npj Robotics最新文献

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Development of a single port dual arm robotically steerable endoscope for neurosurgical applications. 神经外科用单端口双臂机器人可操纵内窥镜的研制。

npj Robotics Pub Date : 2025-01-01 Epub Date: 2025-01-08 DOI: 10.1038/s44182-024-00017-w

Ronghuai Qi, Nidhi Malhotra, Timothy A Brumfiel, Kimberly Hoang, Jaydev P Desai

引用次数: 0

A variable stiffness robotically steerable guidewire for endovascular interventions. 一种用于血管内介入治疗的可变刚度机器人导向导丝。

npj Robotics Pub Date : 2025-01-01 Epub Date: 2025-07-10 DOI: 10.1038/s44182-025-00029-0

Timothy A Brumfiel, Revanth Konda, Nidhi Malhotra, Jaydev P Desai

{"title":"A variable stiffness robotically steerable guidewire for endovascular interventions.","authors":"Timothy A Brumfiel, Revanth Konda, Nidhi Malhotra, Jaydev P Desai","doi":"10.1038/s44182-025-00029-0","DOIUrl":"10.1038/s44182-025-00029-0","url":null,"abstract":"Endovascular interventions typically begin with the placement of a guidewire. Guidewire placement is challenging due to tortuous anatomy and the lack of steerability at the guidewire tip. Navigation often requires several guidewires with different stiffnesses to ensure the target is safely reached. This results in longer procedure times, extended radiation exposure to patients, and higher healthcare costs. To address these challenges, we present the design, modeling, and control of a tendon-driven robotically steerable guidewire with controllable stiffness along its proximal segment through a proposed motion control scheme. Models to capture the motion of the guidewire are presented and image feedback is utilized to achieve closed-loop control. The proposed controller exhibited maximum deflection RMSE of 1.82° and 0.70° for the distal and stiffening joints, respectively. The stiffening joint achieved the desired stiffnesses with a maximum RMSE of 1.9 × 10-2 Nm2. Thus, the methods presented in this paper demonstrate the potential to use a single guidewire in a procedure.","PeriodicalId":520370,"journal":{"name":"npj Robotics","volume":"3 1","pages":"21"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12245716/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144629208","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 soft robotic "Add-on" for colonoscopy: increasing safety and comfort through force monitoring. 结肠镜检查的软机器人“附加组件”：通过力监测提高安全性和舒适性。

npj Robotics Pub Date : 2025-01-01 Epub Date: 2025-06-13 DOI: 10.1038/s44182-025-00028-1

Viola Del Bono, Max McCandless, Arincheyan Gerald, Emma Capaldi, Johann Pang, Casper Muter, Mark Baldiswieler, Hiroyuki Aihara, Sheila Russo

{"title":"A soft robotic \"Add-on\" for colonoscopy: increasing safety and comfort through force monitoring.","authors":"Viola Del Bono, Max McCandless, Arincheyan Gerald, Emma Capaldi, Johann Pang, Casper Muter, Mark Baldiswieler, Hiroyuki Aihara, Sheila Russo","doi":"10.1038/s44182-025-00028-1","DOIUrl":"10.1038/s44182-025-00028-1","url":null,"abstract":"Colonoscopy is vital for diagnosing colorectal cancer, but limitations in instrument dexterity and sensor feedback can affect safety and patient comfort. We propose a disposable soft robotic \"add-on\" that attaches to existing endoscopic tools, enhancing safety without requiring custom instruments or workflow changes. The robot features soft optical sensors for 3D shape detection and force monitoring. If excessive force is detected, soft actuators redistribute pressure. A graphical interface provides real-time force data alongside the endoscope camera view. Validation experiments show accurate 3D shape reconstruction (8.51% curvature error, 9.67% orientation error) and force estimation up to 6 N with 3.38% accuracy. In-vitro tests confirm effective force redistribution, while ex-vivo tests on a bovine colon demonstrate smooth integration with minimal impact on the user learning curve. In-vivo swine studies validate safety and feasibility, confirming compatibility with existing tools and minimal disruption to clinical workflows, ensuring an efficient colonoscopy experience.","PeriodicalId":520370,"journal":{"name":"npj Robotics","volume":"3 1","pages":"15"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12165838/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144304330","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