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Special Issue "Sensors and Imaging for Medical Robotics"

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Intelligent Medical Micro/Nano Systems Group, Intensive Care Clinic, University Hospital Basel, Basel, Switzerland
Interests: micro-systems; sensors; micro-robots; medical-robotics; micro-fluidics

Special Issue Information

Dear Colleagues,

This is a Special Issue dedicated to Sensors and Imaging Systems used as sensors in Medical Robotics. Sensing in robotics is of great importance especially in unstructured environments, such as a medical treatment and diagnosis. In the last decade, there is a great advance in medical devices with embedded sensing such as RF ablation catheters with tactile sensors, image-guided non-invasive surgery, etc. Novel surgical robots incorporate medical imaging devices (CT, fluoroscopy, MRI, ultrasound) for registration, navigation, and treatment feedback. Magnetic and image-based navigation systems are used with robots. Another aspect of sensing in medical robotics are sensors that are incorporated in robots’ end effectors such as a tactile sensor. Embedded sensors provide feedback for control of the robot, feedback for the operating surgeon, and enable increased robot safety. Sensors in medical robots are the key components for future safer, more autonomous medical robots. Sensing in medical micro-robots enables targeted personal therapy.

I invite the community to support this Special Issue by submitting state of the art original studies and reviews regarding novel sensors for medical robots, imaging systems used with medical robots, new control schemes incorporating sensing and medical robots, and sensing in microrobots for medical applications. The focus of the Special Issue are sensors and sensing systems applications in all aspects of medical robotics: surgical robots, image-guided surgery, robotic aids for surgeries, nursing, and logistic services in medical environments.

I invite the community to support Sensors (IF 3.031) in this timely initiative by submitting new and ground-breaking papers that will constitute a roadmap for our future research.

Dr. Gabor Kosa
Guest Editor

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Keywords

Image-guided surgery
Medical sensors
Medical robotics
Sensing systems
Navigation systems
Robotic registration
Tactile/force/pressure sensors
Imaging sensors
Endoscopy

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Open AccessArticle

Real-Time Multi-Modal Sensing and Feedback for Catheterization in Porcine Tissue

Christoff M. Heunis

Filip Šuligoj

Carlos Fambuena Santos

and

Sarthak Misra

Sensors 2021, 21(1), 273; https://doi.org/10.3390/s21010273 - 03 Jan 2021

Cited by 7 | Viewed by 2418

Abstract

Objective: In this study, we introduce a multi-modal sensing and feedback framework aimed at assisting clinicians during endovascular surgeries and catheterization procedures. This framework utilizes state-of-the-art imaging and sensing sub-systems to produce a 3D visualization of an endovascular catheter and surrounding vasculature without the need for intra-operative X-rays. Methods: The catheterization experiments within this study are conducted inside a porcine limb undergoing motions. A hybrid position-force controller of a robotically-actuated ultrasound (US) transducer for uneven porcine tissue surfaces is introduced. The tissue, vasculature, and catheter are visualized by integrated real-time US images, 3D surface imaging, and Fiber Bragg Grating (FBG) sensors. Results: During externally-induced limb motions, the vasculature and catheter can be reliably reconstructed at mean accuracies of

1.9 \pm 0.3

mm and

0.82 \pm 0.21

mm, respectively. Conclusions: The conventional use of intra-operative X-ray imaging to visualize instruments and vasculature in the human body can be reduced by employing improved diagnostic technologies that do not operate via ionizing radiation or nephrotoxic contrast agents. Significance: The presented multi-modal framework enables the radiation-free and accurate reconstruction of significant tissues and instruments involved in catheterization procedures. Full article

(This article belongs to the Special Issue Sensors and Imaging for Medical Robotics)

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Open AccessArticle

A Novel Master–Slave Interventional Surgery Robot with Force Feedback and Collaborative Operation

and

Sensors 2023, 23(7), 3584; https://doi.org/10.3390/s23073584 - 29 Mar 2023

Viewed by 629

Abstract

In recent years, master–slave vascular robots have been developed to address the problem of radiation exposure during vascular interventions for surgeons. However, the single visual feedback reduces surgeon immersion and transparency of the system. In this work, we have developed a haptic interface based on the magnetorheological fluid (MRF) on the master side. The haptic interface can provide passive feedback force with high force fidelity and low inertia. Additionally, the manipulation of the master device does not change the operating posture of traditional surgery, which allows the surgeon to better adapt to the robotic system. For the slave robot, the catheter and guidewire can be navigated simultaneously which allows the two degrees of action on the catheter and axial action of a guidewire. The resistance force of the catheter navigation is measured and reflected to the user through the master haptic interface. To verify the proposed master–slave robotic system, the evaluation experiments are carried out in vitro, and the effectiveness of the system was demonstrated experimentally. Full article

(This article belongs to the Special Issue Sensors and Imaging for Medical Robotics)

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Planned Papers

The below list represents only planned manuscripts. Some of these manuscripts have not been received by the Editorial Office yet. Papers submitted to MDPI journals are subject to peer-review.

Various Ways for Feature Difference Generation: A Medical Image Captioning Model Conveying More Details

Authors: Hyeryun Park, Kyungmo Kim, Seongkeun Park, Jinwook Choi

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Special Issue "Sensors and Imaging for Medical Robotics"

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