Now showing items 1-20 of 58

    • 3D Ultrasound-Guided Motion Compensation System for Beating Heart Mitral Valve Repair 

      Yuen, Shelten G.; Kesner, Samuel Benjamin; Vasilyev, Nikolay; Del Nido, Pedro J.; Howe, Robert D. (Springer Verlag, 2008)
      Beating heart intracardiac procedures promise significant benefits for patients, however, the fast motion of the heart poses serious challenges to surgeons. We present a new 3D ultrasound-guided motion (3DUS) compensation ...
    • A 4-DOF Robot for Positioning Ultrasound Imaging Catheters 

      Loschak, Paul; Tenzer, Yaroslav; Degirmenci, Alperen; Howe, Robert D. (American Society of Mechanical Engineers, 2015)
      In this paper we present the design, fabrication, and testing of a robot for automatically positioning ultrasound imaging catheters. Our system will point ultrasound (US) catheters to provide real-time imaging of anatomical ...
    • Algorithms for Automated Pointing of Cardiac Imaging Catheters 

      Loschak, Paul; Brattain, Laura; Howe, Robert D. (Springer Science + Business Media, 2014)
      This paper presents a modified controller and expanded algorithms for automatically positioning cardiac ultrasound imaging catheters within the heart to improve treatment of cardiac arrhythmias such as atrial fibrillation. ...
    • Anisotropic Mass-Spring Method Accurately Simulates Mitral Valve Closure from Image-Based Models 

      Hammer, Peter; Del Nido, Pedro J.; Howe, Robert D. (Springer Science + Business Media, 2011)
      Heart valves are functionally complex, making surgical repair difficult. Simulation-based surgical planning could facilitate repair, but current finite element studies are prohibitively slow for rapid, clinically-oriented ...
    • Automated pointing of cardiac imaging catheters 

      Loschak, Paul; Brattain, Laura; Howe, Robert D. (2013)
      Intracardiac echocardiography (ICE) catheters enable high-quality ultrasound imaging within the heart, but their use in guiding procedures is limited due to the difficulty of manually pointing them at structures of interest. ...
    • Automatic Identification of Environment Haptic Properties 

      Dupont, Pierre E; Schulteis, Capt. Timothy M.; Millman, Paul A.; Howe, Robert D. (MIT Press - Journals, 1999)
      Many applications can be imagined for a system that processes sensory information collected during telemanipulation tasks in order to automatically identify properties of the remote environment. These applications include ...
    • Bayesian change-point analysis for atomic force microscopy and soft material indentation 

      Rudoy, Daniel; Yuen, Shelten G.; Howe, Robert D.; Wolfe, Patrick J. (Wiley-Blackwell, 2010)
      Material indentation studies, in which a probe is brought into controlled physical contact with an experimental sample, have long been a primary means by which scientists characterize the mechanical properties of materials. ...
    • Bayesian Changepoint Detection Through Switching Regressions: Contact Point Determination in Material Indentation Experiments 

      Yuen, Shelten G.; Rudoy, Daniel Gregory; Howe, Robert D.; Wolfe, Patrick J. (Institute of Electrical and Electronics Engineers, 2007)
      Material indentation is a popular method for determining the mechanical properties of biomaterials. The basic premise of an indentation experiment is to physically displace the sample using an indenter that measures resistive ...
    • Compensation for unconstrained catheter shaft motion in cardiac catheters 

      Degirmenci, Alperen; Loschak, Paul; Tschabrunn, Cory; Anter, Elad; Howe, Robert D. (IEEE, 2016)
      Abstract— Cardiac catheterization with ultrasound (US) imaging catheters provides real time US imaging from within the heart, but manually navigating a four degree of freedom (DOF) imaging catheter is difficult and requires ...
    • Contact sensing and grasping performance of compliant hands 

      Dollar, Aaron M.; Jentoft, Leif Patrick; Gao, Jason Hao; Howe, Robert D. (Springer Science + Business Media, 2009)
      Limitations in modern sensing technologies result in large errors in sensed target object geometry and location in unstructured environments. As a result, positioning a robotic end-effector includes inherent error that ...
    • Data-Driven Design of a Dexterous Robotic Microsurgery System 

      Hammond, Frank; Talbot, Simon George; Wood, Robert J.; Howe, Robert D. (ASME International, 2012)
    • Design and control of a parallel linkage wrist for robotic microsurgery 

      Degirmenci, Alperen; Hammond, Frank L.; Gafford, Joshua Ball; Walsh, Conor J; Wood, Robert J.; Howe, Robert D. (2015)
      This paper presents the design and control of a teleoperated robotic system for dexterous micromanipulation tasks at the meso-scale, specifically open microsurgery. Robotic open microsurgery is an unexplored yet potentially ...
    • Design and Control of Motion Compensation Cardiac Catheters 

      Kesner, Samuel Benjamin; Howe, Robert D. (Institute of Electrical and Electronics Engineers, 2010)
      Robotic cardiac catheters have the potential to revolutionize heart surgery by extending minimally invasive techniques to complex surgical repairs inside the heart. However, catheter technologies are currently unable to ...
    • Design considerations for an active soft orthotic system for shoulder rehabilitation 

      Kesner, Samuel Benjamin; Jentoft, Leif Patrick; Hammond, Frank; Howe, Robert D.; Popovic, Marko (IEEE, 2011)
      Strokes affect over 750,000 people annually in the United States. This significant and disabling condition can result in paralysis that must be treated by regular sessions with a dedicated physical therapist in order to ...
    • Design of a Motion Compensated Tissue Resection Catheter for Beating Heart Cardiac Surgery 

      Kesner, Samuel Benjamin; Howe, Robert D. (ASME International, 2011)
      Cardiac catheters allow clinicians to minimally invasively interact with the beating heart without stopping the heart or opening the chest. However, the fast motion of the intracardiac structures makes it difficult to ...
    • Design Principles for Rapid Prototyping Forces Sensors Using 3-D Printing 

      Kesner, Samuel; Howe, Robert D. (Institute of Electrical and Electronics Engineers (IEEE), 2011)
      Force sensors provide critical information about robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific system requirements, resulting ...
    • Determining object geometry with compliance and simple sensors 

      Jentoft, Leif Patrick; Howe, Robert D. (IEEE, 2011)
      To determine object geometry in unstructured environments, sensors must be mechanically robust, must exert only low forces on objects during exploration, and must be able to scan large regions efficiently without risk of ...
    • Dexterity optimization by port placement in robot-assisted minimally invasive surgery 

      Selha, Shaun; Dupont, Pierre E; Howe, Robert D.; Torchiana, David Fitzgerald (SPIE, 2001)
      A computer-based algorithm has been developed which uses preoperative images to provide a surgeon with a list of feasible port triplets ranked according to tool dexterity and endoscopic view quality at each surgical site ...
    • Discriminating tissue stiffness with a haptic catheter: Feeling the inside of the beating heart 

      Kesner, Samuel Benjamin; Howe, Robert D. (Institute of Electrical and Electronics Engineers, 2011)
      Catheter devices allow physicians to access the inside of the human body easily and painlessly through natural orifices and vessels. Although catheters allow for the delivery of fluids and drugs, the deployment of devices, ...
    • Enhanced Ultrasound Visualization for Procedure Guidance 

      Brattain, Laura (2014-06-06)
      Intra-cardiac procedures often involve fast-moving anatomic structures with large spatial extent and high geometrical complexity. Real-time visualization of the moving structures and instrument-tissue contact is crucial ...