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221 results on '"Looi, Thomas"'

1. Electromagnets Under the Table: an Unobtrusive Magnetic Navigation System for Microsurgery

Author

Schonewille, Adam, He, Changyan, Forbrigger, Cameron, Wu, Nancy, Drake, James, Looi, Thomas, and Diller, Eric

Subjects
Computer Science - Robotics
Abstract

Miniature magnetic tools have the potential to enable minimally invasive surgical techniques to be applied to space-restricted surgical procedures in areas such as neurosurgery. However, typical magnetic navigation systems, which create the magnetic fields to drive such tools, either cannot generate large enough fields, or surround the patient in a way that obstructs surgeon access to the patient. This paper introduces the design of a magnetic navigation system with eight electromagnets arranged completely under the operating table, to endow the system with maximal workspace accessibility, which allows the patient to lie down on the top surface of the system without any constraints. The found optimal geometric layout of the electromagnets maximizes the field strength and uniformity over a reasonable neurosurgical operating volume. The system can generate non-uniform magnetic fields up to 38 mT along the x and y axes and 47 mT along the z axis at a working distance of 120 mm away from the actuation system workbench, deep enough to deploy magnetic microsurgical tools in the brain. The forces which can be exerted on millimeter-scale magnets used in prototype neurosurgical tools are validated experimentally. Due to its large workspace, this system could be used to control milli-robots in a variety of surgical applications.

Published
2023

2. Virtual Reality for Synergistic Surgical Training and Data Generation

Author

Munawar, Adnan, Li, Zhaoshuo, Kunjam, Punit, Nagururu, Nimesh, Ding, Andy S., Kazanzides, Peter, Looi, Thomas, Creighton, Francis X., Taylor, Russell H., and Unberath, Mathias

Subjects
Computer Science - Robotics
Abstract

Surgical simulators not only allow planning and training of complex procedures, but also offer the ability to generate structured data for algorithm development, which may be applied in image-guided computer assisted interventions. While there have been efforts on either developing training platforms for surgeons or data generation engines, these two features, to our knowledge, have not been offered together. We present our developments of a cost-effective and synergistic framework, named Asynchronous Multibody Framework Plus (AMBF+), which generates data for downstream algorithm development simultaneously with users practicing their surgical skills. AMBF+ offers stereoscopic display on a virtual reality (VR) device and haptic feedback for immersive surgical simulation. It can also generate diverse data such as object poses and segmentation maps. AMBF+ is designed with a flexible plugin setup which allows for unobtrusive extension for simulation of different surgical procedures. We show one use case of AMBF+ as a virtual drilling simulator for lateral skull-base surgery, where users can actively modify the patient anatomy using a virtual surgical drill. We further demonstrate how the data generated can be used for validating and training downstream computer vision algorithms, Comment: MICCAI 2021 AE-CAI "Outstanding Paper Award" Code: https://github.com/LCSR-SICKKIDS/volumetric_drilling

Published
2021
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3. Anatomical Mesh-Based Virtual Fixtures for Surgical Robots

Author

Li, Zhaoshuo, Gordon, Alex, Looi, Thomas, Drake, James, Forrest, Christopher, and Taylor, Russell H.

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots without any assumption of the local anatomical shape close to the tool. Using a bounded search strategy and Principle Directed tree, the proposed system can run efficiently at 180 Hz for a mesh object containing 989,376 triangles and 493,460 vertices. The proposed algorithm has been validated in both simulation and skull cutting experiments. The skull cutting experiment setup uses a novel piezoelectric bone cutting tool designed for the da Vinci research kit. The result shows that the virtual fixture assisted teleoperation has statistically significant improvements in the cutting path accuracy and penetration depth control. The code has been made publicly available at https://github.com/mli0603/PolygonMeshVirtualFixture., Comment: IROS 2020

Published
2020

4. Optimized Cranial Bandeau Remodeling

Author

Drake, James, Drygala, Marina, Fukasawa, Ricardo, Koenemann, Jochen, Linhares, Andre, Looi, Thomas, Phillips, John, Qian, David, Saber, Nikoo, Toth, Justin, Woodbeck, Chris, and Yeung, Jessie

Subjects
Mathematics - Optimization and Control
Abstract

Craniosynostosis, a condition affecting 1 in 2000 infants, is caused by premature fusing of cranial vault sutures, and manifests itself in abnormal skull growth patterns. Left untreated, the condition may lead to severe developmental impairment. Standard practice is to apply corrective cranial bandeau remodeling surgery in the first year of the infant's life. The most frequent type of surgery involves the removal of the so-called fronto-orbital bar from the patient's forehead and the cutting of well-placed incisions to reshape the skull in order to obtain the desired result. In this paper, we propose a precise optimization model for the above cranial bandeau remodeling problem and its variants. We have developed efficient algorithms that solve best incision placement, and show hardness for more general cases in the class. To the best of our knowledge this paper is the first to introduce optimization models for craniofacial surgery applications.

Published
2019

8. Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument.

Author

Ho, Caitlin, Looi, Thomas, Maguire, Glenn, and Podolsky, Dale J.

Subjects
SURGICAL equipment, SURGICAL instruments, CLEFT palate, EXTREME value theory, OPERATIVE surgery, SURGICAL robots
Abstract

Surgical robotic tools are being developed for a variety of surgical procedures that are executed within small workspaces. Novel designs of miniaturized cable-actuated surgical tools for cleft palate repair have previously been developed. However, the behavior and significance of friction within these tools are largely unknown. A study was conducted to investigate the friction in a pulleyless 3 mm diameter wristed instrument. The wrist utilizes cable guide channels that allow for miniaturization at the cost of increased friction. An experimental rig was developed to measure friction within the wrist link mechanism when the tool is positioned at various pitch angles. A strong relationship between the cable tension and the tool's pitch angle was found as a result of friction. The cable tension increased as the pitch angle approached extreme values (percent increases in the cable tension of 33% and 67.3% at a pitch of 90° and −90°, respectively). However, the resultant cable tension was below the failure strength of the cable, indicating that the design is feasible. The results of this study would be useful to those considering the design of miniature robotic surgical tools that are cable-driven. Significant tool reduction can be achieved by employing static guide channels for the cables, forgoing the use of additional moving components like pulleys while maintaining cable tension well within its break strength. Future work in the design and optimization of novel miniaturized wrist mechanisms should consider frictional effects and their impact on mechanism function. [ABSTRACT FROM AUTHOR]

Published
2024
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26. Effect of Wearing a Face Mask on Hand-to-Face Contact by Children in a Simulated School Environment: The Back-to-School COVID-19 Simulation Randomized Clinical Trial.

Author

Science, Michelle, Caldeira-Kulbakas, Monica, Parekh, Rulan S., Maguire, Bryan R., Carroll, Stacie, Anthony, Samantha J., Bitnun, Ari, Bourns, Laura E., Campbell, Douglas M., Cohen, Eyal, Dodds, Alison, Dubey, Vinita, Friedman, Jeremy N., Greenwood, Jodi L., Hopkins, Jessica P., Imgrund, Ryan, Korczak, Daphne J., Looi, Thomas, Louca, Emily, and Mertz, Dominik

Published
2022
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32. Virtual reality for synergistic surgical training and data generation.

Author

Munawar, Adnan, Li, Zhaoshuo, Kunjam, Punit, Nagururu, Nimesh, Ding, Andy S., Kazanzides, Peter, Looi, Thomas, Creighton, Francis X., Taylor, Russell H., and Unberath, Mathias

Subjects
VIRTUAL reality, HAPTIC devices, COMPUTER vision, TRAINING of surgeons, ALGORITHMS, OPERATIVE surgery
Abstract

Surgical simulators not only allow planning and training of complex procedures, but also offer the ability to generate structured data for algorithm development, which may be applied in image-guided computer assisted interventions. While there have been efforts on either developing training platforms for surgeons or data generation engines, these two features, to our knowledge, have not been offered together. We present our developments of a cost-effective and synergistic framework, named Asynchronous Multibody Framework Plus (AMBF+), which generates data for downstream algorithm development simultaneously with users practicing their surgical skills. AMBF+ offers stereoscopic display on a virtual reality (VR) device and haptic feedback for immersive surgical simulation. It can also generate diverse data such as object poses and segmentation maps. AMBF+ is designed with a flexible plugin setup that allows for unobtrusive extension for simulation of different surgical procedures. We show one use case of AMBF+ as a virtual drilling simulator for lateral skull-base surgery, where users can actively modify the patient anatomy using a virtual surgical drill. We further demonstrate how the data generated can be used for validating and training downstream computer vision algorithms. [ABSTRACT FROM AUTHOR]

Published
2022
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49. Synthetic Simulator for Surgical Training in Tracheostomy and Open Airway Surgery.

Author

Deonarain, Ashley R., Harrison, Robert V., Gordon, Karen A., Looi, Thomas, Agur, Anne M.R., Estrada, Marvin, Wolter, Nikolaus E., and Propst, Evan J.

Abstract

Objective(s): To create and validate a synthetic simulator for teaching tracheostomy and laryngotracheal reconstruction (LTR) using anterior costal cartilage and thyroid ala cartilage grafts. Methods: A late adolescent/adult neck and airway simulator was constructed based on CT scans from a cadaver and a live patient. Images were segmented to create three‐dimensional printed molds from which anatomical parts were casted. To evaluate the simulator, expert otolaryngologists ‐ head and neck surgeons performed tracheostomy and LTR using anterior costal cartilage and thyroid ala cartilage grafts on a live anesthetized porcine model (gold standard) followed by the synthetic simulator. They evaluated each model for face validity (realism and anatomical accuracy) and content validity (perceived effectiveness as a training tool) using a five‐point Likert scale. For each expert, differences for each item on each simulator were compared using Wilcoxon Signed‐Rank tests with Sidak correction. Results: Nine expert faculty surgeons completed the study. Experts rated face and content validity of the synthetic simulator an overall median of 4 and 5, respectively. There was no difference in scores between the synthetic model and the live porcine model for any of the steps of any of the surgical procedures. Conclusion: The synthetic simulator created for this study has high face and content validity for tracheostomy and LTR with anterior costal cartilage and thyroid ala cartilage grafts and was not found to be different than the live porcine model for these procedures. Level of Evidence: 5 Laryngoscope, 131:E2378–E2386, 2021 [ABSTRACT FROM AUTHOR]

Published
2021
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50. International Society for Therapeutic Ultrasound Conference 2016

Author

Fowlkes, Brian, Ghanouni, Pejman, Sanghvi, Narendra, Coussios, Constantin, Lyon, Paul C., Gray, Michael, Mannaris, Christophoros, Victor, Marie de Saint, Stride, Eleanor, Cleveland, Robin, Carlisle, Robert, Wu, Feng, Middleton, Mark, Gleeson, Fergus, Aubry, Jean-Franҫois, Pauly, Kim Butts, Moonen, Chrit, Vortman, Jacob, Sharabi, Shirley, Daniels, Dianne, Last, David, Guez, David, Levy, Yoav, Volovick, Alexander, Grinfeld, Javier, Rachmilevich, Itay, Amar, Talia, Zibly, Zion, Mardor, Yael, Harnof, Sagi, Plaksin, Michael, Weissler, Yoni, Shoham, Shy, Kimmel, Eitan, Naor, Omer, Farah, Nairouz, Paeng, Dong-Guk, Xu, Zhiyuan, Snell, John, Quigg, Anders H., Eames, Matthew, Jin, Changzhu, Everstine, Ashli C., Sheehan, Jason P., Lopes, Beatriz S., Kassell, Neal, Looi, Thomas, Khokhlova, Vera, Mougenot, Charles, Hynynen, Kullervo, Drake, James, Slayton, Michael, Amodei, Richard C., Compton, Keegan, McNelly, Ashley, Latt, Daniel, Kearney, John, Melodelima, David, Dupre, Aurelien, Chen, Yao, Perol, David, Vincenot, Jeremy, Chapelon, Jean-Yves, Rivoire, Michel, Guo, Wei, Ren, Guoxin, Shen, Guofeng, Neidrauer, Michael, Zubkov, Leonid, Weingarten, Michael S., Margolis, David J., Lewin, Peter A., McDannold, Nathan, Sutton, Jonathan, Vykhodtseva, Natalia, Livingstone, Margaret, Kobus, Thiele, Zhang, Yong-Zhi, Schwartz, Michael, Huang, Yuexi, Lipsman, Nir, Jain, Jennifer, Chapman, Martin, Sankar, Tejas, Lozano, Andres, Yeung, Robert, Damianou, Christakis, Papadopoulos, Nikolaos, Brokman, Omer, Zadicario, Eyal, Brenner, Ori, Castel, David, Wu, Shih-Ying, Grondin, Julien, Zheng, Wenlan, Heidmann, Marc, Karakatsani, Maria Eleni, Sánchez, Carlos J. Sierra, Ferrera, Vincent, Konofagou, Elisa E., Yiannakou, Marinos, Cho, HongSeok, Lee, Hwayoun, Han, Mun, Choi, Jong-Ryul, Lee, Taekwan, Ahn, Sanghyun, Chang, Yongmin, Park, Juyoung, Ellens, Nicholas, Partanen, Ari, Farahani, Keyvan, Airan, Raag, Carpentier, Alexandre, Canney, Michael, Vignot, Alexandre, Lafon, Cyril, Delattre, Jean-yves, Idbaih, Ahmed, Odéen, Henrik, Bolster, Bradley, Jeong, Eun Kee, Parker, Dennis L., Gaur, Pooja, Feng, Xue, Fielden, Samuel, Meyer, Craig, Werner, Beat, Grissom, William, Marx, Michael, Weber, Hans, Taviani, Valentina, Hargreaves, Brian, Tanaka, Jun, Kikuchi, Kentaro, Ishijima, Ayumu, Azuma, Takashi, Minamihata, Kosuke, Yamaguchi, Satoshi, Nagamune, Teruyuki, Sakuma, Ichiro, Takagi, Shu, Santin, Mathieu D., Marsac, Laurent, Maimbourg, Guillaume, Monfort, Morgane, Larrat, Benoit, François, Chantal, Lehéricy, Stéphane, Tanter, Mickael, Samiotaki, Gesthimani, Wang, Shutao, Acosta, Camilo, Feinberg, Eliza R., Kovacs, Zsofia I., Tu, Tsang-Wei, Papadakis, Georgios Z., Reid, William C., Hammoud, Dima A., Frank, Joseph A., Kovacs, Zsofia i., Kim, Saejeong, Jikaria, Neekita, Bresler, Michele, Qureshi, Farhan, Xia, Jingjing, Tsui, Po-Shiang, Liu, Hao-Li, Plata, Juan C., Sveinsson, Bragi, Salgaonkar, Vasant A., Adams, Matthew, Diederich, Chris, Ozhinsky, Eugene, Bucknor, Matthew D., Rieke, Viola, Mikhail, Andrew, Severance, Lauren, Negussie, Ayele H., Wood, Bradford, de Greef, Martijn, Schubert, Gerald, Ries, Mario, Poorman, Megan E., Dockery, Mary, Chaplin, Vandiver, Dudzinski, Stephanie O., Spears, Ryan, Caskey, Charles, Giorgio, Todd, Costa, Marcia M., Papaevangelou, Efthymia, Shah, Anant, Rivens, Ian, Box, Carol, Bamber, Jeff, ter Haar, Gail, Burks, Scott R., Nagle, Matthew, Nguyen, Ben, Milo, Blerta, Le, Nhan M., Song, Shaozhen, Zhou, Kanheng, Nabi, Ghulam, Huang, Zhihong, Ben-Ezra, Shmuel, Rosen, Shani, Mihcin, Senay, Strehlow, Jan, Karakitsios, Ioannis, Le, Nhan, Schwenke, Michael, Demedts, Daniel, Prentice, Paul, Haase, Sabrina, Preusser, Tobias, Melzer, Andreas, Mestas, Jean-Louis, Chettab, Kamel, Gomez, Gustavo Stadthagen, Dumontet, Charles, Werle, Bettina, Marquet, Fabrice, Bour, Pierre, Vaillant, Fanny, Amraoui, Sana, Dubois, Rémi, Ritter, Philippe, Haïssaguerre, Michel, Hocini, Mélèze, Bernus, Olivier, Quesson, Bruno, Livneh, Amit, Adam, Dan, Robin, Justine, Arnal, Bastien, Fink, Mathias, Pernot, Mathieu, Khokhlova, Tatiana D., Schade, George R., Wang, Yak-Nam, Kreider, Wayne, Simon, Julianna, Starr, Frank, Karzova, Maria, Maxwell, Adam, Bailey, Michael R., Lundt, Jonathan E., Allen, Steven P., Sukovich, Jonathan R., Hall, Timothy, Xu, Zhen, May, Philip, Lin, Daniel W., Constans, Charlotte, Deffieux, Thomas, Aubry, Jean-Francois, Park, Eun-Joo, Ahn, Yun Deok, Kang, Soo Yeon, Park, Dong-Hyuk, Lee, Jae Young, Vidal-Jove, J., Perich, E., Ruiz, A., Jaen, A., Eres, N., del Castillo, M. Alvarez, Myers, Rachel, Kwan, James, Coviello, Christian, Rowe, Cliff, Crake, Calum, Finn, Sean, Jackson, Edward, Pouliopoulos, Antonios, Li, Caiqin, Tinguely, Marc, Tang, Meng-Xing, Garbin, Valeria, Choi, James J., Folkes, Lisa, Stratford, Michael, Nwokeoha, Sandra, Li, Tong, Farr, Navid, D’Andrea, Samantha, Gravelle, Kayla, Chen, Hong, Lee, Donghoon, Hwang, Joo Ha, Tardoski, Sophie, Ngo, Jacqueline, Gineyts, Evelyne, Roux, Jean-Pau, Clézardin, Philippe, Conti, Allegra, Magnin, Rémi, Gerstenmayer, Matthieu, Lux, François, Tillement, Olivier, Mériaux, Sébastien, Penna, Stefania Della, Romani, Gian Luca, Dumont, Erik, Sun, Tao, Power, Chanikarn, Miller, Eric, Sapozhnikov, Oleg, Tsysar, Sergey, Yuldashev, Petr V., Svet, Victor, Li, Dongli, Pellegrino, Antonio, Petrinic, Nik, Siviour, Clive, Jerusalem, Antoine, Yuldashev, Peter V., Cunitz, Bryan W., Dunmire, Barbrina, Inserra, Claude, Guedra, Matthieu, Mauger, Cyril, Gilles, Bruno, Solovchuk, Maxim, Sheu, Tony W. H., Thiriet, Marc, Zhou, Yufeng, Neufeld, Esra, Baumgartner, Christian, Payne, Davnah, Kyriakou, Adamos, Kuster, Niels, Xiao, Xu, McLeod, Helen, Dillon, Christopher, Payne, Allison, Khokhova, Vera A., Sinilshchikov, Ilya, Andriyakhina, Yulia, Rybyanets, Andrey, Shvetsova, Natalia, Berkovich, Alex, Shvetsov, Igor, Shaw, Caroline J., Civale, John, Giussani, Dino, Lees, Christoph, Ozenne, Valery, Toupin, Solenn, Salgaonkar, Vasant, Kaye, Elena, Monette, Sebastien, Maybody, Majid, Srimathveeravalli, Govindarajan, Solomon, Stephen, Gulati, Amitabh, Bezzi, Mario, Jenne, Jürgen W., Lango, Thomas, Müller, Michael, Sat, Giora, Tanner, Christine, Zangos, Stephan, Günther, Matthias, Dinh, Au Hoang, Niaf, Emilie, Bratan, Flavie, Guillen, Nicolas, Souchon, Rémi, Lartizien, Carole, Crouzet, Sebastien, Rouviere, Olivier, Han, Yang, Payen, Thomas, Palermo, Carmine, Sastra, Steve, Olive, Kenneth, van Breugel, Johanna M., van den Bosch, Maurice A., Fellah, Benjamin, Le Bihan, Denis, Hernandez-Garcia, Luis, Cain, Charles A., Lyka, Erasmia, Elbes, Delphine, Li, Chunhui, Tamano, Satoshi, Jimbo, Hayato, Yoshizawa, Shin, Fujiwara, Keisuke, Itani, Kazunori, Umemura, Shin-ichiro, Stoianovici, Dan, Zaini, Zulfadhli, Takagi, Ryo, Zong, Shenyan, Watkins, Ron, Pascal-Tenorio, Aurea, Jones, Peter, Butts-Pauly, Kim, Bouley, Donna, Chen, Yazhu, Lin, Chung-Yin, Hsieh, Han-Yi, Wei, Kuo-Chen, Garnier, Camille, Renault, Gilles, Seifabadi, Reza, Wilson, Emmanuel, Eranki, Avinash, Kim, Peter, Lübke, Dennis, Huber, Peter, Georgii, Joachim, Dresky, Caroline V., Haller, Julian, Yarmolenko, Pavel, Sharma, Karun, Celik, Haydar, Li, Guofeng, Qiu, Weibao, Zheng, Hairong, Tsai, Meng-Yen, Chu, Po-Chun, Webb, Taylor, Vyas, Urvi, Walker, Matthew, Zhong, Jidan, Waspe, Adam C., Hodaie, Mojgan, Yang, Feng-Yi, Huang, Sin-Luo, Zur, Yuval, Assif, Benny, Aurup, Christian, Kamimura, Hermes, Carneiro, Antonio A., Rothlübbers, Sven, Schwaab, Julia, Houston, Graeme, Azhari, Haim, Weiss, Noam, Sosna, Jacob, Goldberg, S. Nahum, Barrere, Victor, Jang, Kee W., Lewis, Bobbi, Wang, Xiaotong, Suomi, Visa, Edwards, David, Larrabee, Zahary, Hananel, Arik, Rafaely, Boaz, Debbiny, Rasha Elaimy, Dekel, Carmel Zeltser, Assa, Michael, Menikou, George, Mouratidis, Petros, Pineda-Pardo, José A., de Pedro, Marta Del Álamo, Martinez, Raul, Hernandez, Frida, Casas, Silvia, Oliver, Carlos, Pastor, Patricia, Vela, Lidia, Obeso, Jose, Greillier, Paul, Zorgani, Ali, Catheline, Stefan, Solovov, Vyacheslav, Vozdvizhenskiy, Michael O., Orlov, Andrew E., Wu, Chueh-Hung, Sun, Ming-Kuan, Shih, Tiffany T., Chen, Wen-Shiang, Prieur, Fabrice, Pillon, Arnaud, Cartron, Valerie, Cebe, Patrick, Chansard, Nathalie, Lafond, Maxime, Seya, Pauline Muleki, Bera, Jean-Christophe, Boissenot, Tanguy, Fattal, Elias, Bordat, Alexandre, Chacun, Helene, Guetin, Claire, Tsapis, Nicolas, Maruyama, Kazuo, Unga, Johan, Suzuki, Ryo, Fant, Cécile, Rogez, Bernadette, Afadzi, Mercy, Myhre, Ola Finneng, Vea, Siri, Bjørkøy, Astrid, Yemane, Petros Tesfamichael, van Wamel, Annemieke, Berg, Sigrid, Hansen, Rune, Angelsen, Bjørn, and Davies, Catharina

Subjects
Meeting Abstracts
Published
2017

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