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相关概念视频

Drug Delivery: Parenteral Route01:29

Drug Delivery: Parenteral Route

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The parenteral route is a critical method of drug administration. It delivers compounds directly into the systemic circulation and bypasses the gastrointestinal tract. This approach is particularly advantageous for drugs that exhibit poor absorption or instability when administered orally.
There are three primary parenteral routes: intravenous (IV), intramuscular (IM), and subcutaneous (SC). The IV route introduces the drug directly into the bloodstream, ensuring immediate action. The IM route...
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相关实验视频

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Surgical Technique for Spinal Cord Delivery of Therapies: Demonstration of Procedure in Gottingen Minipigs
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基于模拟的灵活针控制与单核FBG反用于脊柱注射.

Yanzhou Wang1, Yangsheng Xu2, Jiarong Kang2

  • 1Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland, USA.

IEEE transactions on medical robotics and bionics
|August 12, 2024
PubMed
概括

这项研究引入了机器人辅助脊柱注射的新框架,可以在没有连续成像的情况下精确控制针头. 该系统重建了针形状,并使用实时模拟和光纤传感器生成控制输入.

关键词:
医疗机器人 医疗机器人运动控制器运动控制器手术机器人 手术机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 医疗器械 医疗器械
  • 生物医学工程 生物医学工程

背景情况:

  • 机器人辅助脊柱注射提供精度,但通常依赖于连续成像.
  • 缺乏成像反对复杂的针方向和控制构成挑战.

研究的目的:

  • 开发用于同时进行针形状重建和控制输入生成机器人辅助脊柱注射的通用框架.
  • 为了实现准确的针引导,而不依赖于连续的成像反.

主要方法:

  • 实时针-组织相互作用模拟生成了系统输入-输出映射.
  • 单核纤维布拉格格 (FBG) 传感器在模拟中提供了局部针形状反.
  • 由于温度而导致的FBG波长变化通过利用光纤排列冗余来减轻.

主要成果:

  • 针对腰部幽灵和ex vivo猪组织的准实验表明,小端误差很低.
  • 在平面上实现了尖端错误,以及和的总尖端错误.

结论:

  • 建议的控制策略和工作流程是独立的,独立于成像指导模式.
  • 这种方法可用于其他需要闭环控制而没有可靠的医学成像的基于针的干预措施.