105 research outputs found
Needle and Biopsy Robots: a Review
Purpose of the review Robotics is a rapidly advancing field, and its introduction in healthcare can have a multitude of benefits for clinical practice. Especially, applications depending on the radiologist\u2019s accuracy and precision, such as percutaneous interventions, may profit. This paper provides an overview of recent robot-assisted percutaneous solutions. Recent findings Percutaneous interventions are relatively simple and the quality of the procedure increases a lot by introducing robotics due to the improved accuracy and precision. The success of the procedure is heavily dependent on the ability to merge pre- and intraoperative images, as an accurate estimation of the current target location allows to exploit the robot\u2019s capabilities. Summary Despite much research, the application of robotics in some branches of healthcare is not commonplace yet. Recent advances in percutaneous robotic solutions and imaging are highlighted, as they will pave the way to more widespread implementation of robotics in clinical practic
Image-guided Breast Biopsy of MRI-visible Lesions with a Hand-mounted Motorised Needle Steering Tool
A biopsy is the only diagnostic procedure for accurate histological
confirmation of breast cancer. When sonographic placement is not feasible, a
Magnetic Resonance Imaging(MRI)-guided biopsy is often preferred. The lack of
real-time imaging information and the deformations of the breast make it
challenging to bring the needle precisely towards the tumour detected in
pre-interventional Magnetic Resonance (MR) images. The current manual
MRI-guided biopsy workflow is inaccurate and would benefit from a technique
that allows real-time tracking and localisation of the tumour lesion during
needle insertion. This paper proposes a robotic setup and software architecture
to assist the radiologist in targeting MR-detected suspicious tumours. The
approach benefits from image fusion of preoperative images with intraoperative
optical tracking of markers attached to the patient's skin. A hand-mounted
biopsy device has been constructed with an actuated needle base to drive the
tip toward the desired direction. The steering commands may be provided both by
user input and by computer guidance. The workflow is validated through phantom
experiments. On average, the suspicious breast lesion is targeted with a radius
down to 2.3 mm. The results suggest that robotic systems taking into account
breast deformations have the potentials to tackle this clinical challenge.Comment: Submitted to 2021 International Symposium on Medical Robotics (ISMR
Finite Element Modeling of Pulmonary Mechanics in Severe Acute Respiratory Distress Syndrome:Explaining the Inclination Angle?
Имитационное моделирование технологии управления процессом производства
Предложено использование комплекса имитационного моделирования для получения информации при контроле функционирования и управлении технологическим процессом производства.Запропоновано використання комплексу імітаційного моделювання для одержання інформації при контролюванні функціонування та управління технологічним процесом виробництва.Complex of simulation modeling for obtaining information when checking an operation and control of technological process of production is offered to use
Performance and application of an open source automated magnetic optical density meter for analyzing magnetotactic bacteria
We present a spectrophotometer (optical density meter) combined with
electromagnets dedicated to the analysis of magnetotactic bacteria. We have
ensured that our system, called MagOD, can be easily reproduced by providing
the source of the 3D prints for the housing, electronic designs, circuit board
layouts, and microcontroller software. We compare the performance of this novel
system to existing adapted commercial spectrophotometers. In addition, we
demonstrate its use by analyzing the absorbance of magnetotactic bacteria as a
function of their orientation with respect to the light path and their speed of
reorientation after the field has been rotated by 90o. We continuously
monitored the development of a culture of magnetotactic bacteria over a period
of five days, and measured the development of their velocity distribution over
a period of one hour. Even though this dedicated spectrophotometer is
relatively simple to construct and cost-effective, a range of magnetic
field-dependent parameters can be extracted from suspensions of magnetotactic
bacteria. Therefore, this instrument will help the magnetotactic research
community to understand and apply this intriguing micro-organism
An open-source automated magnetic optical density meter for analysis of suspensions of magnetic cells and particles
We present a spectrophotometer (optical density meter) combined with electromagnets dedicated to the analysis of suspensions of magnetotactic bacteria. The instrument can also be applied to suspensions of other magnetic cells and magnetic particles. We have ensured that our system, called MagOD, can be easily reproduced by providing the source of the 3D prints for the housing, electronic designs, circuit board layouts, and microcontroller software. We compare the performance of our system to existing adapted commercial spectrophotometers. In addition, we demonstrate its use by analyzing the absorbance of magnetotactic bacteria as a function of their orientation with respect to the light path and their speed of reorientation after the field has been rotated by 90°. We continuously monitored the development of a culture of magnetotactic bacteria over a period of 5 days and measured the development of their velocity distribution over a period of one hour. Even though this dedicated spectrophotometer is relatively simple to construct and cost-effective, a range of magnetic field-dependent parameters can be extracted from suspensions of magnetotactic bacteria. Therefore, this instrument will help the magnetotactic research community to understand and apply this intriguing micro-organism
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