Optimal Transseptal Puncture Location for Robot-Assisted Left Atrial Catheter Ablation
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Systematic isotropy analysis of a mobile robot with three active caster wheels
ICIC'07 Proceedings of the intelligent computing 3rd international conference on Advanced intelligent computing theories and applications
Markov modeling of colonoscopy gestures to develop skill trainers
AE-CAI'11 Proceedings of the 6th international conference on Augmented Environments for Computer-Assisted Interventions
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Colonoscopy is a minimally invasive endoscopic procedure to survey, diagnose and treat possible disease in the colon. Clinicians are trained to manipulate a colonoscope while minimizing the force exerted on the colon walls to reduce the danger of luminal perforation and discomfort to the patient. Here, we propose and evaluate a metric, called Global Isotropy Index (GII), to quantify the expertise of the clinician. The colonoscope is modeled as a continuum robot with multiple bending sections. The Jacobian operator, which relates the proximal forces applied by the clinician to the distal forces, provides a basis to compute the GII. Experimental results in a colon model (CM-1, Olympus, Tokyo, Japan) are shown to compare the efficacy of this metric in characterizing operator performance compared to standard metrics such as elapsed time, path length, and kinematics factors. The GII values for experts are significantly different from those of novices; our initial studies show that it can be as much as 1.45 times greater for the experts.