2023 International Symposium on Medical Robotics (ISMR)最新文献_第5页

Smart Room with AI Capabilities for Efficient and Safe Doctor Checkup in the COVID era 具备人工智能功能的智能房间，在新冠时代实现高效、安全的医生检查

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130225

Luis A. Mateos

{"title":"Smart Room with AI Capabilities for Efficient and Safe Doctor Checkup in the COVID era","authors":"Luis A. Mateos","doi":"10.1109/ISMR57123.2023.10130225","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130225","url":null,"abstract":"This paper presents a novel idea for making the checkup visits to the doctor more efficient and virus safe. In general, a doctor's checkup starts by measuring the height and weight of the patient. These tests do not require the doctor physically there with the patient. Instead, the nurse or in some cases the secretary helps by guiding the patient to the weight and height scales, plus giving indications, while asking questions. The tests can be more elaborated if the visual test is included. Nevertheless, the doctor is still not required in these tests. He is required after the checkup tests, for analyzing the data together with the patient. This paper proposes a design of a smart room for guiding the patient step by step in the checkup stages for height, weight, and vision test. In this setup, the smart room tries to make the patient comfortable while gathering data, similar to a nurse. The ultimate goal of this development is not to change a nurse for an A.I. system. Instead, it is to give the nurse and doctor more time for other more important tasks about the patient, such as administrative or in case of kids, to talk with the parents while the kid is performing the checkup with the smart room.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126749135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Preliminary Theoretical Considerations of a Hand Orthosis Based on a Prestressed, Compliant Structure 基于预应力柔顺结构的手部矫形器的初步理论思考

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130230

Leon Schaeffer, David Herrmann, V. Boehm

引用次数: 0

Adaptive Lower-Limb Prosthetic Control: Towards Personalized Intent Recognition & Context Estimation 自适应下肢假肢控制:迈向个性化意图识别与情境估计

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130251

C. Johnson, J. Cho, Jairo Maldonado-Contreras, S. Chaluvadi, Aaron J. Young

{"title":"Adaptive Lower-Limb Prosthetic Control: Towards Personalized Intent Recognition & Context Estimation","authors":"C. Johnson, J. Cho, Jairo Maldonado-Contreras, S. Chaluvadi, Aaron J. Young","doi":"10.1109/ISMR57123.2023.10130251","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130251","url":null,"abstract":"Historical advancements in lower-limb prostheses have reflected the challenges of diverse anthropomorphic biomechanics, limiting intelligent control systems from being implemented and reflecting true user intent. With recent advancements in machine learning (ML), however, this notion is being challenged. In transfemoral-powered prostheses, time series information has been used to infer context (slope angle and walking speed) and intent (ambulation mode) and scale torque assistance accordingly in real time. In this study, we build off this work by proposing and validating a real-time framework for adaptive walking speed context estimation. Our system makes use of the general similarity in human gait patterns and iterates subject-independent ML models used for prediction towards subject-dependent models by method of batched retrospective labeling and retraining. Offline validation for walking speed estimation has been completed using seven amputee subjects' data, showing an average subject-independent MAE of 0.063 being reduced to 0.043 m/s, a 31.7% improvement. In addition, we discuss and present preliminary results for walking speed estimation and several alternative methods of retrospective labeling.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128123214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Automatic Contact Force-regulated End-effector Using Pneumatic Actuator for Safe Robotic Ultrasound Imaging 使用气动执行器的自动接触力调节末端执行器用于安全机器人超声成像

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130200

Wen-Yi Kuo, Xihan Ma, Dhirajsinh Deshmukh, Haichong K. Zhang

{"title":"Automatic Contact Force-regulated End-effector Using Pneumatic Actuator for Safe Robotic Ultrasound Imaging","authors":"Wen-Yi Kuo, Xihan Ma, Dhirajsinh Deshmukh, Haichong K. Zhang","doi":"10.1109/ISMR57123.2023.10130200","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130200","url":null,"abstract":"Robotic-assisted ultrasound (US) imaging has demonstrated great promise to address issues such as high physical demands and limited scanning reproducibility in traditional freehand US procedures. Yet, using a robot arm to manipulate the US probe brings a fundamental concern about patient safety. This is because an overwhelming force can be easily produced from the robot joint actuation and exerted onto the patient's body when an electrical force-sensing error exists. Therefore, a mechanism that maintains a more compliant contact force, functioning independently from the robot arm, is needed to mitigate this concern. Here, we introduce a robotic US system with a novel automatic contact force-regulated end-effector. A linear pneumatic actuator is embedded in the end-effector to prevent excessive force from being applied to the patient. Such force compliance can be realized without relying on electrical force sensing and robot joint actuation. We tested the proposed system in US imaging tasks under a phantom-based environment. Results show that the contact force has an adjustable range from 4.10 N to 7.53 N, and can be regulated with ± 0.46 N variation using the automatic contact force-regulated end-effector during scanning, which demonstrates potential clinical applicability.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125692794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Open Source MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME): Design and Manufacturing Guidelines* 开源磁流变安全气动径向流入电机和编码器(PRIME):设计和制造指南*

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-04-19 DOI: 10.1109/ISMR57123.2023.10130240

Anthony L. Gunderman, Milad Azizkhani, Saikat Sengupta, K. Cleary, Yue Chen

引用次数: 1

Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study 外置永磁体独立控制两磁性机器人的可行性研究

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2023-03-03 DOI: 10.1109/ISMR57123.2023.10130246

Joshua Davy, Tomas da Veiga, G. Pittiglio, J. Chandler, P. Valdastri

{"title":"Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study","authors":"Joshua Davy, Tomas da Veiga, G. Pittiglio, J. Chandler, P. Valdastri","doi":"10.1109/ISMR57123.2023.10130246","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130246","url":null,"abstract":"The ability to have multiple magnetic robots operate independently in the same workspace would increase the clinical potential of these systems allowing collaborative operation. In this work, we investigate the feasibility of actuating two magnetic robots operating within the same workspace using external permanent magnets. Unlike actuation systems based on pairs of electromagnetic coils, the use of multiple permanent magnets comes with the advantage of a large workspace which better suits the clinical setting. In this work, we present an optimization routine capable of generating the required poses for the external magnets in order to control the position and orientation of two magnetic robots. We show that at a distance of 15cm, minimal coupling between the magnetic robots can be achieved (3.9% crosstalk) each embedded with 5mm diameter, 5mm length NdFeB magnets. At smaller distances, we observe that the ability to independently control the robot torques decreases, but forces can still achieve independent control even with alignment of the robots. We test our developed control system in a simulation of two magnetic robots following pre-planned trajectories in close proximity (60 mm) showing a mean positional error of 8.7 mm and mean angular error of 16.7°.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116239332","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

What Happens When Pneu-Net Soft Robotic Actuators Get Fatigued? 当气动网络软机器人执行器疲劳时会发生什么?

2023 International Symposium on Medical Robotics (ISMR) Pub Date : 2022-12-07 DOI: 10.1109/ISMR57123.2023.10130227

Jacqueline Libby, Aniket A. Somwanshi, Federico Stancati, Gayatri Tyagi, Aadit Patel, Naigam Bhatt, JohnRoss Rizzo, S. F. Atashzar

{"title":"What Happens When Pneu-Net Soft Robotic Actuators Get Fatigued?","authors":"Jacqueline Libby, Aniket A. Somwanshi, Federico Stancati, Gayatri Tyagi, Aadit Patel, Naigam Bhatt, JohnRoss Rizzo, S. F. Atashzar","doi":"10.1109/ISMR57123.2023.10130227","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130227","url":null,"abstract":"Soft actuators have attracted a great deal of interest in the context of rehabilitative and assistive robots for increasing safety and lowering costs as compared to rigid-body robotic systems. During actuation, soft actuators experience high levels of deformation, which can lead to microscale fractures in their elastomeric structure, which fatigues the system over time and eventually leads to macroscale damages and eventually failure. This paper reports finite element modeling (FEM) of pneu-nets at high angles, along with repetitive experimentation at high deformation rates, in order to study the effect and behavior of fatigue in soft robotic actuators, which would result in deviation from the ideal behavior. Comparing the FEM model and experimental data, we show that FEM can model the performance of the actuator before fatigue to a bending angle of 167° with ~96% accuracy. We also show that the FEM model performance will drop to 80% due to fatigue after repetitive high-angle bending. The results of this paper objectively highlight the emergence of fatigue over cyclic activation of the system and the resulting deviation from the computational FEM model. Such behavior can be considered in future controllers to adapt the system with time-variable and non-autonomous response dynamics of soft robots.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125868686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1