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  • Constrained Kinematic Control in MIRS Subject to RCM: Novel kinematic formulations for surgical systems are derived and the movement restriction in incision point, known as RCM constraint, is resolved by active control of the system through a so-called RCM-constrained Jacobian. The proposed minimal Jacobian matrix can realize fixed/moving trocar constraint effectively in comparison with the state of the arts.


  • Robot Assisted Needle Insertion using Medical Images in MIS:  In this research we use KUKA iiwa robot arm for percutaneous needle insertion applications range from medical diagnosis such as biopsy to therapeutic agent delivery. This way, positioning accuracy will be increased up to 0.1 mm, the time of process will be reduced and the side effects such as injuries and dose of radiation will be decreased. Manual target Positioning is a common procedure however it is imprecise and inaccurate. According to our observations in local hospitals, the process is usually performed manually in several stages and under direct medical imaging systems such as CT-scan or ultrasound. During this intervention, usually high skills is needed in order to ensure avoidance with vital organs and precise targeting. Beside the low accuracy, the process is time consuming for patient, physician and CT-scan system. Using the robotic manipulator instead of manufacturing of a bed-mounted or patient-mounted robotic systems leads to overcome some of the design restrictions regarding to the compatibility of the size of the system with CT scan gantry, weight of the system and the material constraints which is important in artifacts avoidance and sterilization process. The new proposed workflow and control algorithms of this study can be extended to other insertion procedures and can be published as a software to correlate the robot with medical images. We can performed different scenarios (for instance needle insertion, ablation, drainage, seed implantation, reconstructive spinal surgery such as Kyphoplasty, etc.,) with the same designed set-up.






  • Dr. Hamid Sadeghian, Assistant Professor, Robotics and control, University of Isfahan
  • Dr. M. Saleh  Jafarpisheh, Assitant Professor, Interventional Radiology, Isfahan University of Medical  Sciences
  • Dr. Zahra Kamranian, Phd in machine vision and image processing, University of Isfahan
  • Ms. Maryam Barkhordari, MSc in Biomedical Engineerig, University of Isfahan


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