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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)
— 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)
Preoperative image data can facilitate intrasurgical guidance by revealing interior features of opaque tissues, provided image data can be accurately registered to the physical patient. Registration is challenging in organs that are deformable and lack features suitable for use as alignment fiducials (e.g. liver, kidneys, etc.). However, provided(More)
We present a novel robotic approach for the rapid, minimally invasive treatment of Intracerebral Hemorrhage (ICH), in which a hematoma or blood clot arises in the brain parenchyma. We present a custom image-guided robot system that delivers a steerable cannula into the lesion and aspirates it from the inside. The steerable cannula consists of an initial(More)
PURPOSE Organ-level registration is critical to image-guided therapy in soft tissue. This is especially important in organs such as the kidney which can freely move. We have developed a method for registration that combines three-dimensional locations from a holographic conoscope with an endoscopically obtained textured surface. By combining these data(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)
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 purpose of this investigation was to calculate the contact surface area of the long head of the biceps (LHB) in neutral position and abduction. We sought to determine whether the LHB articulates with the humeral head in a consistent pattern comparing articular contact area in neutral position and abduction. Eleven fresh frozen matched cadaveric(More)
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