A5073182314- Soft Robotics and Applications
- Surgical Simulation and Training
- Cerebrospinal fluid and hydrocephalus
- Anatomy and Medical Technology
- Augmented Reality Applications
- Micro and Nano Robotics
- Ultrasound and Hyperthermia Applications
- Cleft Lip and Palate Research
- Advanced MRI Techniques and Applications
- Craniofacial Disorders and Treatments
- Piezoelectric Actuators and Control
- Neonatal and fetal brain pathology
- Robotic Mechanisms and Dynamics
- Modular Robots and Swarm Intelligence
- Spinal Dysraphism and Malformations
- Ultrasound Imaging and Elastography
- Medical Image Segmentation Techniques
- Simulation-Based Education in Healthcare
- Head and Neck Surgical Oncology
- Fetal and Pediatric Neurological Disorders
- Facial Trauma and Fracture Management
- Minimally Invasive Surgical Techniques
- Tracheal and airway disorders
- Medical Imaging and Analysis
- Dental Implant Techniques and Outcomes
Hospital for Sick Children
2016-2025
University of Toronto
2015-2024
SickKids Foundation
2015-2024
Canada Research Chairs
2024
Great Ormond Street Hospital
2024
University College London
2024
Guided Therapeutics (United States)
2016-2022
Yahoo (United Kingdom)
2018
Cleft palate repair is a challenging procedure to learn because of the delicate tissue handling required and small confines infant oral cavity. As result, cleft simulators have previously been described augment training. Although valuable, they lack fidelity for this complex procedure.A high-fidelity simulator was evaluated by staff fellows in pediatric plastic surgery who provided feedback on its realism, anatomical accuracy, effectiveness as training tool. The implemented within workshop...
Infants with craniosynostosis involving the metopic and coronal sutures require cranio-orbital reshaping to correct craniofacial dysmorphologic feature improve facial balance. Currently, surgical techniques create a balanced fronto-orbital region are based on surgeon's subjective approach artistic vision in creating normal shape forehead. To date, use of age-matched templates computer-assisted design/computer-assisted manufacturing optimizing outcomes intervention this area have not been...
OBJECT Endoscopic third ventriculostomy (ETV) is an effective but technically demanding procedure with significant risk. Current simulators, including human cadavers, animal models, and virtual reality systems, are expensive, relatively inaccessible, can lack realistic sensory feedback. The purpose of this study was to construct a realistic, low-cost, reusable brain simulator for ETV evaluate its fidelity. METHODS A silicone replica mimicking normal mechanical properties 4-month-old child...
This work presents a novel miniature contact-aided compliant joint mechanism that can be integrated into millimeter-sized manual or robotic surgical instruments. The design aims to address the trade-off between notched-tube joints' range of motion and stiffness, while also ensuring compact form factor. is constructed from nitinol tube with asymmetric cutouts actuated in bending by cable. innovative feature this incorporation contact aid topology, which acts both increase stiffness change...
In this letter, a novel end-effector for surgical applications is presented that uses magnetic actuation in lieu of more traditional cable-driven tool with the goal providing high dexterity hard-to-reach locations by decoupling from rest system. The gripper and wrist device consists several magnets connected compliant Nitinol joints allow two rotational degrees freedom one gripping degree freedom. As an existing robot arm, could augment minimally invasive robots allowing distal sites narrow...
A major advantage of surgical robots is that they can reduce the invasiveness a procedure by enabling clinician to manipulate tools as would in open surgery but through small incisions body. Neurosurgery has yet benefit from this advantage. Although clinical are available for least invasive neurosurgical procedures, such guiding electrode insertion, most brain surgeries, tumor resection, still performed manual procedures. To investigate whether robotics could surgeries while providing...
Cleft palate repair is technically challenging: visualization reduced, delicate dissection required, and instrument reachability limited within the infant oral cavity using standard instruments. A 3 mm diameter pin-jointed wristed tool was developed that couples to a da Vinci Research Kit (dVRK) perform cleft surgery. simulation analysis performed determine number of collisions (tool-tool tool-cavity) for tip positions impact dVRK trocar height. Tool measured ratio collision-free total poses...
Operating in the brain for deep-seated tumors or surgical targets epilepsy is technically demanding and normally requires a large craniotomy with its attendant risk morbidity. Neuroendoscopic surgery has potential to reduce morbidity by permitting access through small incision burr hole narrow corridor brain. However, current endoscopic neurosurgical tools are straight rigid lack dexterity, hindering their adoption neuroendoscopic procedures. We propose class of robotic that have...
In this paper, a novel approach for automated suturing is introduced and experimental results are presented. Unlike other similar works, the proposed adopts single arm to implement task with standard laparoscopic needle holder curved suture needle. 3D information obtained from clinical (single camera) endoscope through an elliptical/circular pose measurement algorithm, which dynamically tracks surface markers. This drives robotic steering set of surgeon-defined entry/exit points on tissue...
Background: A surgical robot offers enhanced precision, visualization, and access the potential to improve outcomes in cleft palate surgery. The goal of this study was investigate feasibility using da Vinci for repair infants a simulator test bed. Methods: high-fidelity developed that allows performance robotic procedure. complete performed with Si 5-mm instruments Xi 8-mm instruments. advantages approach were assessed comparison standard For each system, arm repositioning, collisions,...
Background: This study assessed technical performance in cleft palate repair using a newly developed assessment tool and high-fidelity simulator through longitudinal simulation training exercise. Methods: Three residents performed five one resident nine consecutive endoscopically recorded repairs simulator. Two fellows pediatric plastic surgery two expert surgeons also simulated repairs. The Cleft Palate Objective Structured Assessment of Technical Skill (CLOSATS) end-product scales were to...
Remote-controlled minimally invasive neuroendoscopic robotic surgical tools can be miniaturized to a size of less than 2 mm while maintaining their dexterity and force required perform operations in brain without an open-skull surgery. However, these platforms lack haptic information received by the surgeons, leading loss control over tissue causing unexpected slippage trauma. This study presents design small highly sensitive material-based sensor being integrated tool shaft, known as...
The da Vinci Surgical System is a commercially available surgical robotics platform used to perform more than 450,000 surgeries annually, primarily for gynecological and urological procedures [1]. This technology enhances the surgeon's dexterity through use of multiarm robot with wristed instruments that enter patient's body small incisions. However, size existing (5-8 mm in shaft diameter) has prevented adoption system areas such as neurosurgery, head neck surgery, pediatrics [2], [3]....
Concentric-tube manipulators could experience a snapping-through motion that negatively impacts their smooth operation. This may limit adoption in the operating room, despite advantage of enabling dexterity within highly confined space. In this paper, we demonstrate through kinematics concentric-tube robots, how adverse effect torsion be reduced or potentially eliminated. As proof principle, experimentally and numerically by adopting tubular composite structures, such as multi-layer helical...
We present a kinetostatic model for needle-sized notched tube continuum joint design, and examine the impact that design parameters have on both stiffness kinematics. The is fabricated by removing series of asymmetric notches from metal tube. By fixing cable to distal end tube, routing this tendon through tube's lumen, can be actuated in bending. This simple cutting pattern allows impressive performance compared other mechanisms similar size. However, selecting geometry using kinematics...
OBJECTIVE Endoscope-assisted repair of craniosynostosis is a safe and efficacious alternative to open techniques. However, this procedure challenging learn, there significant variation in both its execution outcomes. Surgical simulators may allow trainees learn practice prior operating on an actual patient. The purpose study was develop realistic, relatively inexpensive simulator for endoscope-assisted metopic sagittal evaluate the models’ fidelity teaching content. METHODS Two separate,...
Robot-assisted minimally invasive surgical (MIS) techniques offer improved instrument precision and dexterity, reduced patient trauma risk, promise to lessen the skill gap among surgeons. These approaches are common in general surgery, urology, gynecology. However, MIS remain largely absent for applications within narrow, confined workspaces, such as neuroendoscopy. The limitation stems from a lack of small yet dexterous robotic tools. In this work, we present first instance robot with...
Abstract Background The availability of open and versatile software tools is a key feature to facilitate pre-clinical research for magnetic resonance imaging (MRI) resonance-guided high-intensity focused ultrasound (MR-HIFU) expedite clinical translation diagnostic therapeutic medical applications. In the present study, two customizable that were developed at Thunder Bay Regional Research Institute are presented use with both MRI MR-HIFU. Both operate in MATLAB ®; environment. first tool...
Surgical simulators not only allow planning and training of complex procedures, but also offer the ability to generate structured data for algorithm development, which may be applied in image-guided computer assisted interventions. While there have been efforts on either developing platforms surgeons or generation engines, these two features, our knowledge, offered together. We present developments a cost-effective synergistic framework, named Asynchronous Multibody Framework Plus (AMBF+),...
Abstract This work presents the design of an articulate neuroendoscopic instrument (ANI), a handheld tool for use in minimally invasive neurosurgery. The consists handle and steerable tube-shaft with distal end-effector. aims to increase reach surgeons operating through narrow channels within center brain when approaching multiple targets from single incision point. 1.6- mm notch-tube compliant joint mechanism augmented contact-aids modeled after gear geometry. contact-aid geometry address...