ABSTRACT
This paper describes experiments with a voice-controlled robot system to be used in endoscopic neurosurgery. The robot was a modified version of the robot described in previous publications of the group at Fraunhofer IPA and HSK. To control the robot a voice-controlled user interface was developed. The experiments were conducted on cadavers for three standard approaches in neuroendoscopy. The goal was to gain experience with a voice-controlled user interface and also with the set-up and use of the robotic system under clinical conditions. The results indicate that modifications to the robot and user interface are necessary. However the overall feasibility of the application was demonstrated.
Subject(s)
Endoscopy , Neurosurgical Procedures , Robotics , User-Computer Interface , Feasibility Studies , Humans , Therapy, Computer-Assisted , VoiceABSTRACT
This paper describes a test prototype for precision robot-assisted surgery using a hexapod operating robot and a movable operating cockpit for tactile feedback. The objective of the work described is twofold: 1, to evaluate the use of hexapod robots for precisely manipulating endoscopes and surgical instruments in submillimeter surgery; 2, to test a new user interface concept based on tactile feedback. Based on the principle of a flight simulator, the aim is to give the surgeon motion cues in addition to the endoscope image, to assist his spatial orientation. The paper gives a detailed description of the system components and the potential applications.
Subject(s)
Endoscopes , Robotics , Touch , Equipment Design , Feedback , Reproducibility of ResultsABSTRACT
The better understanding of the systems of the human body and their specific functions has led to minimally invasive and microsurgical procedures being carried out on an ever smaller scale. New therapies will require precision of 10 microm or better, which will only be achievable with robotic teleoperators. Experience with existing robot-assisted surgery systems shows that the human-machine interface is a critical component for acceptance of this technology, but no universally satisfactory interface has yet been found. Therefore, this article investigates a new concept based on kinesthetic motion feedback and presents details of the implementation of a first prototype.
Subject(s)
Microsurgery/methods , Robotics , Therapy, Computer-Assisted/instrumentation , Feedback , Humans , Kinesthesis , Surgical EquipmentABSTRACT
This paper describes a test prototype for precision robot-assisted surgery using a hexapod operating robot and a movable operating cockpit. The objective of the work described is twofold: 1) To evaluate the use of hexapod robots for precisely manipulating endoscopes and surgical instruments in sub-millimeter surgery. 2) To test a new user interface concept based on motion feedback. This paper gives an overview of the system components and the user interface concept, and reports results from initial tests. Finally, the paper investigates potential applications and areas for further development.
Subject(s)
Minimally Invasive Surgical Procedures/instrumentation , Robotics , Therapy, Computer-Assisted , User-Computer Interface , Evaluation Studies as Topic , Feedback , Humans , Neurosurgery/instrumentation , Stereotaxic Techniques/instrumentationABSTRACT
This paper introduces the prototype of the computer program UltraTrainer, which could simplify the education and training of physicians working with medical ultrasound systems. The UltraTrainer replaces probe and patient by a magnetical tracking system and 3D-data from a real examination, which are registered with a phantom. In this way the UltraTrainer makes a simulation of the real ultrasound examination possible, which can be useful for students and physicians. This paper describes the system components and gives an overview of potential applications.
Subject(s)
Computer-Assisted Instruction , Education, Medical , Ultrasonography , Computer Simulation , Humans , Image Processing, Computer-Assisted , Software , User-Computer InterfaceABSTRACT
The effects of cocaine on pulsatile secretion of adrenocorticotropic hormone (ACTH) in men were studied under controlled clinical research ward conditions. Eight men with a Diagnostic and Statistical Manual of the American Psychiatric Association Version III, revised, diagnosis of concurrent cocaine and opioid dependence provided their informed consent for participation in this study. After an overnight fast, a challenge dose of cocaine (30 mg i.v.) or placebo was administered under single-blind conditions in a randomized order on 2 study days. Blood samples were collected at 2-min intervals for 76 min during base line and for an additional 76 min after i.v. administration of the challenge dose. Peak plasma cocaine levels of 313.8 +/- 46.5 ng/ml were detected within 2 min after cocaine administration. The cluster analysis program originally described by Veldhuis and Johnson (1986) was used to characterize ACTH pulsatile secretion (Iranmanesh et al., 1990). Acute cocaine administration (30 mg i.v.) significantly increased ACTH mean peak amplitude (P < .05), mean percent increase in peak amplitude, (P < .05), mean peak area (P < .04), total peak area (P < .04) and incremental peak height (P < .04). Mean ACTH valley levels (P < .02) and mean valley nadir (P < .02) were also significantly increased after cocaine administration. We postulate that cocaine stimulates the release of corticotropin releasing factor and that the cocaine-induced secretion of corticotropin releasing factor increases the amplitude of ACTH pulses, because ACTH pulse frequency was not altered by cocaine.
Subject(s)
Adrenocorticotropic Hormone/metabolism , Cocaine/pharmacology , Pulsatile Flow/drug effects , Adult , Cocaine/blood , Humans , Male , Middle Aged , Placebos , Single-Blind Method , Substance-Related Disorders/metabolismABSTRACT
This study measures the effect of personality disorders on the efficacy of treatment of agoraphobia. Forty-one patients suffering from panic disorder with agoraphobia are evaluated for the presence of a personality disorder (according to DSM-III-R criteria) before the onset of treatment. The treatment consists in 14 sessions of behavioural cognitive therapy. Various measures of agoraphobic avoidance are obtained before (pre-test) and after the end of treatment (post-test, three month follow-up). Effect of treatment reaches statistical and clinical significance for all patients. Grouping of patients according to presence or absence of personality disorder shows no significant difference between the groups before or after treatment on scores of agoraphobia. A subgroup of patients with dependent personality disorder does not differ on measures of agoraphobic avoidance from patients without personality disorders or with other personality disorders. The discussion points out methodological limitations, differences in our study from other studies regarding the effect of personality on the treatment outcome of panic disorder with agoraphobia, as well as possibilities for future studies.
