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Journal of Medical Robotics Research最新文献

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First-Order Position-Based Simulation of Deformable Concentric-Tube Robots Interacting with Tissue 可变形同心管机器人与组织相互作用的一阶位置仿真
Journal of Medical Robotics Research Pub Date : 2025-12-20 DOI: 10.1142/s2424905x26400039
S. J. Tobin, Yufei Wu, Fei Liu, D. Caleb Rucker
{"title":"First-Order Position-Based Simulation of Deformable Concentric-Tube Robots Interacting with Tissue","authors":"S. J. Tobin, Yufei Wu, Fei Liu, D. Caleb Rucker","doi":"10.1142/s2424905x26400039","DOIUrl":"https://doi.org/10.1142/s2424905x26400039","url":null,"abstract":"Soft tissue simulation can play an essential role in the automation of robotic surgery by providing contextual information during surgery and generating datasets for training. Any time tissue deformations are simulated, computational speed, accuracy, and stability are key concerns. State-of-the-art tissue simulation resolves inertial dynamics solutions using position-based computational methods. However, existing methods fail to efficiently resolve steady-state solutions at surgical size scales because of transient inertial dynamics and the small time step required for stability at such size scales. We propose a position-based tissue simulation framework which is based on large-deformation Neo–Hookean elasticity and enables fast resolution to steady-state for efficient simulation. Our method replaces the inertial terms in the model with a virtual viscous damping term. This enables realistic tissue motion while eliminating the transient vibrations that require more computation. It also enables smooth and stable dynamic transitions between disparate static states. Using our method, we develop an interactive simulator capable of stable, real-time tissue manipulation with a deformable concentric tube robot (CTR) model. Stable collision and simulator realism are achieved through the inclusion of local iterations of collision areas and a novel hydrostatic strain energy formulation.","PeriodicalId":508707,"journal":{"name":"Journal of Medical Robotics Research","volume":"11 01n02","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147916399","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Quasi-Static Model Accounting for Friction-Induced Hysteresis in Tendon-Actuated Superelastic Notched Tube Instruments 解释腱动超弹性缺口管仪器中摩擦引起的滞后的准静态模型
Journal of Medical Robotics Research Pub Date : 2024-06-10 DOI: 10.1142/s2424905x2440004x
Wim-Alexander Beckers, G. Borghesan, Emmanuel Vander Poorten
{"title":"A Quasi-Static Model Accounting for Friction-Induced Hysteresis in Tendon-Actuated Superelastic Notched Tube Instruments","authors":"Wim-Alexander Beckers, G. Borghesan, Emmanuel Vander Poorten","doi":"10.1142/s2424905x2440004x","DOIUrl":"https://doi.org/10.1142/s2424905x2440004x","url":null,"abstract":"","PeriodicalId":508707,"journal":{"name":"Journal of Medical Robotics Research","volume":"113 18","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141361189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Training with a Visual-Haptic Simulator for Trocar Insertion 使用视觉-触觉模拟器进行套管插入培训
Journal of Medical Robotics Research Pub Date : 2024-06-10 DOI: 10.1142/s2424905x24400075
Andres Hassun, Kimberly Kho, M. Y. Williams-Brown, A. Majewicz Fey
{"title":"Training with a Visual-Haptic Simulator for Trocar Insertion","authors":"Andres Hassun, Kimberly Kho, M. Y. Williams-Brown, A. Majewicz Fey","doi":"10.1142/s2424905x24400075","DOIUrl":"https://doi.org/10.1142/s2424905x24400075","url":null,"abstract":"","PeriodicalId":508707,"journal":{"name":"Journal of Medical Robotics Research","volume":" 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141363706","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
On Challenges of Monocular Pose Estimation for Endoluminal Navigation 论腔内导航单眼姿态估计的挑战
Journal of Medical Robotics Research Pub Date : 2024-06-10 DOI: 10.1142/s2424905x24400099
Emile Mackute, Ahad Abdalla, Stuart Dickson, Kevin Dhaliwal, Mohsen Khadem
{"title":"On Challenges of Monocular Pose Estimation for Endoluminal Navigation","authors":"Emile Mackute, Ahad Abdalla, Stuart Dickson, Kevin Dhaliwal, Mohsen Khadem","doi":"10.1142/s2424905x24400099","DOIUrl":"https://doi.org/10.1142/s2424905x24400099","url":null,"abstract":"","PeriodicalId":508707,"journal":{"name":"Journal of Medical Robotics Research","volume":" 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141366621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Autonomous Soft-Tissue Needle Steering Using Reinforcement Learning Guided by Human Input 利用人工输入引导的强化学习实现软组织针头自主转向
Journal of Medical Robotics Research Pub Date : 2024-06-10 DOI: 10.1142/s2424905x24400105
Yafei Ou, Mahdi Tavakoli
{"title":"Autonomous Soft-Tissue Needle Steering Using Reinforcement Learning Guided by Human Input","authors":"Yafei Ou, Mahdi Tavakoli","doi":"10.1142/s2424905x24400105","DOIUrl":"https://doi.org/10.1142/s2424905x24400105","url":null,"abstract":"","PeriodicalId":508707,"journal":{"name":"Journal of Medical Robotics Research","volume":" 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141365262","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Head-mounting Surgical Robots for Passive Compensation of Patient Motion 用于患者运动被动补偿的头戴式手术机器人
Journal of Medical Robotics Research Pub Date : 2023-12-30 DOI: 10.1142/s2424905x2350006x
Nicholas R. Posselli, P. S. Wellborn, Paul S. Bernstein, R. J. Webster III, Jake J. Abbott
{"title":"Head-mounting Surgical Robots for Passive Compensation of Patient Motion","authors":"Nicholas R. Posselli, P. S. Wellborn, Paul S. Bernstein, R. J. Webster III, Jake J. Abbott","doi":"10.1142/s2424905x2350006x","DOIUrl":"https://doi.org/10.1142/s2424905x2350006x","url":null,"abstract":"","PeriodicalId":508707,"journal":{"name":"Journal of Medical Robotics Research","volume":" 24","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139139212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Robotic Catheter Ablation: An Evaluation and Prototyping Platform 机器人导管消融：评估和原型平台
Journal of Medical Robotics Research Pub Date : 2023-12-30 DOI: 10.1142/s2424905x23400056
Florian Heemeyer, Q. Boehler, C. Chautems, L. E. Guido Lopez, Miguel Jauregui-Abularach, Jose L. Merino, Bradley J. Nelson
{"title":"Robotic Catheter Ablation: An Evaluation and Prototyping Platform","authors":"Florian Heemeyer, Q. Boehler, C. Chautems, L. E. Guido Lopez, Miguel Jauregui-Abularach, Jose L. Merino, Bradley J. Nelson","doi":"10.1142/s2424905x23400056","DOIUrl":"https://doi.org/10.1142/s2424905x23400056","url":null,"abstract":"","PeriodicalId":508707,"journal":{"name":"Journal of Medical Robotics Research","volume":" 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139140499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Passive Model-based Error Compensation Approach for Bevel Tip Needle Deflection 基于被动模型的斜面针尖偏转误差补偿方法
Journal of Medical Robotics Research Pub Date : 2023-11-15 DOI: 10.1142/s2424905x2340007x
Farid Tavakkolmoghaddam, Gregory S. Fischer
{"title":"A Passive Model-based Error Compensation Approach for Bevel Tip Needle Deflection","authors":"Farid Tavakkolmoghaddam, Gregory S. Fischer","doi":"10.1142/s2424905x2340007x","DOIUrl":"https://doi.org/10.1142/s2424905x2340007x","url":null,"abstract":"","PeriodicalId":508707,"journal":{"name":"Journal of Medical Robotics Research","volume":"IA-19 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139270994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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