Read the inaugural

special issue for FREE!

Aims and Scope

The Journal of Medical Robotics Research invites fundamental scientific and

technological contributions as well as clinical evaluation studies in several

areas, including, but not limited to:

• Robot-assisted Surgery

• Image-guided Interventions

• Rehabilitation Robotics

• Assistive Robotics

• Surgical simulation

• Image-guided Diagnosis and Therapy

• Nano-scale and micro-scale Interventions

• Telesurgery

• Haptics for Medical Robotics

• Smart instrumented tools for surgery

• Surgical Navigation

• Surgical Workflow

• Wearable Rehabilitation Systems

http://www.worldscientific.com/worldscinet/jmrr

Editor-in-Chief: Jaydev P. Desai (University of Maryland)

Journal ofMedical Robotics Research

Medical robotics has been progressively revolutionizing treatment for at least

the past two decades. The Journal of Medical Robotics Research invites

fundamental contributions to all areas of medical robotics including clinical

evaluation studies. The journal is primarily aimed towards bringing the scientific

and technological developments as well as clinical evaluation studies in the

area of medical robotics to a wider robotics and clinical audience.

P r e f e r r e d P u b l i s h e r o f L e a d i n g T h i n k e r s

For a free institutional trial or subscribe to the journal, please contact us at sales@wspc.com

NEW

Michael Waine, Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi TavakoliDOI: 10.1142/S2424905X16400018

Meaghan Bowthorpe, Mahdi TavakoliDOI: 10.1142/S2424905X1640002X

Franklin King, Jagadeesan Jayender, Sharath K. Bhagavatula, Paul B. Shyn, Steve Pieper, Tina Kapur, Andras Lasso, Gabor FichtingerDOI: 10.1142/S2424905X16400031

Read these articles for free at www.worldscientific.com/jmrr

Fig. 2. Example of transverse (left) versus sagittal (right) USimaging. In transverse images, a cross section of the needleperpendicular to its neutral axis is observed. In sagittal images,the needle's neutral axis is observed.

Fig. 3. An image of the needle embedded within biologicaltissue. The needle and extraneous background objects areshown. Underneath, the image processing steps are shown.

Fig. 2. A flowchart of the image processing. Each image isthresholded to create a black and white image. Hough trans-forms are then used to locate the tool shaft and heart tissue inthe first image. The ROIs are set and the tool tip and POIlocations are found. Lines are then fit to the tool shaft and hearttissue in the remaining images, the edge of the heart tissue isfound, the heart tissue ROI is updated, and the tool tip and POIlocations are found.

Fig. 1. Approximate field of view of the Oculus Rift DK2 HMDcompared to usage of a conventional display from 50 cm away.

(a) (b)

Fig. 2. (a) Oculus Rift DK2. (b) DK2 infrared markers.

Fig. 4. View of scene in Unity Editor with six images selectedto be arrayed around a user represented as a camera icon at thecenter of the array.

Fig. 1. The position of the surgical tool tip and the POI on theheart are measured in the ultrasound frame. The position of thesurgical tool tip is measured in the robot frame.

Alexander Squires, Kevin C. Chan, Leon C. Ho, Ian A. Sigal, Ning-Jiun Jan, Zion Tsz Ho TseDOI: 10.1142/S2424905X16400043

Momen Abayazid, Pedro Moreira, Navid Shahriari, Anastasios Zompas, Sarthak MisraDOI: 10.1142/S2424905X16400055

Alexander Squires, John Oshinski, Jason Lamanna, Zion Tsz Ho TseDOI: 10.1142/S2424905X16400067

Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi TavakoliDOI: 10.1142/S2424905X16400079

Read these articles for free at www.worldscientific.com/jmrr

(a)

(b)

Fig. 3. (a) MAPS positioning error. (b) Sample stage velocityunder varying loads.

Fig. 6. Histological images of the tendons illustrating theorientation of the collagen fibers in unloaded (a) and loaded(b). The magic angle effect is more signiffff ficant in the loadedtendon due to a high degree of alignment, whereas in theunloaded tissue the signal is partially canceled out due to theunaligned nature of crimped fibers. (a) corresponds with theUnloaded Tendon rows in Fig. 44(a), while (b) is a tendon underload, as the bottom row in Fig. 444(a).

Neeedle

Virtualtarget

Plannedpath

Case 1

Gelatin phantom

Biological tisssue

(a)

Biological tissuee

Obstacle

Physicaltarget

Case 2

Plannedpath

(b)

phantomBreast p

Case 3

Physicaltarget

Plannedpath

(c)

Fig. 5. Experimental cases. (a) The needle is steered toward a virtual target in a gelatin-based soft tissue phantom (Case 1(a)),chicken breast (Case 1(b)) and sheep liver (Case 1(c)). (b) The needle is steered towards a physical target while avoiding a physicalobstacle in gelatin-based soft tissue phantom (Case 2(a)) and chicken breast (Case 2(a)). (c) The needle is steered towards a physicaltarget while avoiding a physical obstacle in a human breast tissue phantom (Case 3).

(a) SpinoTemplate at þ25� (b) Template grid and fiducials (c) Fiducials in MRI (d) SpinoTemplate on patient

(e) Patient entering scanner (f) Patient in scanner

Fig. 2. (a) The positioning device, including template and support structure. (b) Top view of template, showing full grid of holesand the five wells with fiducial markers. (c) MR image of the fiducial markers. (d) CAD image demonstrating the positioning ofSpinoTemplate above the lumbar spinal cord. (e) Positioning of patient in prone position before entrance into bore. (f) Sufficientclearance within a 60 cm closed-bore scanner.

Fig. 1. A schematic of needle insertion in brachytherapy. Thesurgeon inserts long flexible needles through the patient's peri-neum in order to deliver radioactive seeds within the prostategland.

Fig. 4. A schematic of a bevel-tip needle inserted into a softtissue. V is the insertion velocity, FcF is the tissue cutting forceapplied perpendicular to the beveled tip. Q and P are thetransverse and axial component of FcF , respectively, and arerelated by P ¼ Q tanð�Þ where � is the bevel angle. FsF is theforce distribution used to model tissue reaction forces as theresult of its deformation caused by needle bending.

Editorial Board (Journal of Medical Robotics Research)

Editor-in-ChiefDepartment of Mechanical Engineering University of Maryland College Park, MD, USA jaydev@umd.edu

Managing Editor (Publishing) heyun@wspc.sg

EditorDepartment of Mechanical Engineering and Rehabilitation Medicine Columbia University, USA sunil.agrawal@columbia.edu

EditorCentre for Robotics Research (CoRe) Department of Informatics King's College London The Strand London WC2R 2LS, UK Kaspar.Althoefer@kcl.ac.uk

EditorDepartment of Surgical Sciences University of Torino, Turin, Italy alberto.arezzo@mac.com

EditorSchool of Mechanical, Industrial, and Manufacturing Engineering Oregon State University Corvallis, OR, USA ravi.balasubramanian@oregonstate.edu

EditorDepartment of Mechanical EngineeringUniversity of Hawaii at Manoa, Honolulu, HI, USA peterb@hawaii.edu

EditorDepartment of Urology UT Southwestern Medical Center Dallas, TX, USA jeffrey.cadeddu@utsouthwestern.edu

EditorDepartment of Electronics Information and Bioengineering Politecnico di Milano, Milan, Italy elena.demomi@polimi.it

EditorINSA Centre Val de Loire Laboratoire PRISME, Bourges, France antoine.ferreira@insa-cvl.fr

EditorMechanical Engineering, Robotics Engineering, and Biomedical Engineering WPI Healthcare Delivery Institute (HDI) Worcester Polytechnic Institute Worcester, MA, USA

EditorDepartment of Engineering Università Campus Bio-Medico di Roma Rome, Italy e.guglielmelli@unicampus.it

EditorDepartment of Diagnostic Imaging & Nuclear Medicine University of Maryland School of Medicine Baltimore, MD, USA rgullapalli@umm.edu

EditorBrigham and Women's Hospital and Harvard Medical School, Boston, MA, USA hata@bwh.harvard.edu

EditorDepartment of Mechanical Engineering Johns Hopkins University, Baltimore, MD, USA iordachita@jhu.edu

EditorSurgical Planning Laboratory Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA jayender@bwh.harvard.edu

EditorDepartment of Mechanical Engineering KAIST, Daejeon, South Korea jungkim@kaist.ac.kr

EditorHamlyn Centre Imperial College London, London, UK su-lin.lee@imperial.ac.uk

EditorThe BioRobotics Institute Scuola Superiore Sant'Anna, Pontedera, Italy arianna.menciassi@sssup.it

EditorVanderbilt Initiative in Surgery and Engineering Center Vanderbilt University, Nashville, TN, USA michael.i.miga@vanderbilt.edu

EditorDepartment of Biomechanical Engineering MIRA-Institute for Biomedical Technology and Technical Medicine University of Twente, The Netherlands s.misra@utwente.nl

EditorInstitute of Robotics and Intelligent Systems ETH Zürich, Zurich, Switzerland bnelson@ethz.ch

EditorICube University of Strasbourg Strasbourg, Alsace, France npadoy@unistra.fr

EditorDepartment of Electrical & Computer Engineering Department of Surgery The University of Western Ontario London, Ontario, Canada rvpatel@uwo.ca

EditorDepartments of Neurosurgery, Pathology & Physiology, University of Maryland School of Medicine Baltimore, MD, USA Baltimore VA Medical Center Baltimore, MD, USA msimard@smail.umaryland.edu

EditorJohns Hopkins School of Medicine Johns Hopkins University Baltimore, MD, USA dss@jhu.edu

EditorDepartment of Electrical and Computer Engineering University of Alberta Edmonton, Alberta, Canada mahdi.tavakoli@ualberta.ca

EditorDepartment of Radiology Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA tokuda@bwh.harvard.edu

EditorDepartment of Mechanical Engineering Vanderbilt University Nashville, TN, USA pietro.valdastri@vanderbilt.edu

SP JO 04 16 23 EPrinted in June 2016

Recommend your Library to subscribe JMRR Now!

USA Fax: 1-201-487-9656 Tel: 1-201-487-9655 E-mail: sales@wspc.com

UK Fax: 44 20 7836 2020 Tel: 44 20 7836 0888 E-mail: sales@wspc.co.uk

Singapore Fax: 65 6467 7667 Tel: 65 6466 5775 E-mail: sales@wspc.com.sg