Evidence map›Paper›PMID 30128951›Full record

ArticleInternational journal of computer assisted radiology and surgery2018

Real-time microrobot posture recognition via biplane X-ray imaging system for external electromagnetic actuation.

Phu Bao Nguyen, Byungjeon Kang, D M Bappy, Eunpyo Choi, Sukho Park, Seong Young Ko, Jong-Oh Park, Chang-Sei Kim

Abstract read
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In one paragraph

Article in International journal of computer assisted radiology and surgery, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.

0numbers the graph read from it
0cells of the map it votes in
11citing papers in PubMed
2.0field-weighted citation impact, top 14% of its field
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

11 citing papers in PubMed, 31 citations in OpenAlex.

  1. Biorobotic Drug Delivery for Biomedical Applications.Molecules (Basel, Switzerland) · 2024
    Review
  2. Article
  3. Review
  4. Medical Imaging Technology for Micro/Nanorobots.Nanomaterials (Basel, Switzerland) · 2023
    Review
  5. Medical micro- and nanomotors in the body.Acta pharmaceutica Sinica. B · 2023
    Review
  6. Article
  7. Review
  8. Review
  9. Medical Micro/Nanorobots in Precision Medicine.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2020
    Review
  10. Article
  11. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

8 authors at 2 institutions in 1 country.

Phu Bao NguyenSchool of Mechanical Engineering, Chonnam National University, Gwangju, 61186, South Korea.
Byungjeon KangMedical Microrobot Center, Robot Research Initiative, Chonnam National University, Gwangju, 61186, South Korea.
D M BappyMedical Microrobot Center, Robot Research Initiative, Chonnam National University, Gwangju, 61186, South Korea.
Eunpyo ChoiSchool of Mechanical Engineering, Chonnam National University, Gwangju, 61186, South Korea.
Sukho ParkDepartment of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, 42988, South Korea.
Seong Young KoSchool of Mechanical Engineering, Chonnam National University, Gwangju, 61186, South Korea.
Jong-Oh ParkSchool of Mechanical Engineering, Chonnam National University, Gwangju, 61186, South Korea. jop@jnu.ac.kr.
Chang-Sei KimSchool of Mechanical Engineering, Chonnam National University, Gwangju, 61186, South Korea. ckim@jnu.ac.kr.ORCID http://orcid.org/0000-0003-4532-2006
Chonnam National University · KRDaegu Gyeongbuk Institute of Science and Technology · KR

Funding

Ministry of Education NRF-2016R1D1A1B03933079National Research Foundation of Korea (KR) 2015M3D5A1065682
6 · The paper itself

Abstract

purposeAs a promising intravascular therapeutic approach for autonomous catheterization, especially for thrombosis treatment, a microrobot or robotic catheter driven by an external electromagnetic actuation system has been recently investigated. However, the three-dimensional (3D) real-time position and orientation tracking of the microrobot remains a challenge for precise feedback control in clinical applications owing to the micro-size of the microrobot geometry in vessels, along with bifurcation and vulnerability. Therefore, in this paper, we propose a 3D posture recognition method for the unmanned microrobotic surgery driven by an external electromagnetic actuator system.

methodsWe propose a real-time position and spatial orientation tracking method for a millimeter-sized intravascular object or microrobot using a principal component analysis algorithm and an X-ray reconstruction. The suggested algorithm was implemented to an actual controllable wireless microrobot system composed of a bullet-shaped object, a biplane X-ray imaging device, and an electromagnetic actuation system. Numerical computations and experiments were conducted for the performance verification.

resultsThe experimental results showed a good performance of the implemented system with tracking errors less than 0.4 mm in position and 2° in orientation. The proposed tracking technique accomplished a fast processing time, ~ 0.125 ms/frame, and high-precision recognition of the micro-sized object.

conclusionsSince the suggested method does not require pre-information of the object geometry in the human body for its 3D shape and position recognition, it could be applied to various elliptical shapes of the microrobot system with computation time efficacy and recognition accuracy. Hence, the method can be used for therapeutic millimeter- or micron-sized manipulator recognition in vascular, as well as implanted objects in the human body.

Indexed as

Electromagnetic PhenomenaAlgorithmsCatheterizationHumansImaging, Three-DimensionalMiniaturizationPostureReproducibility of ResultsRoboticsRobotic Surgical ProceduresX-RaysElectromagnetic actuation systemIntravascular microrobotPrincipal component analysisReal-time 3D posture recognitionX-ray reconstruction

Identifiers

PMID30128951
OpenAlexW2888230022

What OpenQuestion holds

Textmetadata
Read underepoch 390

Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.