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Introduction Liquid nitrogen-based cryoablation induces freezing evenly throughout the probe tip surface, resulting in larger ablation volumes and faster treatment times. The purpose of this preliminary investigation is to determine the efficacy of the liquid nitrogen-based Visica2 Cryoablation System (Sanarus Technologies, Pleasanton, CA) in in vivo porcine kidney, liver, and fibro-fatty tissue. Methods Ablations were performed under ultrasound guidance in 4 Yorkshire pigs. The target lesion cross-section width (W) and depth (D) were 1 cm for liver (n=8), kidney (n=4), and head-neck (n=5) and 2 cm for kidney (n=4). Expected axial length (L) of the resulting lesion is approximately 4 cm. After three-day survival, the ablated tissue was harvested and histologically analysed. The mean width and depth were compared with the target diameter using a one-sample t-test. Results All animals survived the procedure. For the 1 cm target, mean dimensions (L x W x D) were 3.8±1.5 x 1.7±0.3 x 1.7±0.7 for liver, 3.0±0.5 x 2.0±0.4 x 1.7±0.6 for kidney, and 3.3±0.8 x 1.8±0.4 x 1.8±0.4 for head-neck. Mean width and depth were significantly greater than desired dimension. For the 2 cm target, mean dimensions were 3.2±0.5 x 3.1±0.8 x 1.9±0.7. Mean width and depth were not significantly different to desired target. Conclusion Our preliminary results show that the Visica2 liquid nitrogen-based cryoablation system can efficiently and reproducibly create ablation volumes in liver, kidney, and fibro-fatty tissue within 4 minutes and 12 minutes for 1cm and 2cm targeted diameters, respectively. Further investigation is necessary to determine the optimal freeze-thaw-freeze protocol for larger ablation volumes. .

With the advances in affordable three-dimensional (3D) printing technology, 3D reconstruction and patient-specific 3D printed models are establishing a crucial role in the field of medicine for both educational purposes and procedural planning. 3D printed models provide physicians with increased 3D perception and tactile feedback, and enable a team-based approach to operational planning. However, performing an effective 3D reconstruction requires an in-depth understanding of the software features to accurately segment and reconstruct the human anatomy of interest from preacquired image data from multiple modalities such as computer tomography, 3D angiography and magnetic resonance imaging, and the different 3D printers/materials available in the market today. Increased understanding of this technology may benefit radiologists by developing techniques and tricks specific to interventional radiology and establishing a criterion to determine when to use these. Thus, the purpose of this manuscript is to provide physicians with an update on currently available 3D reconstruction software as well as printers and materials. Our initial experience using this technology is introduced based on a specific case of developing a 3D printed aorta for a patient with severe stenosis of the abdominal aorta.

We present a robot-assisted approach for transrectal ultrasound (TRUS) guided prostate biopsy. The robot is a hands-free probe manipulator that moves the probe with the same 4 DoF that are used manually. Software was developed for three-dimensional (3-D) imaging, biopsy planning, robot control, and navigation. Methods to minimize the deformation of the prostate caused by the probe at 3-D imaging and needle targeting were developed to reduce biopsy targeting errors. We also present a prostate coordinate system (PCS). The PCS helps defining a systematic biopsy plan without the need for prostate segmentation. Comprehensive tests were performed, including two bench tests, one imaging test, two in vitro targeting tests, and an IRB-approved clinical trial on five patients. Preclinical tests showed that image-based needle targeting can be accomplished with accuracy on the order of 1 mm. Prostate biopsy can be accomplished with minimal TRUS pressure on the gland and submillimetric prostate deformations. All five clinical cases were successful with an average procedure time of 13 min and millimeter targeting accuracy. Hands-free TRUS operation, transrectal TRUS guided prostate biopsy with minimal prostate deformations, and the PCS-based biopsy plan are novel methods. Robot-assisted prostate biopsy is safe and feasible. Accurate needle targeting has the potential to increase the detection of clinically significant prostate cancer.

Image-to-robot registration is a typical step for robotic image-guided interventions. If the imaging device uses a portable imaging probe that is held by a robot, this registration is constant and has been commonly named probe calibration. The same applies to probes tracked by a position measurement device. We report a calibration method for 2-D ultrasound probes using robotic manipulation and a planar calibration rig. Moreover, a needle guide that is attached to the probe is also calibrated for ultrasound-guided needle targeting. The method is applied to a transrectal ultrasound (TRUS) probe for robot-assisted prostate biopsy. Validation experiments include TRUS-guided needle targeting accuracy tests. This paper outlines the entire process from the calibration to image-guided targeting. Freehand TRUS-guided prostate biopsy is the primary method of diagnosing prostate cancer, with over 1.2 million procedures performed annually in the U.S. alone. However, freehand biopsy is a highly challenging procedure with subjective quality control. As such, biopsy devices are emerging to assist the physician. Here, we present a method that uses robotic TRUS manipulation. A 2-D TRUS probe is supported by a 4-degree-of-freedom robot. The robot performs ultrasound scanning, enabling 3-D reconstructions. Based on the images, the robot orients a needle guide on target for biopsy. The biopsy is acquired manually through the guide. In vitro tests showed that the 3-D images were geometrically accurate, and an image-based needle targeting accuracy was 1.55 mm. These validate the probe calibration presented and the overall robotic system for needle targeting. Targeting accuracy is sufficient for targeting small, clinically significant prostatic cancer lesions, but actual in vivo targeting will include additional error components that will have to be determined.

Legged locomotion has been widely researched due to its effectiveness in overcoming uneven terrains. Due to previous efforts there has been much progress in achieving dynamic gait stability and as the next step, mimicking the high speed and efficiency observed in animals has become a research interest. The main barrier in developing such a robotic platform is the limitation in the power efficiency of the actuator: the use of pneumatic actuators produce sufficient power but are heavy and big; electronic motors can be compact but are disadvantageous in producing sudden impact from stall which is required for high speed legged locomotion. As a new attempt in this paper we suggest a new leg design for a mobile robot which uses the slider-crank mechanism to convert the continuous motor rotation into piston motion which is used to impact the ground. We believe this new mechanism will have advantage over conventional leg mechanism designs using electronic motors since it uses the continuous motion of the motor instead of sudden rotation movements from stall state which is not ideal to draw out maximum working condition from an electronic motor. In order to control impact timing from the periodic motion of the piston a mechanical passive clutch trigger mechanism was developed. Dynamic analysis was performed to determine the optimal position for the mechanical switch position of the clutch trigger mechanism, and the results were verified through simulation and experiment. Development of a legged locomotion with two degrees of freedom, slider-crank mechanism for impact and additional actuation for swing motion, is proposed for future work.

Objective: The common sextant prostate biopsy schema lacks a three-dimensional (3D) geometric definition. The study objective was to determine the influence of the geometric distribution of the cores on the detection probability of prostate cancer (PCa).Methods: The detection probability of significant (>0.5 cm3) and insignificant (

The welding task in double-hulled structures in shipyards and in steel-frame structures is hazardous and difficult due to the toxic gas and limited workspace. Therefore, many efforts have been undertaken for automation. The main challenge for automation is the development of a simple and robust seam-tracking algorithm that can be applied to a portable welding robot that operates under irregular and diverse task conditions in the workspace. We developed a seam-tracking algorithm for weaving weld path planning using a laser displacement sensor. The goal of the proposed algorithm is to detect the seam of single-butt welding with manually tack-welded non-zero gaps. The focus is on keeping the algorithm simple and affordable so that it can be applied to portable robots that operate in hazardous fields. The algorithm consists of four steps: scanning, filtering, generation of the reference points, and path planning. In the scanning process, the depth data of a cross-section of the seam profile is obtained. Next, a Gaussian filter is used to remove noise from the raw data. A differential characteristic-point detection algorithm is applied to the filtered data to detect the reference points that represent the shape and location of the gap to be welded. Finally, path planning for single-V butt multi-pass welding is done based on the detected reference points. A portable four-axis welding robot is built using the developed algorithm. The algorithm is validated through welding experiments regarding a single-V butt welding task with a manually tack-welded non-zero gap.

Various products and patents have been established with regard to telescopic mechanisms over a long period of time. However, to the best of our knowledge, with reference to motional characteristics, few studies have been reported on a telescopic mechanism that is capable of bidirectional extension. Moreover, as we wish to point out here, such a kind of mechanism has received little attention due to the absence of practical applications. However, in the case of blast-cleaning and painting in double-hulled structures in shipbuilding, the bidirectional-extension mechanism seems to be a worthwhile subject for investigation since it will be of great help in the execution of suggested tasks for the entire transverse web floor with a range of 2–3 m. Since the self-traveling robotic platform is located on longitudinal stiffeners whose heights range from 400 to 800 mm, the manipulator to be installed on the robotic platform should have a bidirectional stroke to continuously approach the upper and lower sections of...

Recent research on mobile robots has focused on locomotion in various environments. In this paper, a gait-generation algorithm for a mobile robot that can travel from the ground to a wall and climb vertical surfaces is proposed. The algorithm was inspired by a gecko lizard. Our gait planning was based on inverse kinematics using the Jacobian of the whole body, where the redundancy was solved by defining an object function for the gecko posture to avoid collisions with the surface. The optimal scalar factor for these two objects was obtained by defining a superior object function to minimize the angular acceleration of joints. The algorithm was verified through simulation of the gecko model travelling on given task paths and avoiding abnormal joint movements and collisions.

In this paper, a new concept of a wall-climbing robot able to climb a vertical plane is presented. A continuous locomotive motion with a high climbing speed of 15m/min is realized by adopting a series chain on two tracked wheels on which 24 suction pads are installed. While each tracked wheel rotates, the suction pads which attach to the vertical plane are activated in sequence by specially designed mechanical valves. The engineering analysis and detailed mechanism design of the tracked wheel, including mechanical valves and the overall features, are described in this paper. It is a self-contained robot in which a vacuum pump and a power supply are integrated and is controlled remotely. The climbing performance, using the proposed mechanism, is evaluated on a vertical steel plate. Finally, the procedures are presented for an optimization experiment using Taguchi methodology to maximize vacuum pressure which is a critical factor for suction force.

Transrectal ultrasound guided prostate biopsy results rely on physician ability to target the gland according to the biopsy schema. However, to our knowledge it is unknown how accurately the freehand, transrectal ultrasound guided biopsy cores are placed in the prostate and how the geometric distribution of biopsy cores may affect the prostate cancer detection rate.To determine the geometric distribution of cores, we developed a biopsy simulation system with pelvic mock-ups and an optical tracking system. Mock-ups were biopsied in a freehand manner by 5 urologists and by our transrectal ultrasound robot, which can support and move the transrectal ultrasound probe. We compared 1) targeting errors, 2) the accuracy and precision of repeat biopsies, and 3) the estimated significant prostate cancer (0.5 cm(3) or greater) detection rate using a probability based model.Urologists biopsied cores in clustered patterns and under sampled a significant portion of the prostate. The robot closely followed the predefined biopsy schema. The mean targeting error of the urologists and the robot was 9.0 and 1.0 mm, respectively. Robotic assistance significantly decreased repeat biopsy errors with improved accuracy and precision. The mean significant prostate cancer detection rate of the urologists and the robot was 36% and 43%, respectively (p0.0001).Systematic biopsy with freehand transrectal ultrasound guidance does not closely follow the sextant schema and may result in suboptimal sampling and cancer detection. Repeat freehand biopsy of the same target is challenging. Robotic assistance with optimized biopsy schemas can potentially improve targeting, precision and accuracy. A clinical trial is needed to confirm the additional benefits of robotic assistance.

A double-hulled structure is a typical hazardous environment found in the shipbuilding areas. Therefore many efforts have been made for automation, especially for the welding tasks. However, constraints such as size and weight limits of the robot and the randomness of the tasks have made automation very difficult. Therefore simple and robust algorithms are preferable in this typical field. In this paper a seam tracking algorithm for weaving weld path planning using a laser displacement sensor is developed. It is designed to enable portable robots detect the seam of very irregular single butt welding profiles. The algorithm consists of four steps; Scan, Filtering, Generation of reference points, Path planning. In the scan process depth data of a cross section of the profile is obtained. Next, Gaussian filter is used to remove noise from the raw data. A differential characteristic point detection algorithm is applied to the filtered data to detect the reference points which represent the shape and location of the gap of the profile to be welded. Finally path planning for single-V butt multi-pass welding is done based on these reference points. The algorithm is validated through welding experiments.