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Design and Experiments of Ultrasound Image-Guided Multi-DOF Robot System for Brachytherapy

Transactions of Tianjin University 2017年第5期23卷 479-487页

作者： Shan Jiang Yunpeng Yang Zhiyong Yang Zhen Zhang Sheng Liu School of Mechanical Engineering Tianjin UniversityTianjin 300350 China

To implant radioactive seeds through a needle precisely and safely, a novel multi-DOF surgical robotic system is presented in this paper for percutaneous prostate intervention through the patient’s perineum under real-time ultrasound image guidance. The proposed robot, which is designed with 9-DOF, consists of a 3-DOF automatic location platform for position adjustment, 2-DOF for automatic ultrasonic probe adjustment mounted with electromagnetic trackers, and 4-DOF for manually adjusting the guided template. Meanwhile, a new registration method based on the quaternion algorithm and least square method is developed, and the needle insertion is performed under the real-time guidance of a navigation system. Furthermore, the robot system has undergone some preliminary experiments with a laser tracker to evaluate the repeatability and accuracy of the robot system. The location error of the puncture needle tip can be controlled under 0.7 mm in air for the whole robotic system. The acquired results endorse the precision of the robot system for prostate seed implantation brachytherapy. © 2017, Tianjin University and Springer-Verlag GmbH Germany.

关键词： Implants (surgical) Least squares approximations Machine design Nanocomposites Navigation systems Needles Oncology patient treatment Radiotherapy Robotics Ultrasonics Urology

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Positioning planning of high-intensity-focused ultrasound surgery platform using Bezier curve

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Journal of Southeast University(English Edition) 2004年第3期20卷 332-340页

作者：项林清马培荪许剑波高雪官上海交通大学机器人研究所上海200030

A positioning volume ellipsoid method is proposed to represent tumor volume in the workspace of a high-intensity-focused ultrasound (HIFU) surgery platform during the platform's positioning motion. To this simplified tumor model, a nearest neighbor search method is used to determine intermediate configuration and goal configuration, which the treatment head and ultrasound focus must pass in their localization to target volume. Based on the decided configurations, the continuity condition of combined Bezier curve in Euclidean space and De Casteljau algorithm on Lie group SO(3) are integrated to construct a combined Bezier positioning path of C2 continuity at junctional configuration, and an illustration of different positioning path planning is analyzed based on a liver tumor case.

关键词： Dynamic positioning patient treatment Temperature distribution Tumors Ultrasonic applications

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Mobile Pods:Technology to Support the Delivery of Community-Based Urgent Care 17th

Mobile Pods:Technology to Support the Delivery of Community-...

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第十七届国际工效学大会暨中国人类工效学会成立20周年庆祝大会

作者： Anna Jones Sue Hignett Jonathan Benger Healthcare Ergonomics and patient Safety Unit Loughborough University Academic Dept of Emergency Care University of the West of England

In the last five years UK government policy has moved towards increasing the provision of urgent care in the *** meet these changes the emergency ambulance service is shifting from an organization designed to convey patients to hospital to a professional group capable of assessing urgency and delivering the appropriate treatment to the patient;’providing the right response,first time,in time’.This paper reports an ergonomic analysis of urgent care provision in acute and primary care ***-five patients presenting with six complaints(breathing difficulty,chest pain,head injury,laceration,neck pain and injury as a result of a fall) were observed at two emergency departments(acute) and one minor injuries unit(primary care).Data were collected and analysed using Link Analysis(LA) to explore layout and spatial issues affecting the treatment space and Hierarchical Task Analysis(HTA) to analyse procedural issues and equipment *** LA and HTA data were triangulated to identify requirements for the mobile treatment unit.A recommendation for a new mobile treatment unit(mobile pod) has been developed by comparing the clinical environments,tasks and technologies used to provide assessment,diagnosis and treatment for six urgent healthcare *** proposed mobile pod has been critically reviewed by a national group of ambulance managers with positive *** research will include a wider range of clinical complaints and the development of a full size mock-up to test and evaluate the efficiency and safety of the new clinical *** mobile pod development is part of the Smart Pods project which is also exploring the operational systems(macro) and portable pods(micro) to support the change in clinical activities.

关键词： Medical device Mobile patient treatment Pods Urgent Care Obstetric Delivery

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