International Journal of Medical Robotics and Computer Assisted Surgery最新文献_第2页

Robot-Based Minimally Invasive Spherical Osteotomy System Improves the Accuracy and Reproducibility of the Resulting Surface

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-28 DOI: 10.1002/rcs.70051

Ruo-Tao Liu, Qian Tang, Jin-Shan Zhang, Zhi-Chao Hu, Zi-Jun Lin, Zhen Ye, Chao-Zheng Zhou, Yong-Qiang Zheng, Chang-Qing Zhang, Guo-Yan Zheng, Zhen-Zhong Zhu

{"title":"Robot-Based Minimally Invasive Spherical Osteotomy System Improves the Accuracy and Reproducibility of the Resulting Surface","authors":"Ruo-Tao Liu, Qian Tang, Jin-Shan Zhang, Zhi-Chao Hu, Zi-Jun Lin, Zhen Ye, Chao-Zheng Zhou, Yong-Qiang Zheng, Chang-Qing Zhang, Guo-Yan Zheng, Zhen-Zhong Zhu","doi":"10.1002/rcs.70051","DOIUrl":"https://doi.org/10.1002/rcs.70051","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>A minimally invasive spherical osteotomy assistant system (MISOS) based on a multi-axis surgical robot was designed to improve the control and precision of manual spherical osteotomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Based on human sawbone models, the feasibility of MISOS was verified by comparing the osteotomy centre deviation and the section curvature of the acetabulum, femur, and tibia.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Compared with freehand spherical osteotomy, the MISOS system demonstrated superior centre deviation for the acetabulum (1.48 ± 0.93 vs. 11.15 ± 3.97 mm), femur (3.12 ± 0.75 vs. 8.81 ± 3.04 mm), and tibia (1.91 ± 0.84 vs. 7.33 ± 1.53 mm) as well as superior curvature deviation for the acetabulum (1.40 ± 0.08 vs. 3.16 ± 0.56 mm), femur (0.26 ± 0.07 vs. 0.491 ± 0.21 mm), and tibia (0.21 ± 0.02 vs. 0.46 ± 0.18 mm). These results indicate that MISOS can assist surgeons in performing accurate and stable spherical osteotomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The MISOS system demonstrates promise as a precise assistive tool for minimally invasive orthopaedic spherical osteotomy, with potential for broader clinical applications.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513781","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Automated Digital Image Optimisation in Intraoperative 2D and 3D Imaging Using a Mobile C-Arm With Flat-Panel Detector

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-27 DOI: 10.1002/rcs.70053

J. Groh, M. Perl, L. Bräuer, H. Stadthalter

{"title":"Automated Digital Image Optimisation in Intraoperative 2D and 3D Imaging Using a Mobile C-Arm With Flat-Panel Detector","authors":"J. Groh, M. Perl, L. Bräuer, H. Stadthalter","doi":"10.1002/rcs.70053","DOIUrl":"https://doi.org/10.1002/rcs.70053","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Assistance tools for intraoperative 2D and 3D imaging to decrease acquisition effort and to improve assessment of 3D image data were evaluated.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Two automated optimisation procedures were evaluated in a cadaver (Cios Spin, Siemens, Germany): The ScrewScout function for assisted pedicle screw assessment. Then, an algorithm for metal artefact reduction (MAR).</p>\u0000 \u0000 <p>Additionally, a tool for simplified setting of image contrast and brightness was evaluated regarding the result and elapsed time.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The time required without automated assistance was 83s [70–105]. With the computer assistance, this time was significantly lower at 22s [15–32] (<i>p</i> = 0.003). MAR resulted in an improvement in image impression. This improvement became smaller with increasing clinical experience. The time needed for setting of image acquisition parameters was significantly (<i>p</i> = 0.05) lowered from 140s [24–389] to 61s [14–166] using the assistance tool.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Automated assistance tools for image optimisation can provide practical support in the intraoperative setting.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70053","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143497397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","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 First Single-Port Robotic-Assisted Excision of Choledochal Cyst and Hepaticojejunostomy in Children

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-27 DOI: 10.1002/rcs.70054

Eunyoung Jung

{"title":"The First Single-Port Robotic-Assisted Excision of Choledochal Cyst and Hepaticojejunostomy in Children","authors":"Eunyoung Jung","doi":"10.1002/rcs.70054","DOIUrl":"https://doi.org/10.1002/rcs.70054","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Choledochal cysts are congenital anomalies requiring surgical intervention, typical excision and hepaticojejunostomy. The da Vinci single-port (SP) robotic system offers a minimally invasive approach with potential benefits for paediatric patients.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This study describes the SP robotic-assisted resection of choledochal cysts and hepaticojejunostomy in two paediatric patients. Surgical techniques, system description, and procedural outcomes were detailed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Both surgeries were successfully completed with minimal blood loss and no intraoperative complications. Patients transitioned to a soft diet by postoperative day 3 and were discharged by day 6 without complications. Follow-up at 6 months showed normal sonography and laboratory findings.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The da Vinci SP system facilitated precise single-incision surgery with improved manoeuvrability and visualisation, demonstrating safety and feasibility for paediatric choledochal cyst excision and hepaticojejunostomy. Further studies are warranted to confirm these findings across larger paediatric populations.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 2","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143497398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Vision Module for Automatic Tracking on Bedside Intelligent Scope-Holding Surgical Robot System

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-24 DOI: 10.1002/rcs.70046

Tingting Wang, Mingyu Yin, Shunkai Shi, Zerun Yang

{"title":"Vision Module for Automatic Tracking on Bedside Intelligent Scope-Holding Surgical Robot System","authors":"Tingting Wang, Mingyu Yin, Shunkai Shi, Zerun Yang","doi":"10.1002/rcs.70046","DOIUrl":"https://doi.org/10.1002/rcs.70046","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aims to develop an active following technology of the mirror-holding arm of a bedside intelligent surgical robot that enables real-time automatic tracking of surgical instruments.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The semantic segmentation network was adaptively enhanced, and new datasets were collected with surgical clamps as the target, incorporating scenarios commonly encountered during surgical procedures. In addition, the position of the clamp was determined, and the range and mode of motion of the robot arm were set. Based on the above premise, the control rate was designed and verified using an endoscopic surgery simulation platform.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The average time for the collaborative arm to reach the centre of the field of view was 2.51 s, with a variance of 0.32.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The results of this study validate the effectiveness of replacing manual endoscope holding with a robotic arm, which has great potential to facilitate more efficient endoscopic surgical procedures.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143481424","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Preoperative Planning and Experimental Validation for Robot-Assisted Minimally Invasive Surgery Based on a Clinical Evaluation System

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-17 DOI: 10.1002/rcs.70042

Lei Gao, Yuan Xing, Yuan Bian, Jianchang Zhao, Xingchi Liu, Honglei Wang

{"title":"Preoperative Planning and Experimental Validation for Robot-Assisted Minimally Invasive Surgery Based on a Clinical Evaluation System","authors":"Lei Gao, Yuan Xing, Yuan Bian, Jianchang Zhao, Xingchi Liu, Honglei Wang","doi":"10.1002/rcs.70042","DOIUrl":"https://doi.org/10.1002/rcs.70042","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robot-assisted minimally invasive surgery has effectively addressed the challenges faced by traditional minimally invasive surgery. Well-designed preoperative planning is crucial for robot-assisted minimally invasive surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper proposes a preoperative planning method based on a clinical evaluation system. The particle swarm optimisation algorithm and the evaluation indices including accessibility, visibility, operability, and hand-eye coordination are adopted.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The simulation validation and the experimental verification were conducted to compare the pre-operative planning scheme and the clinical scheme, taking the oesophageal hiatal hernia repair as an example. The preoperative planning scheme demonstrated superior accessibility and hand-eye coordination, achieving shorter surgical time and reduced task load.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The proposed preoperative planning method is feasible and effective through simulation and experimentation. This method has potential applications in various surgical robot systems and procedures, which can provide surgical guidance for surgeons in different departments.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143424179","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Efficient Lightweight Multi Head Attention Gannet Convolutional Neural Network Based Mammograms Classification

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-07 DOI: 10.1002/rcs.70043

Ramkumar Muthukrishnan, Ashok Balasubramaniam, Vijaipriya Krishnasamy, Sarath Kumar Ravichandran

{"title":"An Efficient Lightweight Multi Head Attention Gannet Convolutional Neural Network Based Mammograms Classification","authors":"Ramkumar Muthukrishnan, Ashok Balasubramaniam, Vijaipriya Krishnasamy, Sarath Kumar Ravichandran","doi":"10.1002/rcs.70043","DOIUrl":"https://doi.org/10.1002/rcs.70043","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This research aims to use deep learning to create automated systems for better breast cancer detection and categorisation in mammogram images, helping medical professionals overcome challenges such as time consumption, feature extraction issues and limited training models.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This research introduced a Lightweight Multihead attention Gannet Convolutional Neural Network (LMGCNN) to classify mammogram images effectively. It used wiener filtering, unsharp masking, and adaptive histogram equalisation to enhance images and remove noise, followed by Grey-Level Co-occurrence Matrix (GLCM) for feature extraction. Ideal feature selection is done by a self-adaptive quantum equilibrium optimiser with artificial bee colony.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The research assessed on two datasets, CBIS-DDSM and MIAS, achieving impressive accuracy rates of 98.2% and 99.9%, respectively, which highlight the superior performance of the LMGCNN model while accurately detecting breast cancer compared to previous models.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>This method illustrates potential in aiding initial and accurate breast cancer detection, possibly leading to improved patient outcomes.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143362333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Refining COVID-19 Lesion Segmentation in Lung CT Scans Using Swarm Intelligence and Evolutionary Algorithms

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-07 DOI: 10.1002/rcs.70044

Wafa Gtifa, Marwa Fradi, Anis Sakly, Mohsen Machhout

{"title":"Refining COVID-19 Lesion Segmentation in Lung CT Scans Using Swarm Intelligence and Evolutionary Algorithms","authors":"Wafa Gtifa, Marwa Fradi, Anis Sakly, Mohsen Machhout","doi":"10.1002/rcs.70044","DOIUrl":"https://doi.org/10.1002/rcs.70044","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Accurately identifying lung lesions in CT (Computed Tomography) scans remains crucial during the Coronavirus Disease 2019 (COVID-19) pandemic. Swarm intelligence algorithms offer promising tools for this purpose.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This study compares four swarm intelligence algorithms Gravitational Search Algorithm (GSA), Bacterial Foraging Optimization Algorithm (BFOA), Genetic Algorithm (GA), and Particle Swarm Optimization (PSO) for segmenting COVID-19 lung lesions.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>GA, GSA, and BFOA achieved accuracies exceeding 90.5%, while the PSO algorithm further improved segmentation accuracy, reaching 91.45%, with an exceptional F1 score of 95.54%. Overall, the approach achieved up to 99% segmentation accuracy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The findings demonstrate the effectiveness of swarm and evolutionary algorithms in segmenting COVID-19 lesions, contributing to enhanced diagnostic accuracy and treatment efficiency.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143362334","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Network Delay Forecast and Master–Slave Consistency Enhancement for Remote Surgical Robots

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-06 DOI: 10.1002/rcs.70048

Jinhua Li, Chi Zhang, Bo Guan, Haitao Niu, Jianchang Zhao

{"title":"Network Delay Forecast and Master–Slave Consistency Enhancement for Remote Surgical Robots","authors":"Jinhua Li, Chi Zhang, Bo Guan, Haitao Niu, Jianchang Zhao","doi":"10.1002/rcs.70048","DOIUrl":"https://doi.org/10.1002/rcs.70048","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The inevitable network delay can directly impact the process of remote surgeries and affect the master–slave motion consistency, and sudden changes in delay can compromise surgical safety.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Firstly, real-time calibration of unidirectional network delays is performed. Subsequently, the network delay is forecasted with a real-time training parallel recurrent neural network for safety warnings, and the real-time forecast of slave manipulator position is performed to enhanced the master–slave motion consistency. Finally, the forecast accuracy across multiple scales is assessed to provide feedback.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The programme can operate on standard computers at distances of at least 630 km. Our forecast method meets the real-time requirement, demonstrates strong generalisation capabilities and reduces the impact of network delay on master–slave motion consistency to approximately 20%–80% of its original level.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed forecast method enables real-time delay forecast for remote surgeries, reducing the impact of delay on master–slave motion consistency.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143248677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Full Study, Model Verification, and Control of a Five Degrees of Freedom Hybrid Robotic-Assisted System for Neurosurgery

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-04 DOI: 10.1002/rcs.70047

Ahmed Sedky, Nader A. Mansour, Ahmed El-Assal, Mahmoud Magdy

{"title":"Full Study, Model Verification, and Control of a Five Degrees of Freedom Hybrid Robotic-Assisted System for Neurosurgery","authors":"Ahmed Sedky, Nader A. Mansour, Ahmed El-Assal, Mahmoud Magdy","doi":"10.1002/rcs.70047","DOIUrl":"https://doi.org/10.1002/rcs.70047","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Neurosurgery demands high precision, and robotic-assisted systems are increasingly employed to enhance surgical outcomes. This study focuses on a hybrid robotic-assisted system for neurosurgery, addressing forward and inverse kinematics, Jacobian matrices, and system singularities.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The system is simulated using MATLAB/Simscape Multibody to achieve accurate kinematic and dynamic representations. An inverse kinematics framework was developed for generating and validating a circular trajectory at the end-effector tip. Two control strategies are compared: traditional active joint PID control and combined trajectory feedback plus feedforward control.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The combined control strategy significantly improves performance, reducing the maximum absolute error of each output by an average of 46.5% and the mean square error by 50.31% under optimal conditions.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The findings highlight the potential of trajectory feedback and feedforward control to enhance the precision and reliability of robotic-assisted neurosurgical procedures.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143111579","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

LungDepth: Self-Supervised Multi-Frame Monocular Depth Estimation for Bronchoscopy

IF 2.3 3区医学

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-02 DOI: 10.1002/rcs.70050

Jingsheng Xu, Bo Guan, Jianchang Zhao, Bo Yi, Jianmin Li

{"title":"LungDepth: Self-Supervised Multi-Frame Monocular Depth Estimation for Bronchoscopy","authors":"Jingsheng Xu, Bo Guan, Jianchang Zhao, Bo Yi, Jianmin Li","doi":"10.1002/rcs.70050","DOIUrl":"10.1002/rcs.70050","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Bronchoscopy is an essential measure for conducting lung biopsies in clinical practice. It is crucial for advancing the intelligence of bronchoscopy to acquire depth information from bronchoscopic image sequences.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A self-supervised multi-frame monocular depth estimation approach for bronchoscopy is constructed. Networks are trained by minimising the photometric reprojection error between the target frame and the reconstructed target frame. The adaptive dual attention module and the details emphasis module are introduced to better capture the edge contour and internal details. In addition, the approach is evaluated on a self-made dataset and compared against other established methods.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Experimental results demonstrate that the proposed method outperforms other self-supervised monocular depth estimation approaches in both quantitative measurement and qualitative analysis.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our monocular depth estimation approach for bronchoscopy achieves superior performance in terms of error and accuracy, and passes physical model validations, which can facilitate further research into intelligent bronchoscopic procedures.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143082079","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0