We propose a robot-assisted method to generate spherical thermal lesions by high-intensity focused ultrasound (HIFU) ablation. Typically, HIFU-induced are cigar-shaped because the acoustic field in focal area has similar elongated shape. assumed that HIFU irradiation with certain range and pattern of motion could influence heat transfer within target area, allowing control over lesion's shape size. Based on simulations various models likely induce change around we identified Gaussian random...

Multiple studies have attempted to demonstrate the benefits of augmented reality (AR)-assisted navigation systems in surgery. Lumbosacral transforaminal epidural injection is an effective treatment commonly used patients with radiculopathy due spinal degenerative pathologies. However, few applied AR-assisted this procedure. The study aimed investigate safety and effectiveness system for injection.Through a real-time tracking wireless network head-mounted display, computed tomography images...

Objectives: Augmented reality (AR) navigation systems are emerging to simplify and enhance the precision of medical procedures. Lumbosacral transforaminal epidural injection is a commonly performed procedure for treatment diagnosis radiculopathy. Accurate needle placement while avoiding critical structures remains challenge. For this purpose, we conducted randomized controlled trial our augmented system. Methods: This study involved 28 patients, split between traditional C-arm guided group...

A body pressure relief system was newly developed with optical sensors for ulcer prevention. Unlike a conventional alternating air mattress (APAM), this automatically regulates flow into supporting adaptive inflation (or deflation) duration in response to the level order reduce skin stress due prolonged high pressures. The continuously quantifies distribution using time-of-flight (ToF) sensors. proposed sensor, ToF sensor air-filled cell, measures changes surface height of when pressed under...

Abstract This paper presents a new forward kinematic approach for the 3–6 Stewart platform. In platform, position and orientation of moving platform can be determined through constraint equations that indicate possible trajectories three joints on from base coordinates. most previous studies, were obtained vector equations, which involve many complicated steps multiple variables. Based Denavit–Hartenberg (D-H) notation, proposed allows equation representation with only four parameters....

Abstract Background Although high intensity focused ultrasound (HIFU) is a promising technology for tumor treatment, moving abdominal target still challenge in current HIFU systems. In particular, respiratory‐induced organ motion can reduce the treatment efficiency and negatively influence result. this research, we present: (1) methodology integration of (US) image based visual servoing system; (2) experimental results obtained using developed system. Materials methods system, monitored by...

We propose a non-invasive ultrasound theragnos tic system that tracks movement in an affected area (kidney stones, the present study) by irradiating with high intensity focused (HIFU). In paper, concept behind novel medical support integrates therapy and diagnostics (theragnostics) is illustrated. The re quired functions for proposed are discussed overview of constructed configuration problems associated kidney stone motion tracking ultrasonography described. order to overcome these...

Ultrasound (US)-based thermal imaging is very sensitive to tissue motion, which a major obstacle apply US temperature monitoring noninvasive therapies of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">in vivo</i> subjects. In this study, we aim develop motion compensation method for stable in Based on the assumption that approximately periodic caused by respiration, propose change backscattered energy (CBE) with multiple reference frames....

Applying ultrasound (US)-guided high-intensity focused (HIFU) therapy for kidney tumours is currently very difficult, due to the unclearly observed tumour area and renal motion induced by human respiration. In this research, we propose new methods which track indistinct compensate respiratory US-guided HIFU treatment.For tracking areas, detect US speckle change created irradiation. other words, thermal ablation can coagulate tissue in an intraoperatively coagulated lesion (CL) used as a...

Deep reinforcement learning (RL) is being actively studied for robot navigation due to its promise of superior performance and robustness. However, most existing deep RL agents are trained using fixed parameters, such as maximum velocities weightings reward components. Since the optimal choice parameters depends on use-case, it can be difficult deploy methods in a variety real-world service scenarios. In this paper, we propose novel method that adapt policy wide range functions without...

An augmented reality (AR)-assisted surgical navigation system was developed for epidural needle intervention. The includes three components: a virtual reality-based planning software, patient and tool tracking system, an AR-based system. A three-dimensional (3D) path plan the established on preoperative computed tomography (CT) image. is then registered to intraoperative space by 3D models of target vertebrae using skin markers real-time information. In procedure, information are transmitted...

Recently, many mechanical components of vehicles are being replaced by electrical or electromechanical parts. This change leads to the reduced weight, higher fuel efficiency, and simpler diagnosis. In particular, a reliable robust brake control system has been focused. So, this article investigates that an application brain limbic system–based control, bio-inspired strategy, is suitable for dynamic uncertain driving conditions. To do end, parameters optimized through genetic algorithm....

The non-invasive ultrasound theragnostic system, we propose, tracks and follows movement in an affected area -kidney stones here-, while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. In this paper, concept of novel medical support which integrates therapy diagnostics, illustrated at first. Secondly, structuring required functions for proposed system discussed. Third, overview constructed configuration illustrated. Fourth, problem stone motion tracking by...

We propose an automated needle hydrophone-based scanning system to measure high-resolution 3-D acoustic pressure distributions generated by high-intensity focused ultrasound (HIFU). The hardware consists of a host computer, subsystems for HIFU generation, and oscilloscope sample the response from sensor in water tank. Software was developed control subsystems, search initial scan position, design path volume. A preoperative plan with three perpendicular planes is used manipulate position...

As a type of AVG, Mecanum wheel-based mobile robots are used in various logistics areas including factories, medical facilities, and warehouses. Many studies have been conducted to improve the control performance AGVs such as their perception, localization, path planning navigation, motion systems. Among this broad area robot research, paper focuses on bio-inspired strategy brain limbic system-based that is utilized position robot. The working principle learning from proper connection...

Unwanted motion is a serious problem in enhancing servoing performance an affected area, which incorporates stones/tumours non-invasive ultrasound theragnostic systems (NIUTS). To solve this problem, we proposed new method for restricting the of area ventrodorsally region interest (ROI) imaging. do so, introduce bed mechanism NIUTS. It confirmed that human kidney could be tracked and followed appropriately using proposedmethod newly constructed system.

This paper presents a real-time pose estimation method as part of robotic HIFU treatment system for moving volumetric targets. For the acquired biplane US images, current preoperative model is calculated by iterative segmentation and registration. Seed contours in each iteration provided previously registered 3-D model. The segmented boundary points then update outlier-removal makes algorithm robust against partially noisy boundaries well spatial accelerates to be real-time. By phantom...

The production cost of concrete with coal bottom ash as a fine aggregate and the associated CO2 emissions were critically quantified based on case study. Two existing building structures in South Korea selected, structural calculation mix proportioning carried out accordance specification standards design code for structures. total transportation use buildings estimated. Considering application to real standard specification, advantages from points view was strongly influenced by various...

Information and robot technology (IRT) is drawing increasing attention in the technologizing digitalizing of medical professional skills. In fields such as manufacturing, high-precision tasks, not possible with human, skills have been already realized by industrial robots. The field thus expected to advance progress development robots able provide diagnosis therapy that are much more precise than those conventional professionals.

We propose a non-invasive ultrasound theragnostic system that tracks movement in an affected area (kidney stones, the present study) by irradiating with high-intensity focused (HIFU). In paper, concept behind novel medical support integrates therapy and diagnostics (theragnostics) is illustrated. The required functions for proposed are discussed overview of constructed configuration problems associated kidney stone motion tracking ultrasonography described. order to overcome these problems,...

We have been studying the technologizing and digitalizing skills of medical professionals in diagnostics therapeutics. The concept involves extracting functions professional reconstructing implementing these extracted mechanisms, controllers, image-processing algorithms support system. In this paper, we focus on kidney stone extraction by utilizing robot vision technology, discuss a methodology for diagnostic therapeutic non-invasive ultrasound theragnostic