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

{"title":"A Respiratory Signal Monitoring Method Based on Dual-Pathway Deep Learning Networks in Image-Guided Robotic-Assisted Intervention System","authors":"Xiaodong Wang,&nbsp;Jianjun Zhu,&nbsp;Yong Wang,&nbsp;Cheng Wang,&nbsp;Peng Chen,&nbsp;Pengju Lyu,&nbsp;Jun Xu,&nbsp;Gao-Jun Teng","doi":"10.1002/rcs.70017","DOIUrl":"10.1002/rcs.70017","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Percutaneous puncture procedures, guided by image-guided robotic-assisted intervention (IGRI) systems, are susceptible to disruptions in patients' respiratory rhythm due to factors such as pain and psychological distress.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We developed an IGRI system with a coded structured light camera and a binocular camera. Our system incorporates dual-pathway deep learning networks, combining convolutional long short-term memory (ConvLSTM) and point long short-term memory (PointLSTM) modules for real-time respiratory signal monitoring.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Our in-house dataset experiments demonstrate the superior performance of the proposed network in accuracy, precision, recall and <i>F</i>1 compared to separate use of PointLSTM and ConvLSTM for respiratory pattern classification.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>In our IGRI system, a respiratory signal monitoring module was constructed with a binocular camera and dual-pathway deep learning networks. The integrated respiratory monitoring module provides a basis for the application of respiratory gating technology to IGRI systems and enhances surgical safety by security mechanisms.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883359","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":"Accuracy of the Imageless Mode of the ROSA Robotic System for Targeted Resection Thickness in Total Knee Arthroplasty: A Prospective, Single Surgeon Case-Series Study","authors":"Zakareya Gamie,&nbsp;Eustathios Kenanidis,&nbsp;Georgios Douvlis,&nbsp;Nikolaos Milonakis,&nbsp;Alexander Maslaris,&nbsp;Eleftherios Tsiridis","doi":"10.1002/rcs.70029","DOIUrl":"10.1002/rcs.70029","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>We investigated the accuracy of targeted resection thickness in patients undergoing primary Total Knee Arthroplasty (TKA) using the ROSA robotic system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Calliper measurements of the distal femur (DF), proximal tibia (PT), and posterior condyles (PC) were taken in 44 patients from June 2023 to January 2024.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Planned and actual resection depth difference was 0.67 mm ± 0.6 mm (mean ± SD) (<i>p</i> = 0.217) and 0.94 mm ± 1.15 mm (<i>p</i> = 0.4) for medial and lateral DF, 0.93 mm ± 0.81 mm (<i>p</i> = 0.001) and 0.89 mm ± 0.8 mm (<i>p</i> = 0.008) for medial and lateral PT, and 1.1 mm ± 0.97 mm (<i>p</i> = 0.001) and 1.04 mm ± 0.79 mm (<i>p</i> = 0.001) for medial and lateral PC, respectively.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The ROSA robotic system can achieve a high degree of accuracy for planned resection thickness. Results are valid only for the imageless ROSA TKA in patients with primary knee osteoarthritis.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11666924/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883454","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":"Predictive Capacities of a Machine Learning Decision Tree Model Created to Analyse Feasibility of an Open or Robotic Kidney Transplant","authors":"Alessandro Martinino,&nbsp;Ojus Khanolkar,&nbsp;Erdem Koyuncu,&nbsp;Egor Petrochenkov,&nbsp;Giulia Bencini,&nbsp;Joanna Olazar,&nbsp;Pierpaolo Di Cocco,&nbsp;Jorge Almario-Alvarez,&nbsp;Mario Spaggiari,&nbsp;Enrico Benedetti,&nbsp;Ivo Tzvetanov","doi":"10.1002/rcs.70035","DOIUrl":"10.1002/rcs.70035","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Machine learning has emerged as a potent tool in healthcare. A decision tree model was built to improve the decision-making process when determining the optimal choice between an open or robotic surgical approach for kidney transplant.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>822 patients (OKT) and 169 (RKT) underwent kidney transplantation at our centre during the study period. A decision tree model was built in a two-step process consisting of: (1) Creating the model on the training data and (2) testing the predictive capabilities of the model using the test data.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Our model correctly predicted an OKT in 148 patients out of 161 test cases who received an OKT (accuracy 91%) and predicted an RKT in 19 out of 25 test cases of patients receiving an RKT (accuracy 76%).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Our model represents the inaugural data-driven model that furnishes concrete insights for the discernment between employing robotic and open surgery techniques.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883750","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":"Computer-Guided Navigation System Efficiency Evaluation Using Surgical Instruments for Spinal Fusion","authors":"Evgenii O. Lopukhov,&nbsp;Ilya A. Frolov,&nbsp;Mikhail A. Solovyev,&nbsp;Leonid S. Prokhorenko,&nbsp;Denis. S. Mishchenkov,&nbsp;Daniil D. Klimov,&nbsp;Andrei A. Vorotnikov,&nbsp;Yuri V. Poduraev,&nbsp;Andrei A. Grin,&nbsp;Oleg V. Levchenko","doi":"10.1002/rcs.70033","DOIUrl":"10.1002/rcs.70033","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Navigation surgical systems have been widely used in spinal fusion to ensure accuracy and safety during pedicle screw insertion.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The research was performed under laboratory conditions, using stereotactic navigation, surgical instruments for spinal fusion, development of additional devices and software. During the experiments, all stages of the computed tomography-guided navigation system use were performed—preoperative preparation of patient data and planning to provide visual control of the navigation of surgical instruments during the insertion of screws.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The 20 screws were inserted into the vertebrae of the lumbar spine phantom with an average pedicle width of 12.6 ± 1.29 mm with 100% clinical accuracy. The 30 screws were inserted into cadaveric sheep vertebrae with an average pedicle width of 6.56 ± 0.58 mm with 96.67% efficiency.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed navigation technique of the CT-guided navigation system is highly effective in the navigation process of surgical instruments and pedicle screws during spinal fusion.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883735","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 Spatial Registration Method Based on Point Cloud and Deep Learning for Augmented Reality Neurosurgical Navigation","authors":"Zifeng Liu,&nbsp;Zhiyong Yang,&nbsp;Shan Jiang,&nbsp;Zeyang Zhou","doi":"10.1002/rcs.70030","DOIUrl":"10.1002/rcs.70030","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In order to achieve spatial registration for surgical navigation, a spatial registration method based on point cloud and deep learning is proposed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>Neural networks are used to register medical image point clouds and patient surface point clouds to complete spatial registration of surgical navigation. An image processing method is designed to convert medical images into point clouds, and a structured light robot is used to extract patient surface point clouds.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Coarse registration was conducted through a neural network, followed by fine registration using the ICP algorithm, achieving a rotational registration error (RRE) of 0.961° and a translational registration error (TRE) of 0.118 mm. In phantom experiments, the surface registration error was 0.622 mm, and the target registration error was 0.748 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed spatial registration method based on point cloud and deep learning improves the accuracy and efficiency of neurosurgical navigation.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142883308","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":"Colorectal Robotic-Assisted Surgery in Children. Long-Term Outcomes and Pitfalls","authors":"Carlos Delgado-Miguel,&nbsp;Laura Reparaz,&nbsp;Wright Clarkson,&nbsp;Karina Desai,&nbsp;Juan I. Camps","doi":"10.1002/rcs.70032","DOIUrl":"10.1002/rcs.70032","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Colorectal surgical procedures may benefit from a minimally invasive approach in children, although there are few studies.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective, single-centre observational study was conducted on paediatric patients who underwent colorectal robotic-assisted surgery between 2011 and 2022.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>A total of 50 patients (33 male; 17 female) were included, with a median age of 4.8 years (IQR:2.5–6.3 years). The main indication was robotic Soave pull-through for Hirschsprung's disease in 21 cases. No conversions or intraoperative complications were reported. Operative time varied depending on the procedure, with a median of 183 min (IQR:151–224 min). Median hospital stay was 4 days (IQR:3–5 days). Four postoperative complications were observed, two of them Clavien-Dindo IIIb (one colo-anal partial dehiscence and one anastomotic leak after megasigmoid resection). Regarding long-term follow-up (median 7.6 years; IQR:4.8–10.6 years), 4 patients (8%) required surgical reintervention.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Colorectal robotic-assisted surgery encompasses several procedures with low complication rates and satisfactory long-term outcomes.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142857202","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":"Impact of Obesity on Perioperative Outcomes in Robotic Pancreaticoduodenectomy: A Propensity Score-Matched Study","authors":"Bor-Uei Shyr,&nbsp;Bor-Shiuan Shyr,&nbsp;Shih-Chin Chen,&nbsp;Shin-E Wang,&nbsp;Yi-Ming Shyr","doi":"10.1002/rcs.70034","DOIUrl":"10.1002/rcs.70034","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>The aim of this study is to assess the impact of obesity on the perioperative outcomes in robotic pancreaticoduodenectomy (RPD), rarely documented.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A total of 886 patients undergoing RPD or open pancreaticoduodenectomy (OPD) were enroled. These patients were categorised into the obese RPD, non-obese RPD and obese OPD groups.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Operation time was longer in obese RPD compared with non-obese RPD and obese OPD (median: 9.5 vs. 7.5 and 8.0 h). Blood loss was lower in both RPD groups than in the obese OPD group (median: 200 and 120 vs. 500 c.c.). Surgical mortality and morbidity were comparable between these three groups. Delayed gastric emptying (DGE) occurred less frequently in both RPD groups than obese OPD (7.5% and 4.4% vs. 19.1%).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Obesity does not exert a negative impact on the perioperative outcomes in RPD, except for longer operation times. RPD has emerged as a safe and viable surgical approach for obese patients.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.70034","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142857205","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":"Robotic Versus Open Distal Pancreatectomy: A Propensity Score Matching Analysis","authors":"Lapo Bencini,&nbsp;Luca Moraldi,&nbsp;Elisangela Miceli,&nbsp;Matteo Risaliti,&nbsp;Lorenzo Tofani,&nbsp;Simone Buccianti,&nbsp;Luca Tirloni,&nbsp;Chiara Gatto,&nbsp;Alessio Minuzzo,&nbsp;William Tyler Bianchi,&nbsp;Andrea Coratti,&nbsp;Antonio Taddei,&nbsp;Ilenia Bartolini","doi":"10.1002/rcs.70025","DOIUrl":"10.1002/rcs.70025","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Minimally invasive distal pancreatectomy offers recognised benefits over open surgery. Robotic surgery, with its shorter learning curve and technical advancements, presents a promising alternative to laparoscopy in managing pancreatic diseases.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This study enrolled consecutive patients undergoing distal pancreatectomy between January 2013 and May 2022. After propensity score matching, perioperative and medium-term outcomes were compared between robotic and open procedures.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Among 79 patients analysed, 50 were eligible after matching. Both groups showed similar demographics, with 11% experiencing grade III-IV complications, and one patient died within 90 days after surgery. Robotic surgery exhibited longer operating times but allowed for earlier refeeding, drain removal, canalisation, and shorter hospital stays compared with open surgery. Spleen preservation rates, postoperative pancreatic fistula occurrences and survival were comparable between the groups.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Overall, robotic and open distal pancreatectomy demonstrated similar outcomes, with robotic surgery offering advantages in certain postoperative parameters despite longer operation times.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142848529","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":"State of the Art and Development Trend of Laparoscopic Surgical Robot and Master Manipulator","authors":"Rui Han,&nbsp;Hongqiang Sang,&nbsp;Fen Liu,&nbsp;Fang Huang","doi":"10.1002/rcs.70020","DOIUrl":"10.1002/rcs.70020","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In recent years, laparoscopic surgical robots have rapidly developed. However, most focus on the overall robotic systems, with few summaries on the laparoscopic surgical robots and the master manipulators.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This paper provides a summary and analysis of typical laparoscopic surgical robots, including the strengths and limitations of existing laparoscopic surgical robots. Additionally, the master manipulators are analysed and summarised from four aspects: structural design and optimization, time-varying delays, tremor suppression and force feedback. Further classification and summary are made based on the different methods used in each study.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Laparoscopic surgical robots and the master manipulators still have some limitations. Therefore, the development trends of the laparoscopic surgical robots and the master manipulators are discussed from four aspects: structural materials, remote surgery, intelligence and human–machine interaction.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>With the continuous advancement of technology, laparoscopic surgical robots will play an increasingly important role in the field of surgery.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142824973","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":"SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-Time Hysteresis Compensation Control Algorithm","authors":"Junhyun Park,&nbsp;Seonghyeok Jang,&nbsp;Myeongbo Park,&nbsp;Hyojae Park,&nbsp;Jeonghyeon Yoon,&nbsp;Minho Hwang","doi":"10.1002/rcs.70014","DOIUrl":"10.1002/rcs.70014","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Cable-driven continuum manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>We introduce an extensible CDCM with a semi-active mechanism (SAM) and develop a real-time hysteresis compensation control algorithm using a temporal convolution network (TCN) based on data collected from fiducial markers and RGBD sensing.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>Performance validation shows the proposed controller significantly reduces hysteresis by up to 69.5% in random trajectory tracking test and approximately 26% in the box pointing task.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The SAM mechanism enables access to various lesions without damaging surrounding tissues. The proposed controller with TCN-based compensation effectively predicts hysteresis behaviour and minimises position and joint angle errors in real-time, which has the potential to enhance surgical task performance.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3,"publicationDate":"2024-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142819977","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}