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New approaches to intracerebral hemorrhage management are motivated by its high incidence and 40% mortality rate. Surgery is sometimes attempted to decompress the brain, although patient outcomes are similar regardless of whether surgery occurs. We hypothesize that surgical decompression is not more effective because current open surgical techniques disrupt(More)
Recent advances in registration have extended intrasurgical image guidance from its origins in bone-based procedures to new applications in soft tissues, thus enabling visualization of spatial relationships between surgical instruments and subsurface structures before incisions begin. Preoperative images are generally registered to soft tissues through(More)
Anecdotally, surgeons sometimes observe large errors when using image guidance in endonasal surgery. We hypothesize that one contributing factor is the possibility that operating room personnel might accidentally bump the optically tracked rigid body attached to the patient after registration has been performed. In this paper we explore the registration(More)
The high incidence of intracerebral hemorrhages, together with a 40% mortality rate, provide strong motivation for enhancements in the treatment methods available to physicians. To minimize the disruption to healthy brain tissue associated with gaining access to the surgical site that is imposed by traditional open or endoscopic surgical intervention, we(More)
INTRODUCTION Conventional manual laparoscopic instruments for minimally invasive surgery have limited dexterity within the patient, making procedures challenging. Surgical robotic systems offer enhanced articulation, but at substantial financial costs. This has motivated the development of high-dexterity, low-cost laparoscopic instruments. AREAS COVERED(More)
1 Background With the advent of endoscopic sinus surgery in the late 1980's [1], a completely new surgical field was born. The endoscope, passed through the natural orifice of the nose, allowed for much more precise visualization of the operative field and enabled a new understanding of the function of the sinuses. Today, functional endoscopic sinus surgery(More)
The da Vinci Surgical System offers a natural user interface and wrist articulation, which enable suturing and other complex surgical actions in confined spaces. However, both the one-time cost of the system and the recurring cost of the limited-use instruments remain high. This has motivated the development of several hand-held alternatives-some partially(More)