Paul M. Loschak

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Intracardiac echocardiography (ICE) catheters enable high-quality ultrasound imaging within the heart, but their use in guiding procedures is limited due to the difficulty of manually pointing them at structures of interest. This paper presents the design and testing of a catheter steering model for robotic control of commercial ICE catheters. The four(More)
A system for actively changing the stiffness of a long, thin, flexible robotic manipulator has been designed for cardiologists to use in a range of diagnosis and treatment procedures. Low-stiffness manipulators, such as catheters, are ideal for steering through vasculature with low risk of tissue injury. However, such instruments are not well-suited for(More)
We present an instrument tracking and visualization system for intra-cardiac ultrasound catheter guided procedures, enabled through the robotic control of ultrasound catheters. Our system allows for rapid acquisition of 2D ultrasound images and accurate reconstruction and visualization of a 3D volume. The reconstructed volume addresses the limited field of(More)
This paper presents a modified controller and expanded algorithms for automatically positioning cardiac ultrasound imaging catheters within the heart to improve treatment of cardiac arrhythmias such as atrial fibrillation. Presented here are a new method for controlling the position and orientation of a catheter, smoother and more accurate automated(More)
In this paper we present the design, fabrication, and testing of a robot for automatically positioning ultrasound imaging catheters. Our system will point ultrasound (US) catheters to provide real-time imaging of anatomical structures and working instruments during minimally invasive surgeries. Manually navigating US catheters is difficult and requires(More)
1 Background Penetrating the skull to measure intracranial pressure important intervention for diagnosing potential problems following head trauma. Studies show that 1.7 million people suffer from head injury annually in the U.S., totaling $60 billion in costs [1]. 275,000 of those injured annually are hospitalized and 52,000 will eventually die as a injury(More)
Cardiac catheterization with ultrasound (US) imaging catheters provides real time US imaging from within the heart, but manually navigating a four degree of freedom (DOF) imaging catheter is difficult and requires extensive training. Existing work has demonstrated robotic catheter steering in constrained bench top environments. Closed-loop control in an(More)
—A robotic system for automatically steering cardiac imaging catheters enables enhanced visualization of anatomical structures and working instruments during catheter-based procedures. This system is comprised of several components for manipulating imaging catheters, sensing and control, user interface, and image collection and processing. Developments in(More)
Fig. 3: (top) Cross-section of sensorized cannula, (bottom) final sensorized cannula assembly 1 Background Minimally invasive surgical (MIS) techniques, including laparoscopy, are widely known to provide many benefits for patients [1]. More recently, teleoperated surgical devices have provided clinicians the ability to perform MIS procedures with the(More)
A handheld, portable cranial drilling tool for safely creating holes in the skull without damaging brain tissue is presented. Such a device is essential for neurosurgeons and mid-level practitioners treating patients with traumatic brain injury. A typical procedure creates a small hole for inserting sensors to monitor intra-cranial pressure measurements(More)