
Publications
2020 |
|
![]() | Barfoot, T; Burgner-Kahrs, Jessica; Diller, E; Garg, A; Goldenberg, A; Kelly, J; Liu, X; Naguib, H E; Nejat, G; Schoellig, A P; Shkurti, F; Siegel, H; Sun, Y; Waslander, S L Making sense of the robotized pandemic response: a comparison of global and Canadian robot deployments and success factor Technical Report 2020. Abstract | Links | BibTeX | Tags: medical robotics, Robotics @techreport{Barfoot2020, title = {Making sense of the robotized pandemic response: a comparison of global and Canadian robot deployments and success factor}, author = {T. Barfoot and Jessica Burgner-Kahrs and E. Diller and A. Garg and A. Goldenberg and J. Kelly and X. Liu and H.E. Naguib and G. Nejat and A.P. Schoellig and F. Shkurti and H. Siegel and Y. Sun and S.L. Waslander}, url = {https://arxiv.org/abs/2009.08577}, year = {2020}, date = {2020-09-21}, abstract = {From disinfection and remote triage, to logistics and delivery, countries around the world are making use of robots to address the unique challenges presented by the COVID-19 pandemic. Robots are being used to manage the pandemic in Canada too, but relative to other regions, we have been more cautious in our adoption -- this despite the important role that robots of Canadian origin are now playing on the global stage. This white paper discusses why this is the case, and argues that strategic investment and support for the Canadian robotics industry are urgently needed to bring the benefits of robotics home, where we have more control in shaping the future of this game-changing technology. Such investments will not only serve to support Canada's current pandemic response and post pandemic recovery, but will also prepare this country to weather future crises. Without such support, Canada risks falling behind other developed nations that are investing heavily in hardware automation at this time. }, keywords = {medical robotics, Robotics}, pubstate = {published}, tppubtype = {techreport} } From disinfection and remote triage, to logistics and delivery, countries around the world are making use of robots to address the unique challenges presented by the COVID-19 pandemic. Robots are being used to manage the pandemic in Canada too, but relative to other regions, we have been more cautious in our adoption -- this despite the important role that robots of Canadian origin are now playing on the global stage. This white paper discusses why this is the case, and argues that strategic investment and support for the Canadian robotics industry are urgently needed to bring the benefits of robotics home, where we have more control in shaping the future of this game-changing technology. Such investments will not only serve to support Canada's current pandemic response and post pandemic recovery, but will also prepare this country to weather future crises. Without such support, Canada risks falling behind other developed nations that are investing heavily in hardware automation at this time. |
2019 |
|
![]() | Amanov, Ernar Designing a robotic port system for laparo-endoscopic single-site surgery PhD Thesis Leibniz University Hannover, 2019. Abstract | Links | BibTeX | Tags: continuum robot, design, medical robotics, minimally-invasive surgery, soft robot, stiffening, tendon actuated, tendon-driven continuum robots @phdthesis{Amanov2019b, title = {Designing a robotic port system for laparo-endoscopic single-site surgery}, author = {Ernar Amanov }, url = {https://www.repo.uni-hannover.de/handle/123456789/10149}, doi = {10.15488/10087}, year = {2019}, date = {2019-10-14}, school = {Leibniz University Hannover}, abstract = {Current research and development in the field of surgical interventions aim to reduce the invasiveness by using few incisions or natural orifices in the body to access the surgical site. Considering surgeries in the abdominal cavity, the Laparo-Endoscopic Single-site Surgery (LESS) can be performed through a single incision in the navel, reducing blood loss, post-operative trauma, and improving the cosmetic outcome. However, LESS results in less intuitive instrument control, impaired ergonomic, loss of depth and haptic perception, and restriction of instrument positioning by a single incision. Robot-assisted surgery addresses these shortcomings, by introducing highly articulated, flexible robotic instruments, ergonomic control consoles with 3D visualization, and intuitive instrument control algorithms. The flexible robotic instruments are usually introduced into the abdomen via a rigid straight port, such that the positioning of the tools and therefore the accessibility of anatomical structures is still constrained by the incision location. To address this limitation, articulated ports for LESS are proposed by recent research works. However, they focus on only a few aspects, which are relevant to the surgery, such that a design considering all requirements for LESS has not been proposed yet. This partially originates in the lack of anatomical data of specific applications. Further, no general design guidelines exist and only a few evaluation metrics are proposed. To target these challenges, this thesis focuses on the design of an articulated robotic port for LESS partial nephrectomy. A novel approach is introduced, acquiring the available abdominal workspace, integrated into the surgical workflow. Based on several generated patient datasets and developed metrics, design parameter optimization is conducted. Analyzing the surgical procedure, a comprehensive requirement list is established and applied to design a robotic system, proposing a tendon-driven continuum robot as the articulated port structure. Especially, the aspects of stiffening and sterile design are addressed. In various experimental evaluations, the reachability, the stiffness, and the overall design are evaluated. The findings identify layer jamming as the superior stiffening method. Further, the articulated port is proven to enhance the accessibility of anatomical structures and offer a patient and incision location independent design.}, keywords = {continuum robot, design, medical robotics, minimally-invasive surgery, soft robot, stiffening, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {phdthesis} } Current research and development in the field of surgical interventions aim to reduce the invasiveness by using few incisions or natural orifices in the body to access the surgical site. Considering surgeries in the abdominal cavity, the Laparo-Endoscopic Single-site Surgery (LESS) can be performed through a single incision in the navel, reducing blood loss, post-operative trauma, and improving the cosmetic outcome. However, LESS results in less intuitive instrument control, impaired ergonomic, loss of depth and haptic perception, and restriction of instrument positioning by a single incision. Robot-assisted surgery addresses these shortcomings, by introducing highly articulated, flexible robotic instruments, ergonomic control consoles with 3D visualization, and intuitive instrument control algorithms. The flexible robotic instruments are usually introduced into the abdomen via a rigid straight port, such that the positioning of the tools and therefore the accessibility of anatomical structures is still constrained by the incision location. To address this limitation, articulated ports for LESS are proposed by recent research works. However, they focus on only a few aspects, which are relevant to the surgery, such that a design considering all requirements for LESS has not been proposed yet. This partially originates in the lack of anatomical data of specific applications. Further, no general design guidelines exist and only a few evaluation metrics are proposed. To target these challenges, this thesis focuses on the design of an articulated robotic port for LESS partial nephrectomy. A novel approach is introduced, acquiring the available abdominal workspace, integrated into the surgical workflow. Based on several generated patient datasets and developed metrics, design parameter optimization is conducted. Analyzing the surgical procedure, a comprehensive requirement list is established and applied to design a robotic system, proposing a tendon-driven continuum robot as the articulated port structure. Especially, the aspects of stiffening and sterile design are addressed. In various experimental evaluations, the reachability, the stiffness, and the overall design are evaluated. The findings identify layer jamming as the superior stiffening method. Further, the articulated port is proven to enhance the accessibility of anatomical structures and offer a patient and incision location independent design. |
2013 |
|
Swaney, Philip J; Burgner, Jessica; Gilbert, Hunter B; Webster III, Robert J A flexure-based steerable needle: High curvature with reduced tissue damage Journal Article IEEE Transactions on Biomedical Engineering, 60 (4), pp. 906–909, 2013. Abstract | Links | BibTeX | Tags: image-guided surgery, medical robotics, needle design, steerable needle @article{Swaney2013, title = {A flexure-based steerable needle: High curvature with reduced tissue damage}, author = {Philip J Swaney and Jessica Burgner and Hunter B Gilbert and Robert J {Webster III}}, doi = {10.1109/TBME.2012.2230001}, year = {2013}, date = {2013-01-01}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {60}, number = {4}, pages = {906--909}, abstract = {In the quest to design higher curvature bevel-steered needles, kinked bevel-tips have been one of the most successful approaches yet proposed. However, the price to be paid for enhancing steerability in this way has been increased tissue damage, since the prebent tip cuts a local helical path into tissue when axially rotated. This is problematic when closed-loop control is desired, because the controller will typically require the needle to rotate rapidly, and it is particularly problematic when duty cycling (i.e., continual needle spinning) is used to adjust curvature. In this paper, we propose a new flexure-based needle tip design that provides the enhanced steerability of kinked bevel-tip needles, while simultaneously minimizing tissue damage.}, keywords = {image-guided surgery, medical robotics, needle design, steerable needle}, pubstate = {published}, tppubtype = {article} } In the quest to design higher curvature bevel-steered needles, kinked bevel-tips have been one of the most successful approaches yet proposed. However, the price to be paid for enhancing steerability in this way has been increased tissue damage, since the prebent tip cuts a local helical path into tissue when axially rotated. This is problematic when closed-loop control is desired, because the controller will typically require the needle to rotate rapidly, and it is particularly problematic when duty cycling (i.e., continual needle spinning) is used to adjust curvature. In this paper, we propose a new flexure-based needle tip design that provides the enhanced steerability of kinked bevel-tip needles, while simultaneously minimizing tissue damage. | |
2010 |
|
![]() | Burgner, Jessica Robot Assisted Laser Osteotomy PhD Thesis Karlsruhe Institute of Technology, 2010, ISBN: 978-3-866-44497-3. Abstract | Links | BibTeX | Tags: Accuracy, calibration, image-guided surgery, medical robotics, minimally-invasive surgery, Surgery, trajectory planning @phdthesis{Burgner2010a, title = {Robot Assisted Laser Osteotomy}, author = {Jessica Burgner}, url = {https://www.ksp.kit.edu/9783866444973}, doi = {10.5445/KSP/1000016594}, isbn = {978-3-866-44497-3}, year = {2010}, date = {2010-01-28}, publisher = {KIT Scientific Publishing, Dissertation}, school = {Karlsruhe Institute of Technology}, abstract = {In the scope of this thesis world's first robot system was developed, which facilitates osteotomy using laser in arbitrary geometries with an overall accuracy below 0.5mm. Methods of computer and robot assisted surgery were reconsidered and composed to a workflow. Adequate calibration and registration methods are proposed. Further a methodology for transferring geometrically defined cutting trajectories into pulse sequences and optimized execution plans is developed.}, keywords = {Accuracy, calibration, image-guided surgery, medical robotics, minimally-invasive surgery, Surgery, trajectory planning}, pubstate = {published}, tppubtype = {phdthesis} } In the scope of this thesis world's first robot system was developed, which facilitates osteotomy using laser in arbitrary geometries with an overall accuracy below 0.5mm. Methods of computer and robot assisted surgery were reconsidered and composed to a workflow. Adequate calibration and registration methods are proposed. Further a methodology for transferring geometrically defined cutting trajectories into pulse sequences and optimized execution plans is developed. |