11 research outputs found
Constrained Kinematic Control in Minimally Invasive Robotic Surgery Subject to Remote Center of Motion Constraint
Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies
Spectral analysis of the tremor motion for needle detection in curvilinear ultrasound via spatiotemporal linear sampling
Catheter-based ultrasound technology for image-guided thermal therapy: Current technology and applications
Catheter-based ultrasound (CBUS) is being applied to deliver minimally invasive thermal therapy to solid cancer tumors, benign tissue growth, vascular disease, and tissue remodeling. Compared to other energy modalities used in catheter-based surgical interventions, unique features of ultrasound result in conformable and precise energy delivery with high selectivity, fast treatment times, and larger treatment volumes. Here, a concise review of CBUS technology being currently utilized in animal and clinical studies or being developed for future applications is presented. CBUS devices have been categorized into interstitial, endoluminal and endovascular/cardiac applications. Basic applicator designs, site specific evaluations and possible treatment applications have been discussed in brief. Particular emphasis has been given on ablation studies that incorporate image-guidance for applicator placement, therapy monitoring, feedback control, and post-procedure assessment. Examples of devices included here span the entire spectrum of development cycle from preliminary simulation based design studies to implementation in clinical investigations. The use of CBUS under image guidance has the potential for significantly improving precision and applicability of thermal therapy delivery