with three dimensional
sonomicrometry and acceleration sensing
Tetsuya Horiuchi and Ken Masamune
Graduate School of Information Science and Technology, University of Tokyo,
Japan
Eser Erdem Tuna and Murat Cenk Çavuşoğlu
Department of Electrical Engineering and Computer Science, Case Western
Reserve University, USA
• Point of Interest for Coronary
artery bypass graft surgery.
• Estimation by particle filter with
position and acceleration sensor
which has uncertain incline.
• New estimation method,
“Differential Probability Method”,
which enhanced particle filter.
• Reduce 27.2% RMS error from
Conventional method.
Overview of the system
11:15–11:30 WedCT9.2
Preliminary Evaluation of a Micro-Force Sensing
Handheld Robot for Vitreoretinal Surgery
Berk Gonenc, Marcin A. Balicki
Russell H. Taylor and Iulian Iordachita
ERC for Computer Integrated Surgery, Johns Hopkins University, USA
James Handa and Peter Gehlbach
Wilmer Eye Institute, The Johns Hopkins School of Medicine, USA
Cameron N. Riviere
Robotics Institute, Carnegie Mellon University, USA
• A 2-DOF force sensing hook is
integrated with a handheld robot,
Micron, for superior performance
in membrane peeling operations.
• FBG based force sensing
instrument could directly inform
the surgeon of the extremely
delicate peeling forces.
• Preliminary tests were done on
bandage phantom and inner shell
membrane of raw chicken eggs.
• The peeling forces were kept
below 7 mN with a significant
reduction in 2-20 Hz oscillations.
11:45–12:00 WedCT9.4
A Cyber-Physical System for Strain
Measurements in the Cerebral Aneurysm Models
Chaoyang Shi, Masahiro Kojima, Carlos Tercero, Seiichi Ikeda,
Toshio Fukuda, Fumihito Arai
Micro-Nano Systems Engineering, Nagoya University, Japan
Makoto Negoro and Keiko Irie
Department of Neurosurgery, Fujita Health University, Japan
� Build a novel in-vitro
experimental platform for the
dynamic deformation measurements
on the aneurysm
� Justify a link between robotic
technologies and this cyberphysical
systems for the
aneurysm diagnosis and
prognosis
� Realize the high resolution
analysis by observing an
enlarged silicone membrane
aneurysm model under the
microscope
� Combine CFD (Computational
Fluid Dynamics) simulation
with experiments for validation
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–145–
Experimental setup including the pump for
blood flow simulation pump, the cerebral
aneurysm model and vision system
12:15–12:30 WedCT9.6
Surface Texture and Pseudo Tactile Sensation
Displayed by a MEMS-Based Tactile Display
Junpei Watanabe, Hiroaki Ishikawa, and Arouette Xavier
Department of Mechanical Engineering, Keio University, Japan
Norihisa Miki
Department of Mechanical Engineering, Keio University, Japan
and
JST PRESTO, Japan
• We demonstrate display of artificial tactile
feeling using large displacement MEMS
actuator arrays.
• We investigated the artificial tactile feeling
projected onto the fingertip in contact with
the display.
• The actuator arrays could successfully
display “rough” and “smooth” tactile feeling
distinctly.
• We experimentally deduced the conditions
when the pseudo tactile sensation was
generated.
Schematic view of a tactile display