PROSBOT – Model and image controlled prostatic robot

Vitrani, Marie-Aude; Troccaz, Jocelyne; Silvent, Anne-Sophie; Selmi, Sonia-Yuki; Sarrazin, Julien; Reversat, David; Promayon, Emmanuel; Poquet, C.; Mozer, Pierre; Morel, Guillaume; Fiard, G.; Moreau–Gaudry, Alexandre; Leroy, Antoine; Janier, Marc; Baumann, Michaël

doi:10.1016/j.irbm.2015.01.012

Cited by 2 publications

(2 citation statements)

References 27 publications

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“…To overcome the listed problems, robots aided approaches have been proposed in the literature to reduce practitioners fatigue and provide precision and dexterity. These solutions can be divided into two large families, the image-based registration method [9], [10] and the modelbased method [11], [12], [13], [14], [15]. In the registration based-method, intra-operative ultrasound image (often poor quality) is improved by registration with the preoperative image MRI [10], [16] in which the area of interest is well defined.…”

Section: Introductionmentioning

confidence: 99%

Planning of Soft-Rigid Hybrid Arms in Contact With Compliant Environment: Application to the Transrectal Biopsy of the Prostate

Coevoet

Adagolodjo

Lin

et al. 2022

IEEE Robot. Autom. Lett.

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In this study, a rigid robot is hybridized with a soft part to improve its properties of relative positioning and safe interaction. While the design of the device is quite simple, the kinematics, on the other hand, becomes complex. Pre-operative planning of such a robot is a challenge that is faced in this paper. The clinical context is the automation of transrectal prostate biopsy: a robot is connected to a thin ultrasound (US) probe instrumented with a needle through a flexible silicone part. The procedure consists of: moving the probe near the prostate through the rectum, aligning the probe with identified lesions in the prostate, and shooting the needle to collect tissue samples. In this paper we demonstrate in simulation the feasibility of our methods to solve the planning of the entire procedure. The approach we propose is based on numerical models of both robot and soft tissues, using the Finite Element Method (FEM) to model the soft parts, and a mapping mechanism to propagate the forces and displacements between the soft and rigid models. Finally, we extend the optimization algorithm proposed in previous work for the relative positioning of the hybrid robot on targets in the prostate, as it interacts with the soft tissues. With this formulation we can also set an upper limit to the force the robot is applying on its surroundings, which is particularly critical for the application we study in this paper.

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Section: Introductionmentioning

confidence: 99%

Planning of Soft-Rigid Hybrid Arms in Contact With Compliant Environment: Application to the Transrectal Biopsy of the Prostate

Coevoet

Adagolodjo

Lin

et al. 2022

IEEE Robot. Autom. Lett.

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“…Médicos Residentes: [110], [144], [44], [47], [142], [160], [117], [118], [56], [58], [119], [65], [138], [68], [120], [143], [123], [71], [74], [77].…”

Section: Resultsunclassified

Revisão sistemática da usabilidade em dispositivos médicos

Roma¹

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Agradeço a Deus, que me deu sabedoria e perseverança em toda a minha jornada. Minha mais profunda gratidão, aos meus pais, Edmilson Leite Guimarães, de quem herdei o raciocínio lógico, e Maria Madalena de Souza, que me deu a possibilidade de adquirir conhecimentos e experiências tão importantes, e que foram a todo momento aproveitados. Aos meus irmãos, Edson James e Edmilson Filho (Cel.Leite), que me ensinaram nas brincadeiras de menino, a sobreviver e ser forte, mesmo delicada. Aos meus avós (in memoriam), Maria Mattos (matriarca da família) e José Bogéa, pelo exemplo de firmeza. Ao meu marido Valter Roma Junior, e meus filhos Renato e Felipe Roma, que compreenderam e me incentivaram a todo momento, mesmo nas minhas ausências. À minha eterna inspiração Profa. Laura Cariello (in memoriam), por me ensinar que a docência é uma arte e uma paixão, que ela tanto soube exercitar.

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PROSBOT – Model and image controlled prostatic robot

Abstract: International audienc

Cited by 2 publications

References 27 publications

Planning of Soft-Rigid Hybrid Arms in Contact With Compliant Environment: Application to the Transrectal Biopsy of the Prostate

Planning of Soft-Rigid Hybrid Arms in Contact With Compliant Environment: Application to the Transrectal Biopsy of the Prostate

Revisão sistemática da usabilidade em dispositivos médicos

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