Optimized path planning for soft tissue resection via laser vaporization

2018 ◽  
Author(s):  
Weston Ross ◽  
Brian Mann ◽  
Patrick Codd ◽  
Matthew Tucker ◽  
Neil Cornwell
Keyword(s):  
Soft Tissue ◽  
Path Planning ◽  
Laser Vaporization

scholarly journals Dynamic Path Planning for Bevel-Tip Flexible Needle Insertion into Soft Tissue Based on a Real-Time Finite Element Model

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Murong Li ◽  
Dedong Gao ◽  
Yong Lei ◽  
Tian Xu
Keyword(s):  
Finite Element ◽  
Soft Tissue ◽  
Path Planning ◽  
Finite Element Model ◽  
Real Time ◽  
Ccd Camera ◽  
Element Model ◽  
Online Planning ◽  
Dynamic Path Planning ◽  
Dynamic Path

This paper presents a novel dynamic path planning methodology for needle steering into the soft tissue. A real-time finite element model is used to simulate the procedure of a flexible needle into the homogeneous soft tissue, which provides the dynamic deformation information for the path planning. The relationship between needle base and tip is formulated as the transformations of homogeneous matrix with quasi-static assumptions. Based on the reachability of the flexible needle, the real-time motions of obstacles and target are considered through the dynamic needle-tissue interactions. A testbed including a XY linear stage, one rotator, and a CCD camera is constructed, and the experiments are designed to validate the proposed method. The 23G PTC needle was inserted into the PVA phantom with markers, and the CCD camera was utilized to record the needle trajectories and motions of target and obstacles. The targeting errors between the experimental and planned paths are less than 1.20 mm, and the distance from the obstacle to needle is not smaller than 1.16 mm. The results demonstrate that the proposed algorithm is effective for online planning the paths in the needle-tissue interactive environment.

Surgical GAN: Towards Real-Time Path Planning for Passive Flexible Tools in Soft Tissue Surgery

2020 ◽  
Author(s):  
Yan Zhao ◽  
Yuxin Wang ◽  
Jianhua Zhang ◽  
Shuxiang Guo ◽  
Jinxin Cui ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Path Planning ◽  
Real Time ◽  
Time Path ◽  
Soft Tissue Surgery

Dynamic Path Planning for Inserting a Steerable Needle Into a Soft Tissue

2014 ◽  
Vol 19 (2) ◽  
pp. 549-558 ◽  
Author(s):  
Jianjun Wang ◽  
Xiangpeng Li ◽  
Jinjin Zheng ◽  
Dong Sun
Keyword(s):  
Soft Tissue ◽  
Path Planning ◽  
Dynamic Path Planning ◽  
Dynamic Path ◽  
Steerable Needle

Multi-tissue layering and path planning of in situ bioprinting for complex skin and soft tissue defects

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Huichao Wang ◽  
Qin Lian ◽  
Dichen Li ◽  
Chenghong Li ◽  
Tingze Zhao ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Path Planning ◽  
Point Cloud ◽  
Tissue Structure ◽  
3D Point Cloud ◽  
Soft Tissue Defects ◽  
Tissue Layer ◽  
Content Type ◽  
Tissue Defects

Purpose Reconstructing multi-layer tissue structure using cell printing to repairing complex tissue defect is a challenging task, especially using in situ bioprinting. This study aims to propose a method of in situ bioprinting multi-tissue layering and path planning for complex skin and soft tissue defects. Design/methodology/approach The scanned three-dimensional (3D) point cloud of the skin and soft tissue defect is taken as the input data, the depth value of the defect is then calculated using a two-step grid division method, and the tissue layer is judged according to the depth value. Then, the surface layering and path planning in the normal direction are performed for different tissue layers to achieve precise tissue layering filling of complex skin soft tissue defects. Findings The two-step grid method can accurately calculate the depth of skin and soft tissue defects and judge the tissue layer accordingly. In the in situ bioprinting experiment of the defect model, the defect can be completely closed. The defect can be reconstructed in situ, and the reconstructed structure is basically the same as the original skin tissue structure, proving the feasibility of the proposed method. Originality/value This study proposes an in situ bioprinting multi-tissue layering and path planning method for complex skin and soft tissue defects, which can directly convert the scanned 3D point cloud into a multi-tissue in situ bioprinting path. The printed result has a similar structure to that of the original skin tissue, which can make cells or growth factors act on the corresponding tissue layer targets.

Reverse Path Planning for Flexible Needle in 2D Soft Tissue with Obstacles

2011 ◽  
Vol 121-126 ◽  
pp. 4132-4137 ◽  
Author(s):  
Yan Jiang Zhao ◽  
Yong De Zhang ◽  
Fei Tu
Keyword(s):  
Soft Tissue ◽  
Path Planning ◽  
Objective Function ◽  
Optimal Path ◽  
Kinematic Model ◽  
Entry Point ◽  
Practical Significance ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Reverse Path

In clinic it is of very practical significance to optimize the entry point and pose in path planning. We proposed a reverse path planning algorithm adopting multiform combined paths based on the improved kinematic model of flexible needle, and the objective function is established. Utilizing the reversibility of the path, we started from the target to optimize the whole path including the entry point and pose. Then we optimally calculated and simulated in the environment with obstacles. Results show that this algorithm effectively makes the needle steer clear of obstacles to reach the target precisely, and gains the entry point and pose at the same time, guaranteeing the optimal path.

Localization of Gallium-67 in Peritoneal Cells by Electron Microscopic Autoradiography

1973 ◽  
Vol 31 ◽  
pp. 404-405
Author(s):  
D. C. Swartzendruber ◽  
Norma L. Idoyaga-Vargas
Keyword(s):  
Clinical Trials ◽  
Soft Tissue ◽  
Tumor Tissue ◽  
Soft Tissue Tumors ◽  
Clinical Usefulness ◽  
Electron Microscopic ◽  
Normal Cells ◽  
Electron Microscopic Autoradiography ◽  
Peritoneal Cells ◽  
Gallium 67

The radionuclide gallium-67 (67Ga) localizes preferentially but not specifically in many human and experimental soft-tissue tumors. Because of this localization, 67Ga is used in clinical trials to detect humar. cancers by external scintiscanning methods. However, the fact that 67Ga does not localize specifically in tumors requires for its eventual clinical usefulness a fuller understanding of the mechanisms that control its deposition in both malignant and normal cells. We have previously reported that 67Ga localizes in lysosomal-like bodies, notably, although not exclusively, in macrophages of the spocytaneous AKR thymoma. Further studies on the uptake of 67Ga by macrophages are needed to determine whether there are factors related to malignancy that might alter the localization of 67Ga in these cells and thus provide clues to discovering the mechanism of 67Ga localization in tumor tissue.

Morphological Examination of a Herpes-type Virus Indigenous for Tree Shrews

1970 ◽  
Vol 28 ◽  
pp. 160-161
Author(s):  
J. P. Brunschwig ◽  
R. M. McCombs ◽  
R. Mirkovic ◽  
M. Benyesh-Melnick
Keyword(s):  
Electron Microscopy ◽  
Soft Tissue ◽  
Chick Embryo ◽  
Soft Tissue Sarcoma ◽  
Cell Cultures ◽  
Tree Shrew ◽  
Type Virus ◽  
Morphological Examination ◽  
Tree Shrews ◽  
Embryo Cells

A new virus, established as a member of the herpesvirus group by electron microscopy, was isolated from spontaneously degenerating cell cultures derived from the kidneys and lungs of two normal tree shrews. The virus was found to replicate best in cells derived from the homologous species. The cells used were a tree shrew cell line, T-23, which was derived from a spontaneous soft tissue sarcoma. The virus did not multiply or did so poorly for a limited number of passages in human, monkey, rodent, rabbit or chick embryo cells. In the T-23 cells, the virus behaved as members of the subgroup B of herpesvirus, in that the virus remained primarily cell associated.

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