Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually.Working towards automatic or semi-automatic ultrasoun...Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually.Working towards automatic or semi-automatic ultrasound,being able to define ultrasound views and the corresponding probe poses via intelligent approaches become crucial.Based on the concept of parallel system which incorporates the ingredients of artificial systems,computational experiments,and parallel execution,this paper utilized a recent developed robotic trans-esophageal ultrasound system as the study object to explore the method for developing the corresponding virtual environments and present the potential applications of such systems.The proposed virtual system includes the use of 3 D slicer as the main workspace and graphic user interface(GUI),Matlab engine to provide robotic control algorithms and customized functions,and PLUS(Public software Library for Ultra Sound imaging research)toolkit to generate simulated ultrasound images.Detailed implementation methods were presented and the proposed features of the system were explained.Based on this virtual system,example uses and case studies were presented to demonstrate its capabilities when used together with the physical TEE robot.This includes standard view definition and customized view optimization for pre-planning and navigation,as well as robotic control algorithm evaluations to facilitate real-time automatic probe pose adjustments.To conclude,the proposed virtual system would be a powerful tool to facilitate the further developments and clinical uses of the robotic intra-operative ultrasound systems.展开更多
BACKGROUND Performing ultrasound during the current pandemic time is quite challenging.To reduce the chances of cross-infection and keep healthcare workers safe,a robotic ultrasound system was developed,which can be c...BACKGROUND Performing ultrasound during the current pandemic time is quite challenging.To reduce the chances of cross-infection and keep healthcare workers safe,a robotic ultrasound system was developed,which can be controlled remotely.It will also pave way for broadening the reach of ultrasound in remote distant rural areas as well.AIM To assess the feasibility of a robotic system in performing abdominal ultrasound and compare it with the conventional ultrasound system.METHODS A total of 21 healthy volunteers were recruited.Ultrasound was performed in two settings,using the robotic arm and conventional hand-held procedure.Images acquired were analyzed by separate radiologists.RESULTS Our study showed that the robotic arm model was feasible,and the results varied based on the organ imaged.The liver images showed no significant difference.For other organs,the need for repeat imaging was higher in the robotic arm,which could be attributed to the radiologist’s learning curve and ability to control the haptic device.The doctor and volunteer surveys also showed significant comfort with acceptance of the technology and they expressed their desire to use it in the future.CONCLUSIONThis study shows that robotic ultrasound is feasible and is the need of the hour during thepandemic.展开更多
目的探讨超声引导下椎旁阻滞对机器人辅助腹腔镜肾切除术患者术后肺功能的影响。方法选择择期行机器人辅助腹腔镜肾切除术患者80例,男40例,女40例,年龄30~70岁,BMI 18.5~35.0 kg/m^(2),ASAⅠ或Ⅱ级。根据随机数字表法将患者分为两组:椎...目的探讨超声引导下椎旁阻滞对机器人辅助腹腔镜肾切除术患者术后肺功能的影响。方法选择择期行机器人辅助腹腔镜肾切除术患者80例,男40例,女40例,年龄30~70岁,BMI 18.5~35.0 kg/m^(2),ASAⅠ或Ⅱ级。根据随机数字表法将患者分为两组:椎旁阻滞联合全麻组(PG组)和单纯全麻组(SG组),每组40例。两组术后均使用羟考酮静脉镇痛。记录术前1 d、术后1~5 d的用力肺活量(FVC)、第1秒用力呼气容量(FEV_(1))、最大呼气中期流量(MMEF)和SpO_(2)。记录术后1~5 d静息和活动(咳嗽)时VAS疼痛评分。记录丙泊酚用量、瑞芬太尼用量,镇痛泵有效按压次数、总按压次数和补救镇痛例数。记录术后首次下床活动时间、术后首次肛门排气时间、术后住院时间和不良反应的发生情况。记录术后5 d肺部并发症和术后30 d再次住院的发生情况。结果与术前1 d比较,术后1~5 d两组FVC、FEV_(1)及MMEF均明显降低(P<0.05),PG组术后1~4 d、SG组术后1~5 d SpO_(2)明显降低(P<0.05)。与SG组比较,PG组术后1~3 d FVC、术后1~5 d FEV_(1)和术后1~4 d MMEF、术后1~3 d SpO_(2)明显升高(P<0.05),术后1~2 d静息和活动时VAS疼痛评分明显降低(P<0.05),丙泊酚和瑞芬太尼用量、镇痛泵有效按压次数、总按压次数及补救镇痛率明显减少(P<0.05),术后首次下床活动时间、术后首次肛门排气时间和术后住院时间明显缩短(P<0.05),术后不良反应发生率和术后5 d的肺部并发症发生率明显降低(P<0.05)。结论超声引导下椎旁阻滞可为机器人辅助腹腔镜肾切除术患者提供更好的术后早期镇痛,改善术后肺功能,降低肺部并发症发生率。展开更多
基金supported in part by the Key Research and Development Program2020 of Guangzhou(202007050002)the National Natural Science Foundation of China(62003339,U1811463)the Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles(“ICRI-IACV”)。
文摘Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually.Working towards automatic or semi-automatic ultrasound,being able to define ultrasound views and the corresponding probe poses via intelligent approaches become crucial.Based on the concept of parallel system which incorporates the ingredients of artificial systems,computational experiments,and parallel execution,this paper utilized a recent developed robotic trans-esophageal ultrasound system as the study object to explore the method for developing the corresponding virtual environments and present the potential applications of such systems.The proposed virtual system includes the use of 3 D slicer as the main workspace and graphic user interface(GUI),Matlab engine to provide robotic control algorithms and customized functions,and PLUS(Public software Library for Ultra Sound imaging research)toolkit to generate simulated ultrasound images.Detailed implementation methods were presented and the proposed features of the system were explained.Based on this virtual system,example uses and case studies were presented to demonstrate its capabilities when used together with the physical TEE robot.This includes standard view definition and customized view optimization for pre-planning and navigation,as well as robotic control algorithm evaluations to facilitate real-time automatic probe pose adjustments.To conclude,the proposed virtual system would be a powerful tool to facilitate the further developments and clinical uses of the robotic intra-operative ultrasound systems.
文摘BACKGROUND Performing ultrasound during the current pandemic time is quite challenging.To reduce the chances of cross-infection and keep healthcare workers safe,a robotic ultrasound system was developed,which can be controlled remotely.It will also pave way for broadening the reach of ultrasound in remote distant rural areas as well.AIM To assess the feasibility of a robotic system in performing abdominal ultrasound and compare it with the conventional ultrasound system.METHODS A total of 21 healthy volunteers were recruited.Ultrasound was performed in two settings,using the robotic arm and conventional hand-held procedure.Images acquired were analyzed by separate radiologists.RESULTS Our study showed that the robotic arm model was feasible,and the results varied based on the organ imaged.The liver images showed no significant difference.For other organs,the need for repeat imaging was higher in the robotic arm,which could be attributed to the radiologist’s learning curve and ability to control the haptic device.The doctor and volunteer surveys also showed significant comfort with acceptance of the technology and they expressed their desire to use it in the future.CONCLUSIONThis study shows that robotic ultrasound is feasible and is the need of the hour during thepandemic.
文摘目的探讨超声引导下椎旁阻滞对机器人辅助腹腔镜肾切除术患者术后肺功能的影响。方法选择择期行机器人辅助腹腔镜肾切除术患者80例,男40例,女40例,年龄30~70岁,BMI 18.5~35.0 kg/m^(2),ASAⅠ或Ⅱ级。根据随机数字表法将患者分为两组:椎旁阻滞联合全麻组(PG组)和单纯全麻组(SG组),每组40例。两组术后均使用羟考酮静脉镇痛。记录术前1 d、术后1~5 d的用力肺活量(FVC)、第1秒用力呼气容量(FEV_(1))、最大呼气中期流量(MMEF)和SpO_(2)。记录术后1~5 d静息和活动(咳嗽)时VAS疼痛评分。记录丙泊酚用量、瑞芬太尼用量,镇痛泵有效按压次数、总按压次数和补救镇痛例数。记录术后首次下床活动时间、术后首次肛门排气时间、术后住院时间和不良反应的发生情况。记录术后5 d肺部并发症和术后30 d再次住院的发生情况。结果与术前1 d比较,术后1~5 d两组FVC、FEV_(1)及MMEF均明显降低(P<0.05),PG组术后1~4 d、SG组术后1~5 d SpO_(2)明显降低(P<0.05)。与SG组比较,PG组术后1~3 d FVC、术后1~5 d FEV_(1)和术后1~4 d MMEF、术后1~3 d SpO_(2)明显升高(P<0.05),术后1~2 d静息和活动时VAS疼痛评分明显降低(P<0.05),丙泊酚和瑞芬太尼用量、镇痛泵有效按压次数、总按压次数及补救镇痛率明显减少(P<0.05),术后首次下床活动时间、术后首次肛门排气时间和术后住院时间明显缩短(P<0.05),术后不良反应发生率和术后5 d的肺部并发症发生率明显降低(P<0.05)。结论超声引导下椎旁阻滞可为机器人辅助腹腔镜肾切除术患者提供更好的术后早期镇痛,改善术后肺功能,降低肺部并发症发生率。
