MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive Surgery

Crawling on the heart : a mobile robotic device for minimally invasive cardiac interventions p. 9 High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway p. 17 Development of a robotic laser surgical tool with an integrated video endoscope p. 25 Micro-neurosurgical system in the deep surgical field p. 33 Dense 3D depth recovery for soft tissue deformation during robotically assisted laparoscopic surgery p. 41 Vision-based assistance for ophthalmic micro-surgery p. 49 Robot-assisted distal locking of long bone intramedullary nails : localization, registration, and in vitro experiments p. 58 Liver motion due to needle pressure, cardiac, and respiratory motion during the TIPS procedure p. 66 Visualization, planning, and monitoring software for MRI-guided prostate intervention robot p. 73 Robotic strain imaging for monitoring thermal ablation of liver p. 81 A tactile magnification instrument for minimally invasive surgery p. 89 A study of saccade transition for attention segregation and task strategy in laparoscopic surgery p. 97 Precision freehand sculpting of bone p. 105 Needle force sensor, robust and sensitive detection of the instant of needle puncture p. 113 Handheld laparoscopic forceps manipulator using multi-slider linkage mechanisms p. 121 An MR-compatible optical force sensor for human function modeling p. 129 Flexible needle steering and optimal trajectory planning for percutaneous therapies p. 137 CT and MR compatible light puncture robot : architectural design and first experiments p. 145 Development of a novel robot-assisted orthopaedic system designed for total knee arthroplasty p. 153 Needle guiding robot with five-bar linkage for MR-guided thermotherapy of liver tumor p. 161 Computer-assisted minimally invasive curettage and reinforcement of femoral head osteonecrosis with a novel, expandable blade tool p. 169 A parallel robotic system with force sensors for percutaneous procedures under CT-guidance p. 176 System design for implementing distributed modular architecture to reliable surgical robotic system p. 184 Precise evaluation of positioning repeatability of MR-compatible manipulator inside MRI p. 192 Simulation model of intravascular ultrasound images p. 200 Vessel driven correction of brain shift p. 208 Predicting tumour location by simulating large deformations of the breast using a 3D finite element model and nonlinear elasticity p. 217 Modeling of brain tissue retraction using intraoperative data p. 225