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4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-07-01 DOI: 10.1515/auto-2023-frontmatter7
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引用次数: 0
Minimally invasive in situ bioprinting using tube-based material transfer 使用管基材料转移的微创原位生物打印
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-07-01 DOI: 10.1515/auto-2023-0060
Y. Tomooka, Dominic Spothelfer, A. Puiggalí-Jou, Céline Tourbier, E. Tankus, F. Thieringer, P. Cattin, G. Rauter, Manuela Eugster
{"title":"Minimally invasive in situ bioprinting using tube-based material transfer","authors":"Y. Tomooka, Dominic Spothelfer, A. Puiggalí-Jou, Céline Tourbier, E. Tankus, F. Thieringer, P. Cattin, G. Rauter, Manuela Eugster","doi":"10.1515/auto-2023-0060","DOIUrl":"https://doi.org/10.1515/auto-2023-0060","url":null,"abstract":"Abstract Minimally invasive in situ bioprinting can potentially enhance the advantages of bioprinting, allowing the surrounding healthy tissue to be maximally preserved. However, the requirements for such a device are manifold and challenging to fulfill. We present an experimental bioprinting platform consisting of an extrusion system based on a tube mounted between an extrusion syringe and a dispensing nozzle. We investigated the influence of material transfer through a tube on the printing outcome. The results showed that it is feasible to form a continuous filament and print 3-dimensional structures using the developed platform.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"562 - 571"},"PeriodicalIF":1.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43956059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of an AI-driven system for neurosurgery with a usability study: a step towards minimal invasive robotics 开发人工智能驱动的神经外科系统，并进行可用性研究:向微创机器人迈出了一步
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-07-01 DOI: 10.1515/auto-2023-0061
Ramy A. Zeineldin, D. Junger, F. Mathis-Ullrich, O. Burgert
{"title":"Development of an AI-driven system for neurosurgery with a usability study: a step towards minimal invasive robotics","authors":"Ramy A. Zeineldin, D. Junger, F. Mathis-Ullrich, O. Burgert","doi":"10.1515/auto-2023-0061","DOIUrl":"https://doi.org/10.1515/auto-2023-0061","url":null,"abstract":"Abstract Recent advances in artificial intelligence have enabled promising applications in neurosurgery that can enhance patient outcomes and minimize risks. This paper presents a novel system that utilizes AI to aid neurosurgeons in precisely identifying and localizing brain tumors. The system was trained on a dataset of brain MRI scans and utilized deep learning algorithms for segmentation and classification. Evaluation of the system on a separate set of brain MRI scans demonstrated an average Dice similarity coefficient of 0.87. The system was also evaluated through a user experience test involving the Department of Neurosurgery at the University Hospital Ulm, with results showing significant improvements in accuracy, efficiency, and reduced cognitive load and stress levels. Additionally, the system has demonstrated adaptability to various surgical scenarios and provides personalized guidance to users. These findings indicate the potential for AI to enhance the quality of neurosurgical interventions and improve patient outcomes. Future work will explore integrating this system with robotic surgical tools for minimally invasive surgeries.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"537 - 546"},"PeriodicalIF":1.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45850464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Continuum robot actuation by a single motor per antagonistic tendon pair: workspace and repeatability analysis 连续机器人驱动由单个电机每拮抗肌腱对:工作空间和可重复性分析
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-07-01 DOI: 10.1515/auto-2023-0066
C. Marzi, Felix Buck, Franziska Mathis-Ullrich
{"title":"Continuum robot actuation by a single motor per antagonistic tendon pair: workspace and repeatability analysis","authors":"C. Marzi, Felix Buck, Franziska Mathis-Ullrich","doi":"10.1515/auto-2023-0066","DOIUrl":"https://doi.org/10.1515/auto-2023-0066","url":null,"abstract":"Abstract Continuum robots for application in medicine are of high interest in recent research. However, as most systems in literature show complex and large actuator units, setting up such a system can be time consuming, costly and results in a bulky system, unsuitable for the spatial requirements given in surgical scenarios. In this work, a compact, efficient continuum robotic system is presented. A pair of two antagonistic tendons is controlled by a single servo motor instead of single tendon actuation. This way, the actuator footprint is maintained at a minimum size and the method results in a simpler setup. The resulting 260 mm long robot with 9.9 mm diameter achieves a repeatability with an error of maximum 1.8 % of its length. In future work, this work serves as a basis for integration of various sensing modalities in continuum robots and evaluation of control algorithms.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"528 - 536"},"PeriodicalIF":1.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41493558","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Qualitative and quantitative assessment of admittance controllers for hand-guiding surgical robots 手导手术机器人导纳控制器的定性和定量评估
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-07-01 DOI: 10.1515/auto-2023-0063
Murali K. Karnam, P. Cattin, G. Rauter, N. Gerig
{"title":"Qualitative and quantitative assessment of admittance controllers for hand-guiding surgical robots","authors":"Murali K. Karnam, P. Cattin, G. Rauter, N. Gerig","doi":"10.1515/auto-2023-0063","DOIUrl":"https://doi.org/10.1515/auto-2023-0063","url":null,"abstract":"Abstract When using redundant medical robots for hand-guiding heavy endoscopic tools, admittance control allows a completely defined tool and robot null space motion control. Although not a novel concept, comparative studies that help to design and implement admittance control are missing. In a user study, we compared four admittance controllers: one zero-torque controller that used measured joint torques and three others differently mapping forces/torques measured at the handle to tool tip velocity. We found that two of the four controllers (Dynamic Mass and Integrated Mass) outperformed the others.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"515 - 527"},"PeriodicalIF":1.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47000743","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Deep learning assisted intraoperative instrument cleaning station for robotic scrub nurse systems 用于机器人擦洗护理系统的深度学习辅助术中器械清洁站
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-07-01 DOI: 10.1515/auto-2023-0062
Lars Wagner, Sven Kolb, Patrick Leuchtenberger, L. Bernhard, A. Jell, D. Wilhelm
{"title":"Deep learning assisted intraoperative instrument cleaning station for robotic scrub nurse systems","authors":"Lars Wagner, Sven Kolb, Patrick Leuchtenberger, L. Bernhard, A. Jell, D. Wilhelm","doi":"10.1515/auto-2023-0062","DOIUrl":"https://doi.org/10.1515/auto-2023-0062","url":null,"abstract":"Abstract Due to the ongoing shortage of qualified surgical assistants and the drive for automation, the deployment of robotic scrub nurses (RSN) is being investigated. As such robotic systems are expected to fulfill all indirect and direct forms of surgical assistance currently provided by human operating room (OR) assistants, they must also be capable of performing intraoperative cleaning of laparoscopic instruments, which are prone to contamination when using electrosurgical techniques during minimally invasive procedures. We present a cleaning station for robotic scrub nurse systems which provides intraoperative cleaning of laparoscopic instruments during minimally invasive procedures. The system uses deep learning to decide autonomously on the need of intraoperative cleaning to preserve instrument functions. We performed configuration and durability tests to determine an optimal set of system parameters and to verify the system performance in an application context. The results of the configuration tests indicate that the use of hard brushes in combination with a sodium chloride cleaning solution and a sequence of 3 s cleaning intervals provides the best cleaning performance with a minimal total cleaning time. The results of the durability tests show that the cleaning function is in principle guaranteed for the duration of a surgical intervention. Our evaluation tests have shown that our deep learning assisted cleaning station for robotic scrub nurse systems is capable of performing autonomous intraoperative cleaning of laparoscopic instruments, providing a further step towards the integration of robotic scrub nurse systems into the OR.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"572 - 579"},"PeriodicalIF":1.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44619854","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Musculoskeletal model-based control strategy of an over-actuated glenohumeral simulator to assess joint biomechanics 基于肌肉骨骼模型的过度驱动肩关节模拟器控制策略评估关节生物力学
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-07-01 DOI: 10.1515/auto-2023-0064
Jeremy Genter, G. Rauter, M. Müller-Gerbl, A. Mündermann, D. Baumgartner
{"title":"Musculoskeletal model-based control strategy of an over-actuated glenohumeral simulator to assess joint biomechanics","authors":"Jeremy Genter, G. Rauter, M. Müller-Gerbl, A. Mündermann, D. Baumgartner","doi":"10.1515/auto-2023-0064","DOIUrl":"https://doi.org/10.1515/auto-2023-0064","url":null,"abstract":"Abstract Determining the acting shoulder and muscle forces in vivo is very complex. In this study, we developed a control strategy for a glenohumeral simulator for ex vivo experiments that can mimic physiological glenohumeral motion and overcome the problem of over-actuation. The system includes ten muscle portions actuated via cables to induce upper arm motion in three degrees of freedom, including scapula rotation. A real-time optimizer was implemented to handle the over-actuation of the glenohumeral joint while ensuring a minimum of muscle tension. The functionality of the real-time optimizer was also used to simulate different extents of rotator cuff tears. Joint reaction forces were consistent with in vivo measurements. These results demonstrate the feasibility and added value of implementing a real-time optimizer for using in vivo data to drive a shoulder simulator.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"505 - 514"},"PeriodicalIF":1.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43024533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Shape-sensing by self-sensing of shape memory alloy instruments for minimal invasive surgery 用于微创手术的形状记忆合金仪器的形状传感
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-07-01 DOI: 10.1515/auto-2023-0058
N. Fischer, Johannes Knapp, Franziska Mathis-Ullrich
{"title":"Shape-sensing by self-sensing of shape memory alloy instruments for minimal invasive surgery","authors":"N. Fischer, Johannes Knapp, Franziska Mathis-Ullrich","doi":"10.1515/auto-2023-0058","DOIUrl":"https://doi.org/10.1515/auto-2023-0058","url":null,"abstract":"Abstract Shape memory alloy-based flexible instruments have potential for enhancing the safety in minimally invasive surgery compared to passive rigid devices. We developed a data-driven polynomial model to estimate deflection of a 2D bending actuator using electrical resistance. The model accurately predicts deflections (mean error <3.6 mm), but force sensing augmentation is required for unknown load cases. The model is specific to the tested actuator geometry, and future research should investigate multiple actuators and explore nonlinear modeling approaches.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"554 - 561"},"PeriodicalIF":1.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43528411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Semi-automatic assessment of lack of control code documentation in automated production systems 自动化生产系统中缺乏控制代码文档的半自动评估
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-06-20 DOI: 10.1515/auto-2022-0146
Q. Dong, Birgit Vogel-Heuser, E. Neumann
{"title":"Semi-automatic assessment of lack of control code documentation in automated production systems","authors":"Q. Dong, Birgit Vogel-Heuser, E. Neumann","doi":"10.1515/auto-2022-0146","DOIUrl":"https://doi.org/10.1515/auto-2022-0146","url":null,"abstract":"Abstract This paper first examines the current state of industrial practice of documentation in automated production systems based on a large-scale survey in machine and plant manufacturing proving that companies still face major challenges in documentation. However, insufficient documentation creates friction since it may increase the risk of malfunction and high costs, and impede system development due to lack of traceability, especially for control software being one of the main functionality carriers. Therefore, secondly, a risk priority indicator RPI4DD is proposed to systematically capture the lack of control code documentation to avoid undesired costs due to inadequate documentation.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"670 - 689"},"PeriodicalIF":1.0,"publicationDate":"2023-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47533212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Cyberangriffe blockierende programmierbare Automatisierungssysteme 系统攻击，瘫痪，可编程自动化系统
IF 1 4区 计算机科学
At-Automatisierungstechnik Pub Date : 2023-06-01 DOI: 10.1515/auto-2023-0067
W. Halang
{"title":"Cyberangriffe blockierende programmierbare Automatisierungssysteme","authors":"W. Halang","doi":"10.1515/auto-2023-0067","DOIUrl":"https://doi.org/10.1515/auto-2023-0067","url":null,"abstract":"Zusammenfassung Fast täglich wird über Hackerangriffe und Datenspionage berichtet – Phänomene, die auch die funktionale Sicherheit rechnergestützter Automatisierungssysteme gefährden. Darüber würden die Erfinder der Digitalrechner, Charles Babbage und Konrad Zuse, nur gelacht haben; denn es war unmöglich, ihre Maschinen von außerhalb zu beeinflussen, und zwar auch dann, wenn sie über Telekommunikationseinrichtungen verfügt hätten. Auch heute könnte mit marktüblicher Technologie das Auftreten aller Sicherheitsprobleme der digitalen Informations- und Kommunikationstechnik in einfacher Weise konstruktiv verhindert werden, d.h. Rechner lassen sich bauen, an denen alle denkbaren Hackerangriffe konstruktionsbedingt abprallen. Weiterhin wird an eine vor über 100 Jahren patentierte Datenverschlüsselungsmethode erinnert, deren Wirkprinzip systematisches Entschlüsseln und Überflutungsangriffe unmöglich macht.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"490 - 496"},"PeriodicalIF":1.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42643244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","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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