生物医学工程学杂志最新文献_第2页

[Musculoskeletal biomechanical analysis of the three-dimensional gastrocnemius and soleus muscles]. 三维腓肠肌和比目鱼肌的肌肉骨骼生物力学分析。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202509045

Zhihao Tang, Jinghao Xu, Zhongmin Jin, Junyan Li

{"title":"[Musculoskeletal biomechanical analysis of the three-dimensional gastrocnemius and soleus muscles].","authors":"Zhihao Tang, Jinghao Xu, Zhongmin Jin, Junyan Li","doi":"10.7507/1001-5515.202509045","DOIUrl":"https://doi.org/10.7507/1001-5515.202509045","url":null,"abstract":"Musculoskeletal models based on multibody dynamics have been widely applied in human biomechanics research; however, conventional one-dimensional (1D) muscle models are limited in their ability to represent realistic muscle geometry and fiber architecture, resulting in restricted biomechanical predictions. Although three-dimensional (3D) finite element (FE) muscle models can provide more detailed mechanical information, high computational cost limits their application at the whole lower-limb scale. To address these limitations, this study develops a unilateral lower-limb musculoskeletal model with hybrid muscles based on the TLEM2.0 database, in which the soleus-gastrocnemius muscle group was represented using 3D FE models, while the remaining muscles were modeled using 1D Hill-type formulations. By coupling FE analysis with muscle recruitment optimization, muscle activation patterns of the right lower limb during the stance phase of level walking were obtained. Model predictions were validated against in vivo knee joint reaction forces and surface electromyography (sEMG) data. The results demonstrated good agreement between the predicted and experimentally measured knee joint reaction forces, and the predicted force patterns of the medial and lateral gastrocnemius muscles corresponded well with sEMG trends. In addition, the model enabled detailed observation of muscle deformation as well as internal tensile stress and strain distributions in the 3D muscles during gait. This hybrid musculoskeletal modeling framework achieves a balance between computational efficiency and biomechanical fidelity, providing an effective platform for investigating lower-limb muscle biomechanics.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"227-234"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112216/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[Research progress on intelligent brain age prediction methods in diagnosis of Parkinson's disease]. [帕金森病诊断中的智能脑年龄预测方法研究进展]。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202504010

Shuangchang Zheng, Yulei Zhang, Qingyi Zhang, Zezhou Hao, Yanling Yang, Liang Zhou, Xufeng Yao

{"title":"[Research progress on intelligent brain age prediction methods in diagnosis of Parkinson's disease].","authors":"Shuangchang Zheng, Yulei Zhang, Qingyi Zhang, Zezhou Hao, Yanling Yang, Liang Zhou, Xufeng Yao","doi":"10.7507/1001-5515.202504010","DOIUrl":"https://doi.org/10.7507/1001-5515.202504010","url":null,"abstract":"With the increasing aging worldwide, the age-related neurodegenerative diseases are becoming more and more prevalent. Brain age, as a critical biological marker for assessing normal brain aging and indicating disease progression, has been widely applied in the early diagnosis and evaluation of neurodegenerative diseases such as Parkinson's disease (PD). This paper systematically elaborates on three types of methods for PD brain age prediction: statistical methods, traditional Machine learning (ML), and Deep learning (DL), from the perspectives of methodological overview and clinical application of PD brain age predication. For the first aspect, the PD brain age prediction workflow, statistical methods, ML methods, and DL methods are sequentially outlined; in the second aspect, the current clinical application status of the three types of PD brain age prediction methods is introduced. Finally, a summary and outlook are provided. This review not only provides important references for research on PD brain age prediction, but also offers novel approaches for evaluating human brain health, thus holding significant scientific and clinical value.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"421-427"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13123701/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[Discussion on the design approach and results evaluation key points of repeated exposure systemic toxicity tests for absorbable medical devices]. 【可吸收性医疗器械重复暴露全身毒性试验设计方法及结果评价要点探讨】。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202511040

Chunguang Fan, Qingyu Li, Guangyu Sun, Li Hou, Jing Zhang, Chenghu Liu

{"title":"[Discussion on the design approach and results evaluation key points of repeated exposure systemic toxicity tests for absorbable medical devices].","authors":"Chunguang Fan, Qingyu Li, Guangyu Sun, Li Hou, Jing Zhang, Chenghu Liu","doi":"10.7507/1001-5515.202511040","DOIUrl":"https://doi.org/10.7507/1001-5515.202511040","url":null,"abstract":"Compared to non-absorbable medical devices, the design and evaluation of repeated exposure systemic toxicity tests for absorbable medical devices present unique challenges. This article discusses the special considerations for conducting such tests on absorbable medical devices. Based on regulatory documentation, scientific literature and practical experience, and focusing on the degradation and metabolic characteristics of absorbable medical devices, the analysis summarizes personalized test design strategies from key aspects such as test duration and data collection points, exposure routes, dose design, sample preparation, and pathological examination. This article proposes the following points: ① the test duration should cover the in vivo degradation and absorption process of the medical device material, with multiple data collection points established according to the product's degradation kinetics to reveal the time-effect relationship of toxic responses; ② the exposure route must closely simulate clinical use, as it directly affects the metabolic pathways and toxicological manifestations of degradation products; ③ dose group design should move beyond the traditional \"limit test\" approach by employing multiple dose groups to uncover potential dose-response relationships; and ④ result evaluation requires appropriate statistical methods to integrate pathological data from different dose groups, determine the relationship between toxic responses and the test samples, and analyze the relevance of toxic responses to clinical applications to guide clinical practice. This article provides a specific and practical reference for the accurate and objective assessment of repeated exposure systemic toxicity risks associated with absorbable medical devices.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"221-226"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112224/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[Electric-field modeling, simulation, and experimental analysis of multi-target temporal interference transcranial alternating current stimulation]. [多靶点时域干扰经颅交流电刺激的电场建模、仿真及实验分析]。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202601056

Tingyu Wang, Chao Cui, Yujia Wei, Xiang Ji, Guizhi Xu

{"title":"[Electric-field modeling, simulation, and experimental analysis of multi-target temporal interference transcranial alternating current stimulation].","authors":"Tingyu Wang, Chao Cui, Yujia Wei, Xiang Ji, Guizhi Xu","doi":"10.7507/1001-5515.202601056","DOIUrl":"https://doi.org/10.7507/1001-5515.202601056","url":null,"abstract":"Temporal interference transcranial alternating current stimulation (TI-tACS) does not readily enable synchronous cross-plane modulation of multiple brain regions in three-dimensional space. To address this challenge, this study proposes a three-dimensional (3D) cross-plane multi-target simultaneous stimulation strategy based on electrode spatial topology. Without increasing the number of electrode groups, the proposed strategy enabled cooperative target formation on multiple planes. Predictable multi-target shifts were achieved by adjusting the current-amplitude ratios across channels. Simulations showed that the strategy stably generated multi-target simultaneous stimulation and exhibited good independent controllability, as evaluated by off-target displacement. A multichannel TI-tACS stimulator was developed and was validated in a saline phantom experiment, where the target formation and shift trends agreed with the simulation results. This work provides an engineering reference for electrode configuration and parameter design for 3D cross-plane multi-target neuromodulation.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"286-292"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112222/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[The application of nanoparticles in the treatment and prevention of pathological scars]. 纳米颗粒在病理性瘢痕治疗和预防中的应用

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202504070

Yixi Huang, Lei Zhao, Zhehu Jin, Aili Cui

{"title":"[The application of nanoparticles in the treatment and prevention of pathological scars].","authors":"Yixi Huang, Lei Zhao, Zhehu Jin, Aili Cui","doi":"10.7507/1001-5515.202504070","DOIUrl":"https://doi.org/10.7507/1001-5515.202504070","url":null,"abstract":"Pathological scars arise from abnormal repair of skin trauma and are associated with pain, pruritus, and cosmetic deformities, severely impairing patients' physical and mental well-being. Current clinical therapeutic strategies, including surgical excision, photodynamic therapy and pharmacotherapy, are associated with inherent limitations. In recent years, nanoparticle-based delivery systems, leveraging their advantages including small size, excellent biocompatibility, and robust targeting capability, have offered novel strategies for the prevention and treatment of pathological scars. These systems can either be used alone as functional components or serve as carriers to enable precise delivery of therapeutic agents to the epidermis or dermis. This article first introduces nanoparticles along with their classification and characteristics, then elaborates on the latest research progress of nanoparticles in the treatment and prevention of pathological scars, covering their single-agent applications and combination therapies. Finally, it discusses the potential application value of nanoparticles in achieving precise prevention and treatment of pathological scars, aiming to provide new insights for clinical translation.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"428-433"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112210/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[Prior knowledge-guided and border-focused segmentation of ischemic stroke lesions]. [先验知识引导和边界聚焦的缺血性脑卒中病灶分割]。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202512008

Wencheng Cui, Zixin Wen, Hong Shao

{"title":"[Prior knowledge-guided and border-focused segmentation of ischemic stroke lesions].","authors":"Wencheng Cui, Zixin Wen, Hong Shao","doi":"10.7507/1001-5515.202512008","DOIUrl":"https://doi.org/10.7507/1001-5515.202512008","url":null,"abstract":"Magnetic resonance imaging plays a crucial role in the diagnosis and management of ischemic stroke. Accurate segmentation of stroke lesions holds significant clinical value in assisting the formulation of individualized interventional treatment plans and objectively assessing patient prognosis. To address the challenges of blurred and irregularly shaped ischemic stroke lesions with random locations, this study proposes a prior knowledge-guided and multi-level edge feature fusion shifted window Transformer-based U-Net with encoder representations (PMSwin UNETR). First, based on the distribution characteristics of stroke lesions, a lesion distribution probability map is generated to guide the segmentation network in focusing on areas prone to lesions. Second, a multi-level edge feature extraction module is employed to enrich edge features. Finally, a soft-clDice loss function is introduced to directly learn lesion boundaries, enhancing edge segmentation accuracy. The effectiveness of PMSwin UNETR was validated using the 2022 Ischemic Stroke Lesion Segmentation Challenge (ISLES2022) dataset, with results showing Dice similarity coefficient (DSC), 95% Hausdorff distance (HD95), and recall rates of 82.43%, 3.768 8, and 82.45%, respectively, outperforming other mainstream segmentation algorithms. This study demonstrates that the proposed PMSwin UNETR model effectively improves ischemic stroke lesion segmentation, providing important references and application value for precise clinical diagnosis and intelligent medical imaging research in stroke.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"362-372"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112223/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[Gait event-driven dynamic changes in brain-muscle networks and neuromuscular coordination mechanisms]. [步态事件驱动的脑肌网络和神经肌肉协调机制的动态变化]。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202412069

Xiaoguang Liu, Aoqi Guo, Tie Liang, Xiuling Liu, Liang Qin

{"title":"[Gait event-driven dynamic changes in brain-muscle networks and neuromuscular coordination mechanisms].","authors":"Xiaoguang Liu, Aoqi Guo, Tie Liang, Xiuling Liu, Liang Qin","doi":"10.7507/1001-5515.202412069","DOIUrl":"https://doi.org/10.7507/1001-5515.202412069","url":null,"abstract":"Walking is a fundamental component of daily human activity, in which orderly execution of key gait events [such as heel strike (HS) and toe-off (TO) ] is essential for maintaining gait coordination and stability. However, the underlying brain-muscle neural coordination mechanisms associated with these events remain unclear. In this study, electroencephalography (EEG) signals from 19 channels and surface electromyography (sEMG) signals from 14 lower-limb muscles were synchronously recorded from 18 healthy participants during steady-state walking at a constant speed of 3.2 km/h. Brain-muscle connectivity networks were constructed using the adaptive directed transfer function (ADTF), and the dynamic connectivity characteristics associated with HS and TO events were quantitatively analyzed. The results showed that brain-muscle connectivity was strongest in the β frequency band. Intra-brain (EEG-EEG), brain-to-muscle (EEG-sEMG), and intra-muscle (sEMG-sEMG) connections were significantly stronger than muscle-to-brain (sEMG-EEG) connections. At both HS and TO events, information exchange between frontal-central cortical regions and the muscles of the supporting leg was markedly enhanced. Furthermore, compared with TO, the brain-muscle network at HS exhibited higher clustering coefficient, global efficiency, and betweenness centrality. These findings suggest that brain-muscle interactions during walking are predominantly mediated in the β band and dynamically modulated by gait events. Accurate characterization of gait event-related brain-muscle connectivity may provide important technical support for clarifying the neuromuscular coordination mechanisms underlying fine gait control.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"267-276"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112238/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[A protein-ligand binding affinity prediction model integrating multi-scale interaction features]. [结合多尺度相互作用特征的蛋白质-配体结合亲和预测模型]。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202507045

Hui Liu, Lixin Yan, Sushan Wang, Jiansheng Peng

{"title":"[A protein-ligand binding affinity prediction model integrating multi-scale interaction features].","authors":"Hui Liu, Lixin Yan, Sushan Wang, Jiansheng Peng","doi":"10.7507/1001-5515.202507045","DOIUrl":"https://doi.org/10.7507/1001-5515.202507045","url":null,"abstract":"Protein-ligand binding affinity prediction is critical for drug development, where rapid and accurate assessment of drug-target binding remains a key challenge. Deep learning-based modeling provides a more efficient and scalable solution compared to traditional experimental approaches. This paper proposes a multi-scale interaction feature fusion model for protein-ligand binding affinity prediction, named the multi-scale binding affinity predictor (MSBind). The MSBind model employed multiple attention mechanisms to extract both global and local interaction features between the protein-ligand complex. By jointly modeling this multi-scale information, it ultimately enhanced the model's predictive performance. Experimental results showed that on the PDBbind v2016 core dataset, the root mean square error of MSBind was only 1.23, which was significantly lower than the baselines, demonstrating superior predictive accuracy. Furthermore, dimensionality reduction visualization of the extracted interaction features provided additional validation of the interpretability and effectiveness of MSBind. In summary, by integrating multi-scale interaction features, MSBind provides a high-performance solution for protein-ligand binding affinity prediction.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"337-343"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112214/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[Biomechanical study on the combined effects of femoral component rotational malalignment and osteoporosis in unicompartmental knee arthroplasty]. [单室膝关节置换术中股骨假体旋转错位与骨质疏松联合效应的生物力学研究]。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202601021

Taoyong Zhou, Pai Liu, Ning Lu, Zhihang Sun, Jiaxin Tian, Caijia Diao

{"title":"[Biomechanical study on the combined effects of femoral component rotational malalignment and osteoporosis in unicompartmental knee arthroplasty].","authors":"Taoyong Zhou, Pai Liu, Ning Lu, Zhihang Sun, Jiaxin Tian, Caijia Diao","doi":"10.7507/1001-5515.202601021","DOIUrl":"https://doi.org/10.7507/1001-5515.202601021","url":null,"abstract":"Mobile-bearing unicompartmental knee arthroplasty (UKA) is prone to rotational malalignment of the femoral component. Moreover, existing biomechanical studies frequently overlook the mechanical impact of patients' bone quality on such surgical errors. To investigate the coupling effect of femoral component transverse rotation and bone quality on the biomechanical environment, a finite element model incorporating intact soft tissues was constructed. Based on bone mineral density variations, three models were established: normal bone (B1), osteopenia (B2), and osteoporosis (B3). Nine rotational conditions ranging from -14° to 14° in the transverse plane were simulated. Quantitative analysis revealed that external rotation significantly elevated the contact pressure on the polyethylene liner. Conversely, internal rotation (-14°) increased the lateral meniscus stress by approximately 16.8% compared to the neutral alignment (0°) via a \"linkage mechanism\". Group B3 exhibited a pseudo \"cushion effect\", wherein the peak strain of the tibial cancellous bone reached 5 883.9 µε, exceeding the pathological threshold of 4 000 µε; additionally, compared with Group B1, their average strain in the cortical bone increased by approximately 79.7%. In conclusion, transverse rotational malalignment of the femoral component serves as a direct mechanical trigger disrupting the biomechanical balance in UKA, and osteoporosis significantly amplifies this risk of failure. Therefore, for patients with compromised bone mass, strict neutral alignment must be pursued intraoperatively to circumvent cancellous bone microfractures and early prosthesis subsidence.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"242-249"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112218/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

[Collaborative motion control method for dual-arm surgical robots based on hybrid multi-stage optimization]. [基于混合多级优化的双臂手术机器人协同运动控制方法]。

生物医学工程学杂志 Pub Date : 2026-04-25 DOI: 10.7507/1001-5515.202601065

Baitao Lin, Kang Li

{"title":"[Collaborative motion control method for dual-arm surgical robots based on hybrid multi-stage optimization].","authors":"Baitao Lin, Kang Li","doi":"10.7507/1001-5515.202601065","DOIUrl":"https://doi.org/10.7507/1001-5515.202601065","url":null,"abstract":"In minimally invasive surgery, surgical instruments must enter the human body through channels with diameters of only a few millimeters to perform collaborative operations in narrow, unstructured spaces with uncertain morphologies. This presents challenges for real-time safe collaborative control due to the high risk of collisions and the high redundancy of the system. To address these challenges, a cooperative motion control method based on hybrid multi-stage optimization for ultra-minimally invasive dual-arm continuum surgical robots is proposed. First, the continuum manipulators and the environment were geometrically characterized by parametric spatial curves and voxel grid downsampling, respectively, to establish a collision detection model. Second, the Hybrid Multi-Stage Optimization with Dynamic Weight Adaptation (HMSO-DWA) algorithm was proposed. A dynamic weight objective function, based on minimum distance, was designed with a view to achieving an adaptive balance between the priorities of obstacle avoidance and task tracking. Additionally, an active safety intervention mechanism was introduced to execute strong avoidance while retaining weak target guidance under extreme risks. Simulation results showed that the collaborative task success rate reached 98.7% under dynamic obstacle interference, and the minimum inter-arm distance was maintained above 3.28 mm. Prototype experiments indicated that the tracking errors of the two arms were (0.444 ± 0.326) mm and (0.418 ± 0.273) mm, respectively. The proposed method effectively achieves safe collaborative control and trajectory tracking in constrained environments.","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"43 2","pages":"328-336"},"PeriodicalIF":0.0,"publicationDate":"2026-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13112233/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147784393","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0