Journal of Medical Robotics Research by World Scientific Publishing Co Pte Ltd

More catalogs by World Scientific Publishing Co Pte Ltd | Journal of Medical Robotics Research | 4 pages | 2018-11-22

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Page 3 of Journal of Medical Robotics Research

read these articles for free at www.worldscientific.com/jmrr 0$36±$0djlf$qjoh3rvlwlrqlqj6 vwhpiruqkdqfhg ,pdjlqjlq+ljklhog6pdoo%ruh05 6slqr7hpsodwh$3odwirupiru05,xlghg6slqdo&rug ,qmhfwlrqv alexander squires kevin c chan leon c ho ian a sigal ning-jiun jan zion tsz ho tse doi 10.1142/s2424905x16400043 alexander squires john oshinski jason lamanna zion tsz ho tse doi 10.1142/s2424905x16400067 a spinotemplate at þ25 b template grid and fiducials c fiducials in mri d spinotemplate on patient a e patient entering scanner f patient in scanner fig 2 a the positioning device including template and support structure b top view of template showing full grid of holes and the five wells with fiducial markers c mr image of the fiducial markers d cad image demonstrating the positioning of spinotemplate above the lumbar spinal cord e positioning of patient in prone position before entrance into bore f sufficient clearance within a 60 cm closed-bore scanner b 8owudvrxqgxlghg0rgho3uhglfwlyh&rqwurori1hhgoh 6whhulqjlq%lrorjlfdo7lvvxh fig 3 a maps positioning error b sample stage velocity under varying loads mohsen khadem carlos rossa ron s sloboda nawaid usmani mahdi tavakoli doi 10.1142/s2424905x16400079 fig 6 histological images of the tendons illustrating the orientation of the collagen fibers in unloaded a and loaded b the magic angle effect ff is more significant in the loaded tendon due to a high degree of alignment whereas in the unloaded tissue the signal is partially canceled out due to the unaligned nature of crimped fibers a corresponds with the unloaded tendon rows in fig 4a while b is a tendon under load as the bottom row in fig 4a fig 1 a schematic of needle insertion in brachytherapy the surgeon inserts long flexible needles through the patient s perineum in order to deliver radioactive seeds within the prostate gland 7kuhh lphqvlrqdo1hhgoh6whhulqj8vlqj$xwrpdwhg %uhdvw9roxph6fdqqhu 96 momen abayazid pedro moreira navid shahriari anastasios zompas sarthak misra doi 10.1142/s2424905x16400055 virtual target biological tisssue physical target biological tissuee physical target obstacle gelatin phantom planned path neeedle planned path planned path breast pphantom case 1 case 2 case 3 a b c fig 5 experimental cases a the needle is steered toward a virtual target in a gelatin-based soft tissue phantom case 1a chicken breast case 1b and sheep liver case 1c b the needle is steered towards a physical target while avoiding a physical obstacle in gelatin-based soft tissue phantom case 2a and chicken breast case 2a c the needle is steered towards a physical target while avoiding a physical obstacle in a human breast tissue phantom case 3 fig 4 a schematic of a bevel-tip needle inserted into a soft tissue v is the insertion velocity fc is the tissue cutting force applied perpendicular to the beveled tip q and p are the transverse and axial component of fc respectively and are related by p ¼ q tanðÞ where  is the bevel angle fs is the force distribution used to model tissue reaction forces as the result of its deformation caused by needle bending.