ICRA is known as the "IEEE International Conference on Robotics and Automation" and is one of the most influential international academic conferences in the field of robotics. ICRA 2017 was held from May 29th to June 4th, and AI Technology Review brought a frontline report from Singapore. During the conference, the author will launch a series of special reports on the agenda and award-winning papers, so stay tuned.
Below is a summary of the papers from the ICRA 2017 Best Medical Robot Finalists.
Efficient proximity query of continuum robot based on parallel computing hardware
Due to advances in the field of continuum robotics, surgical operators are increasingly able to access deep diseased tissue through complex pathways. In most cases, such robots can be accurately modeled as a series of cylinders. In order to safely and seamlessly operate these complex non-intuitive kinematic robots remotely, the researchers developed a tactile guidance scheme that relies on accurate proximity queries to calculate the distance between the continuum robot and the anatomy. This paper presents a method for accurately simulating a continuum robot that uses a cylindrical segment with a spherical or planar shape and then effectively calculates the shortest distance to the triangular mesh. This paper provides an efficient analysis of narrow-phase PQ calculations for simple and complex set primitives for parallel computing hardware, as well as experimental verification. The results show that the proposed method is more suitable for real-time robot applications. In the computer experiment, the paper compares various root finding algorithms used in PQ calculations or other optimization tasks to evaluate their applicability on different hardware implementations. The implications of these experimental results are discussed in terms of selecting an appropriate proximity query algorithm based on available parallel computing hardware. Finally, the prospects for future improvements in dense dynamic anatomy are presented.
The paper is from the Hamlyn Surgical Robot Research Center at Imperial College London, and the first author is Konrad Leibrandt.
First implementation of magnetic caps in the inner cavity simultaneously using a single rotating magnet
This paper proposes a method of propelling a spiral magnetic capsule embedded with a Hall effect sensor using a single rotary actuator magnet. The method estimates a six-degree-of-freedom attitude when the capsule is rotated in synchronism with the application field. It is suitable for active capsule endoscopy of the intestines. The capsule's six-degree-of-freedom pose is estimated using an extended Kalman filter as it passes through the lumen. The Kalman filter uses a simplified two-degree-of-freedom process model, with two degrees of freedom including the capsule with its major axis. The line moves direction and direction of rotation forward or backward. The movement of the capsule in the applied field is continuously monitored to determine if the capsule is rotating in synchronism with the applied field. Based on this information, the rotational speed of the external source is adjusted to prevent loss of the desired magnetic coupling. This test is the first to demonstrate that it is feasible to simultaneously position and advance the capsules passing through the lumen using a single rotating magnet. Previous work assumed that the capsule did not have a net movement during the positioning phase, and that positioning and propulsion were performed separately. Compared to the previous step-by-step method, the time required for this method is reduced by a factor of three.
The paper is from the University of Utah and the first author is Katie Popek.
Rolling diaphragm hydraulic drive for remote MR guide pin insertion
Magnetic resonance imaging (MRI) has many advantages, including unparalleled soft tissue characterization and the ability to combine detection and biopsy. However, due to the narrow scan space, patients need cumbersome and repetitive positioning, or use a machine assistant to isolate the doctor from the patient. The paper proposes an alternative to using a transcutaneous surgery remote surgery technique to meet the needs of interventional radiologists to overcome the challenges of the MR environment. This technique demonstrates the insertion of a 1-DOF needle. This technology uses a rolling diaphragm, clutch and cable winch drive to push the needle while delivering force and motion to the operator indiscriminately. The system exhibits excellent position tracking performance (<0.7^{cric} error without load) and reliably transmits force changes. During remote operation of the needle, the user is able to detect light film punctures with an accuracy of 77% and is able to accurately distinguish the stiffness factor as manually.
The paper is from Stanford University and the first author is Natalie Burkhard.
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