Design of a robot manipulator and an ultrasound probe holder for medical applications
Bibliographic record
Abstract
Prostate cancer is currently the most frequently diagnosed malignancy among men in North America and the second major cause of death due to cancer after lung cancer. Among the various methods for the treatment of the prostate cancer, the prostate brachytherapy seed implantation has proved to be an effective treatment option. However, the success of the procedure depends heavily on the accuracy of the seed implantations. Several research investigators believe that the disadvantages associated with the current procedure can be eliminated or reduced and the clinical outcome of the procedure can be significantly improved by performing image-guided robot-assisted prostate brachytherapy. The objective of this thesis is to incorporate minimally invasive robotic technology for the direct permanent implantation of brachytherapy seeds into prostate tumors. This thesis describes the design and development of a robotic arm for holding different kinds of surgical tools or micro robots and an ultrasound probe holder for use in robot-assisted prostate brachytherapy procedures. The robot's sophisticated joint architecture provides increased dexterity which enables the robot to perform with improved maneuverability in the limited and constrained workspaces of operating rooms. Moreover, the ultrasound probe holder comprised not only a stabilizer for the probe, but also a tracker to provide the probe's position and orientation. Manipulation protocols are designed to make operating the robot simple and intuitive whereby the robot can be operated by manual compliant force and autonomous remote control modes. Manipulability analysis supported by a 3D visualization technique show that the robot singularities are outside the usable workspace. Performance evaluation tests show that the robot and the holder can operate with high accuracy. It is anticipated that utilizing the robot and the holder in robot-assisted prostate brachytherapy can significantly improve the clinical outcome of the procedure. Keywords. Robot-assisted therapy, gross-positioning, robot manipulator, ultrasound probe holder, stabilizer, tracker, manipulability analysis, compliant force control, 3D visualization, prostate brachytherapy, minimally-invasive surgery.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".