Article
Biochemistry & Molecular Biology
Cemran Toydemir, Sarah Hall, Erhan Demirel, Dilsah Nur Elmaci, Deniz Gol, Eli Vlaisavljevich, Yasemin Yuksel Durmaz
Summary: This study focuses on the development and functionalization of nanocone clusters (NCCs) to enhance nanoparticle-mediated histotripsy (NMH) therapy. The bioconjugation potential of NCCs was demonstrated through the examples of targeting, PEGylation, and fluorescent labeling. The obtained bioconjugates successfully lowered the cavitation threshold pressure, showing promise for improved NMH as a targeted noninvasive ablation method.
Article
Medicine, General & Internal
Peter J. Littrup, Nebojsa Duric, Mark Sak, Cuiping Li, Olivier Roy, Rachel F. Brem, Linda H. Larsen, Mary Yamashita
Summary: The study evaluated whole breast stiffness imaging using SoftVue ultrasound tomography, finding that cancer masses had significantly higher stiffness than benign masses, and smaller masses contained a higher percentage of hard components than larger masses. This method may have implications for screening dense breasts, assessing cancer risk, and monitoring treatment.
JOURNAL OF CLINICAL MEDICINE
(2021)
Article
Engineering, Electrical & Electronic
Di-Kai Lou, Dan Zhang, Hua-Geng Liang
Summary: An improved high-gain observer is proposed in this study to observe the pose of the needle tip in robot-assisted puncture surgery. By designing the power of observer gain as 2 and adding a correction term, the effect of measurement noise and peaking phenomenon on the observer's performance can be reduced.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2023)
Article
Robotics
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster, Ron Alterovitz
Summary: The use of needles in interventional medical procedures is crucial, but navigating them through living tissue to a target is often challenging. This study presents a medical robot that autonomously navigates a needle through living tissue around anatomical obstacles to a target. By using a flexible steerable needle and replanning, control, and safe insertion time windows, the system achieves successful performance in lung biopsy experiments, with targeting errors smaller than clinically relevant lung nodules. This research demonstrates the feasibility and potential of using autonomous steerable needle robots in living tissue for improved patient care.
Article
Surgery
Bardia Konh, Blayton Padasdao, Zolboo Batsaikhan, Seong Young Ko
Summary: The study introduces a robot-assisted ultrasound tracking system integrated with a needle shape prediction method to provide accurate real-time tracking of the needle tip. Results demonstrate the system's ability to track the needle tip with high accuracy in phantom and beef liver tissues, meeting the requirements for needle insertions in targeted procedures.
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
(2021)
Article
Engineering, Biomedical
Guillaume Lapouge, Philippe Poignet, Jocelyne Troccaz
Summary: This paper introduces a new solution for 3D steering of flexible needles guided by 3D B-mode ultrasound imaging, which includes interconnected state observer, automatic needle tip segmentation and path planning algorithms. Experimental validation shows promising results in various tissue insertions, with mean targeting errors of less than 1 mm in homogeneous phantoms.
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
(2021)
Article
Robotics
Zhiguang Xing, Fengxu Wang, Yiming Ji, David McCoul, Xinbo Wang, Jianwen Zhao
Summary: Stiffness variation is essential in soft robots, providing both flexibility and carrying capacity, especially for continuum manipulators with a high slenderness ratio. A novel omnidirectional steering flexible manipulator with large-range and fast-response stiffness variation was designed and fabricated in this study, achieving stiffness variation through LMPA phase transition and heat exchange via a copper tube embedded in the manipulator structure. The manipulator demonstrated significant stiffness variations in a short time frame and successfully completed tasks such as screw tightening and loosening.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Multidisciplinary Sciences
Mitsuyoshi Murayama, Takayuki Inami, Norihiro Shima, Tsugutake Yoneda, Kazunori Nosaka
Summary: This study compared the changes in biceps brachii muscle hardness between eccentric and concentric contractions. The results showed that muscle hardness increased more after eccentric contractions. Additionally, both PM and SE were effective in detecting changes in muscle hardness.
SCIENTIFIC REPORTS
(2022)
Article
Robotics
Richard L. Pratt, Andrew J. Petruska
Summary: Straight-line needle insertion is a common tool in surgical interventions in the brain. This paper explores the use of steerable needles for curved trajectories and correction of positional deviation. The experimental results indicate that physically motivated models and experimentally parameterized models are more effective for inserting into soft brain tissue. The results support the use of these models in future needle steering control applications.
Article
Acoustics
Huayang Sai, Zhenbang Xu, Chengkai Xia, Lijuan Wang, Jie Zhang
Summary: This study introduces a force-controlled auxiliary device for freehand ultrasound examinations, which enables sonographers to maintain a steady target pressure on the ultrasound probe, thereby improving image quality and reproducibility. The lightweight and portable device, powered by a screw motor and controlled by a Raspberry Pi, incorporates gravity compensation, error compensation, an adaptive proportional-integral-derivative algorithm, and low-pass signal filtering for highly accurate force control. Experimental results validate the utility of the device in maintaining desired pressure, relieving stress on the sonographer's hand joints, and facilitating rapid tissue elasticity assessment.
IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL
(2023)
Article
Radiology, Nuclear Medicine & Medical Imaging
Meng Yang, Chenyang Zhao, Ming Wang, Qian Wang, Rui Zhang, Wei Bai, Jian Liu, Shangzhu Zhang, Dong Xu, Sirui Liu, Xuelan Li, Zhenhong Qi, Fang Yang, Lei Zhu, Xujin He, Xinping Tian, Xiaofeng Zeng, Jianchu Li, Yuxin Jiang
Summary: This study aims to measure synovial oxygenation status in participants with rheumatoid arthritis (RA) using a multimodal photoacoustic ultrasound imaging system and determine the correlation between measured oxygen saturation and disease activity. The results showed that photoacoustic imaging-detected hypoxia in thickened synovium was associated with less vascularization and higher disease activity in participants with RA.
Article
Materials Science, Biomaterials
Shaojie Chen, Yanjuan Zhang, Biao Ma, Jiuzhou Chen, Jingzhe Hao, Feng Zhang, Chang Cui, Minglong Chen
Summary: Ultrasound-guided needle interventions play a crucial role in clinical diagnosis and treatment. This study developed an echogenic needle through electrolysis technology, which successfully achieved a balance between effectiveness, ease of manufacturing, and inexpensiveness. The results showed that the needle, subjected to 40 seconds of electrolysis, demonstrated both safe and effective enhancement of ultrasound visualization.
ACS BIOMATERIALS SCIENCE & ENGINEERING
(2023)
Article
Chemistry, Physical
Anastasia Tzoumaka, Jin Yang, Selda Buyukozturk, Christian Franck, David L. Henann
Summary: Inertial Microcavitation Rheometry (IMR) is a promising tool for characterizing the mechanical behavior of soft materials at high strain rates (>10(3) s(-1)). IMR involves generating an isolated, spherical microbubble inside a soft material and using theoretical modeling to extract information on the mechanical behavior of the material. Finite-element-based numerical simulations are used to understand the role of material compressibility and to incorporate complex viscoelastic constitutive models.
Article
Automation & Control Systems
Zhengxin Yang, Lidong Yang, Moqiu Zhang, Neng Xia, Li Zhang
Summary: In this article, a wired magnetic microrobot (WMM) is introduced for interventional therapy in hard-to-reach vascular regions. The WMM provides high efficiency, reliability, and flexibility, and offers precise navigation through ultrasound imaging monitoring.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Biomedical
Marlene Pinzi, Thomas Watts, Riccardo Secoli, Stefano Galvan, Ferdinando Rodriguez y Baena
Summary: This study introduces a novel path-replanner for needle-based neurosurgical procedures, capable of generating obstacle-free and curvature bounded three-dimensional paths during insertion to meet surgical constraints on sensitive structures. The proposed method demonstrated promising results in simulations and in-vitro evaluations, showing potential for high accuracy in surgical procedures under tissue deformations and real-world inaccuracies.
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
(2021)