International Journal of Medical Robotics and Computer Assisted Surgery最新文献

{"title":"Post-Operative Outcomes and Different Pain Trajectories Between Uniportal Thoracoscopic, Multiport Robot-Assisted and Uniportal Robot-Assisted Major Lung Resection","authors":"Stefano Bongiolatti,&nbsp;Lavinia Gatteschi,&nbsp;Alessandro Gonfiotti,&nbsp;Giovanni Mugnaini,&nbsp;Simone Tombelli,&nbsp;Luca Voltolini","doi":"10.1002/rcs.70212","DOIUrl":"10.1002/rcs.70212","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Objective</h3>\u0000 \u0000 <p>Minimally invasive lung resections are the standard treatment of early stage non-small-cell lung cancer (NSCLC) and robot-assisted surgery has gained popularity. This study aims to compare the postoperative outcomes, pain scores and opioid consumption among three approaches: uniportal thoracoscopic (uVATS), multiport robot-assisted (mRATS) and uniportal robot-assisted (uRATS).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We retrospectively analysed patients undergoing major lung resections for NSCLC via minimally invasive approaches by a single surgeon between 2021 2025.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In the study period, 109 uVATS, 40 mRATS and 19 uRATS surgeries were performed with similar outcomes, except for a longer operative time for uRATS procedures (<i>p</i> &lt; 0.01). Pain scores were comparable, but the percentage of patients requiring morphine and the median total intravenous morphine equivalents were lower in the single-port techniques in comparison with mRATS (<i>p</i> &lt; 0.01 and <i>p</i> = 0.046).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Although post-operative pain was comparable across approaches, the uRATS technique seems associated with reduced opioid and morphine requirements.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148610864","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}

{"title":"Cross-Stream and Cross-Channel Attention Networks for Surgical Skill Classification in Open Surgery From Hand Kinematics","authors":"Constantinos Loukas,&nbsp;Konstantina Prevezanou,&nbsp;Ioannis Seimenis,&nbsp;Stylianos Kykalos,&nbsp;Dimitrios Schizas","doi":"10.1002/rcs.70215","DOIUrl":"10.1002/rcs.70215","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Despite the extensive research on skill assessment in minimally invasive surgery, applications in open surgery (OS) remain limited.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Twenty trainees performed three OS tasks—knot tying (KT), continuous suturing (CS), and interrupted suturing (IS)—yielding 201 trials. Various deep learning models based on LSTM and Transformer were evaluated for binary skill classification using hand kinematics. The proposed architecture integrates cross-stream and cross-channel attention mechanisms to capture inter-hand, intra-hand, and stream-level motion interactions. Agreement with an independent reviewer was also assessed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The inter-hand model achieved the best performance across all tasks and outperformed the reviewer in multiple metrics (e.g., Accuracy: 0.88 vs. 0.86 KT; 0.84 vs. 0.83 CS; 0.81 vs. 0.68 IS). High-skill recognition was better for KT, whereas low-skill recognition was better for the more demanding tasks, CS and IS.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Our study highlights the importance of capturing hand kinematic relationships as key indicators of surgical performance.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13402870/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148594928","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}

{"title":"Hybrid Parallel-Serial Tool Exchange Robot for Ophthalmic Precision Surgery: Mechanical Design","authors":"Yu-Hsiu Lee,&nbsp;Yung-Chen Wu,&nbsp;Yu-An Chen,&nbsp;Ching Chou,&nbsp;Che-An Lin","doi":"10.1002/rcs.70208","DOIUrl":"10.1002/rcs.70208","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robot-assisted ophthalmic surgery requires precise manipulation about a remote centre of motion (RCM). Conventional systems often employ mechanically fixed RCMs, limiting alignment flexibility, motion compensation, and tool exchange capability. This work presents HYPER-OPS, a hybrid parallel-serial ophthalmic robot featuring a software-controlled RCM and tool exchange capability.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A compact six-degree-of-freedom manipulator was developed using a dual-layer five-bar linkage. The system features software-controlled RCM functionality and passive magnetic tool exchange. Kinematic, workspace and structural analyses were performed, followed by experimental validation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The robot achieved the workspace required for ophthalmic procedures while enabling configurable RCM placement. Finite element analysis predicted a maximum deformation of 0.045 mm and a first natural frequency of 56 Hz. Experiments demonstrated RCM position errors below 0.2 mm and tool exchange repeatability of 0.39 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>HYPER-OPS provides a compact platform for ophthalmic surgery with improved flexibility for alignment, motion compensation and workflow automation.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148440424","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}

{"title":"Robotic-Assisted Epiphrenic and Mid-Oesophageal Diverticulectomy: A Tertiary Centre Experience","authors":"Federica Cucè,&nbsp;Giovanni Pallabazzer,&nbsp;Mario Antonio Belluomini,&nbsp;Andrea Gennai,&nbsp;Biagio Solito,&nbsp;Paola Marini,&nbsp;Debora Gianetri,&nbsp;Stefano Santi","doi":"10.1002/rcs.70203","DOIUrl":"10.1002/rcs.70203","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Surgical management of oesophageal pulsion diverticula is advised when symptoms significantly impair quality of life. Robotics can aid in transhiatal dissection in diverticulectomy, but available evidence is limited.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective chart review of all consecutive robotic-assisted oesophageal diverticulectomies with Heller myotomy and Dor fundoplication at a high-volume centre between 2015 and 2024 was conducted. Surgical technique, patient characteristics, and short- and long-term outcomes were recorded. As this was an observational study with anonymised data, ethical approval was waived.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>4/14 patients required abdominal and intrathoracic approaches, and none were converted to open surgery. Trocar-related abdominal wall bleeding required reintervention; mortality was zero. No leaks or strictures were noted; all reported symptom relief, one reflux and two dysphagia recurrences without strictures or recurrences.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Robotic-assisted diverticulectomy performed by experienced surgeons appears feasible and associated with acceptable short-term outcomes. Further prospective studies are needed to confirm long-term safety and efficacy.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70203","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148427140","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}

{"title":"Development of an Artificial Intelligence–Driven Three-Dimensional Reconstruction Model of Renal Vasculature for Surgical Planning in Robot-Assisted Partial Nephrectomy","authors":"Davide Brusa,&nbsp;Riccardo Bertolo,&nbsp;Francesco Ditonno,&nbsp;Greta Pettenuzzo,&nbsp;Lorenzo Pierangelo Treccani,&nbsp;Alessandro Veccia,&nbsp;Filippo Caudana,&nbsp;Francesco Fontana,&nbsp;Maria Angela Cerruto,&nbsp;Alessandro Antonelli","doi":"10.1002/rcs.70207","DOIUrl":"10.1002/rcs.70207","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This single-centre study aimed to implement and internally validate a deep learning pipeline based on a 3D SegResNet architecture for automatic segmentation of renal vascular structures from contrast-enhanced CT images, enabling accurate three-dimensional reconstructions to support surgical planning in robot-assisted partial nephrectomy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Ninety-seven CT scans from patients with renal masses treated between January 2019 and September 2025 were included, with 68 used for training and 29 held out as an independent test set, never seen by the model during training. Imaging data included arterial and portal phases, and manual segmentations served as the ground truth. A 3D SegResNet architecture was implemented with spatial normalisation, isotropic resampling, data augmentation and tailored pre- and post-processing.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The model achieved mean DICE scores of 0.86 for renal arteries and 0.81 for renal veins, with HD95 of 6.4 ± 2.8 mm and ASSD of 0.58 ± 0.22 mm for arteries, and HD95 of 8.7 ± 3.5 mm and ASSD of 0.94 ± 0.41 mm for veins, demonstrating high concordance with manual segmentation and correctly identifying most vascular structures. Performance was lower for distal intraparenchymal branches and in cases with multiple renal arteries or veins.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Overall, this feasibility study supports the technical viability of automated, standardized and cost-effective tools for surgical planning.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70207","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148427107","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}

{"title":"A Hybrid Compliant–Tendon Laparoscopic Instrument for Distal Articulation and Grasping: Design and Experimental Validation","authors":"Prabhat Kumar,&nbsp;Bhallamudi Ravi","doi":"10.1002/rcs.70206","DOIUrl":"10.1002/rcs.70206","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Conventional laparoscopic instruments provide limited dexterity in confined anatomical environments, whereas existing articulated designs rely on complex rigid joints or motorised actuation, increasing mechanical complexity and limiting miniaturisation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A hybrid compliant–tendon laparoscopic instrument was developed to integrate articulated distal motion and active grasping within a 5 mm form factor. The compliant segment was fabricated from super-elastic Nitinol, and grasping was achieved using a tendon–pulley mechanism. The system was evaluated using nonlinear finite element analysis and experimental testing, including digital image correlation and benchtop force measurements.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The mechanism achieved up to 75° articulation with mean model errors below 8%. The grasper produced a maximum force of 13.2 ± 0.47 N and maintained performance across articulation angles. Pull-out tests confirmed stable interaction with soft-tissue analogues.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed design demonstrates a compact, low-complexity approach for combining compliant articulation and tendon-driven grasping within a 5 mm surgical instrument.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70206","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148427173","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}

{"title":"Variable-Curvature Bending Characteristic and Kinematic Model of Cannula Flexible Needle","authors":"He Zhang,&nbsp;Yan-Jiang Zhao,&nbsp;Yong-De Zhang,&nbsp;Lei Wang,&nbsp;Ye-Xin Jin,&nbsp;Yan-Yi Pei","doi":"10.1002/rcs.70205","DOIUrl":"10.1002/rcs.70205","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Compared with the conventional bevel-tip flexible needles, the cannula flexible needle has a superiority in terms of agility. To improve the insertion accuracy of the cannula flexible needle in the soft tissue, the variable-curvature bending characteristics were explored and a kinematic model was developed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper identified the parameters that influence the needle bending using a combination of the dimensional analysis theory and the equivalent stiffness method. Based on this, a kinematic model was established considering the deviation and rebound of the needle shaft. Verification experiments with the different stylet extension lengths for the flexible needle were conducted. Moreover, the single-arc and the double-arc insertion experiments were performed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The results showed that all errors were within 2 mm, which met the accuracy requirements of general clinical surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The rationality and accuracy of the proposed variable-curvature bending characteristic model and the kinematic model are validated by experiments.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148414213","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}

{"title":"Force-Sensing-Integrated Flexible Tool for Precise Lesion Resection in Minimally Invasive Breast Surgery","authors":"Peng Wang,&nbsp;Li Jiang,&nbsp;Yangjunjian Zhou,&nbsp;Ke Shi,&nbsp;Hong Liu","doi":"10.1002/rcs.70202","DOIUrl":"10.1002/rcs.70202","url":null,"abstract":"<div>\u0000 <section>\u0000 <h3> Background</h3>\u0000 <p>Minimally invasive breast surgery often suffers from incomplete lesion removal due to poor ultrasound visualisation.</p>\u0000 </section>\u0000 <section>\u0000 <h3> Methods</h3>\u0000 <p>Given the difference in hardness between lesions and adipose tissue, this study proposes a method to assess tissue boundaries by measuring cutting force. Based on the Intact Lesion Excision System, a breast biopsy tool capable of tissue grasping and cutting, a cutting force detection algorithm was developed. This algorithm establishes a mechanical relationship among DILES deformation, actuation tension, and actual cutting force, and estimates tissue type by measuring cutting resistance.</p>\u0000 </section>\u0000 <section>\u0000 <h3> Results</h3>\u0000 <p>Experimental results show that the tool can detect cutting forces lower than 0.05 N. Force prediction achieved an RMSE of 0.0116 N and an <i>R</i>² of 0.892. In simulated lesion excision, force-sensing guidance improved the complete resection rate from 40% (visual alone) to 90% (visual plus force feedback).</p>\u0000 </section>\u0000 <section>\u0000 <h3> Conclusions</h3>\u0000 <p>This force-sensing approach enhances lesion resection completeness and shows strong potential for clinical application.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148414202","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}

{"title":"A Global Bibliometric and Science-Mapping Analysis of Robotic Organ Transplantation (2002–2025)","authors":"Manal Mohamed Elhassan Taha,&nbsp;Siddig Ibrahim Abdelwahab","doi":"10.1002/rcs.70204","DOIUrl":"10.1002/rcs.70204","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Robotic organ transplantation research remains fragmented and largely kidney-focused, lacking cross-organ synthesis. This study mapped global productivity, thematic evolution, collaboration and intellectual structure through 2025.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A Scopus-based dataset of 475 original English-language articles (2002–2025) was analysed using Bibliometrix/Biblioshiny and VOSviewer, integrating performance, collaboration, Bradford's law, thematic evolution and source co-citation analyses.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The field showed rapid growth (15.94% annual growth rate) with peak productivity in 2025. The United States, Italy, and Japan were leading contributors, whereas Alberto Breda was the most prolific scholar. A 10-journal core accounted for 35.6% of publications. Themes evolved from kidney transplantation and robotic surgery towards broader multiorgan applications, particularly liver and donor surgery, with strong co-citation integration across transplantation, hepatobiliary and robotic surgery domains.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The field has matured into a multiorgan, outcomes-oriented and transdisciplinary robotic transplantation ecosystem.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148400205","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}

{"title":"Compliance Control of a Robotic Breast Ultrasound System Based on Variable Admittance Control","authors":"Yongde Zhang,&nbsp;Dong Guo,&nbsp;Xuequan Huang,&nbsp;Chuang He","doi":"10.1002/rcs.70194","DOIUrl":"10.1002/rcs.70194","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Introduction</h3>\u0000 \u0000 <p>In a robotic breast ultrasound (US) system (RBUS), ensuring patient safety, comfort, and high compliance is critical.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Method</h3>\u0000 \u0000 <p>To improve low system compliance, this study proposes a Variable Admittance Control based on the Critical Damping Ratio (VAC-CDR). This algorithm enhances force control accuracy and compliance by adaptively adjusting damping and stiffness coefficients. Furthermore, a Breast Surface Adaptive Control Strategy (BrS-ACS) is introduced. This strategy adjusts the alignment of the probe with the normal of the breast surface. Meanwhile, the influence of admittance parameters on compliance is experimentally analysed, with an error band used for evaluation.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The simulation and experimental validation demonstrate that the VAC-CDR algorithm achieves excellent compliance, robustness, and a force control precision of 0.4 N, while the BrS-ACS ensures accurate and reliable scanning of the US probe.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>This study contributes to the advancement of automated US image scanning.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"22 4","pages":""},"PeriodicalIF":2.4,"publicationDate":"2026-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148371267","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}