IEEE transactions on medical robotics and bionics最新文献

IEEE Transactions on Medical Robotics and Bionics Publication Information 电气和电子工程师学会《医用机器人与仿生学论文集》（IEEE Transactions on Medical Robotics and Bionics）出版信息

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IEEE transactions on medical robotics and bionics Pub Date : 2024-11-12 DOI: 10.1109/TMRB.2024.3487341

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IEEE Transactions on Medical Robotics and Bionics Society Information 电气和电子工程师学会《医疗机器人与仿生学》学会信息

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-12 DOI: 10.1109/TMRB.2024.3487343

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Guest Editorial Special section on the Hamlyn Symposium 2023—Immersive Tech: The Future of Medicine 特约编辑 Hamlyn 2023 年研讨会--交互式技术特刊：医学的未来

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-12 DOI: 10.1109/TMRB.2024.3484068

Alan Kuntz;Blake Hannaford;Robert J. Webster

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IEEE Transactions on Medical Robotics and Bionics Information for Authors 电气和电子工程师学会《医用机器人与仿生学学报》（IEEE Transactions on Medical Robotics and Bionics）为作者提供的信息

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IEEE transactions on medical robotics and bionics Pub Date : 2024-11-12 DOI: 10.1109/TMRB.2024.3487345

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Embedded Force Sensor for Soft Robots With Deep Transformation Calibration 具有深度变换校准功能的嵌入式软机器人力传感器

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-14 DOI: 10.1109/TMRB.2024.3479878

Navid Masoumi;Andrés C. Ramos;Tannaz Torkaman;Liane S. Feldman;Jake Barralet;Javad Dargahi;Amir Hooshiar

{"title":"Embedded Force Sensor for Soft Robots With Deep Transformation Calibration","authors":"Navid Masoumi;Andrés C. Ramos;Tannaz Torkaman;Liane S. Feldman;Jake Barralet;Javad Dargahi;Amir Hooshiar","doi":"10.1109/TMRB.2024.3479878","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3479878","url":null,"abstract":"A novel soft sensor calibration method is proposed for minimally invasive surgery, based on our developed gelatin-graphite sensor with high compliance and adaptability. This approach uses convolutional deep learning that accounts for a sensor’s non-linear behavior and reduces noise amplification. This technique offers a smaller minimum detectable force than other approaches and is particularly useful in sensitive surgical scenarios. The sensor’s performance is characterized by its fine resolution (\u0000<inline-formula> <tex-math>$leq 1$ </tex-math></inline-formula>\u0000mN) and accurate force estimation, especially for forces below 400 mN of amplitude. The best calibration (Morse) scheme provides high performance, with a Mean Absolute Error of \u0000<inline-formula> <tex-math>$leq 7.9$ </tex-math></inline-formula>\u0000 mN. This work was validated through comparison among other representative studies and offered a path toward future directions for optimizing and implementing soft robotic sensors in minimally invasive surgeries. The application of this sensor can revolutionize surgical procedures and capitalize on the benefits of soft robotics, potentially enhancing precision and reducing trauma in surgeries.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600357","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}

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ENTRI: Enhanced Navigational Toolkit for Robotic Interventions ENTRI：机器人干预增强导航工具包

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-14 DOI: 10.1109/TMRB.2024.3475827

Manish Sahu;Hisashi Ishida;Laura Connolly;Hongyi Fan;Anton Deguet;Peter Kazanzides;Francis X. Creighton;Russell H. Taylor;Adnan Munawar

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Soft Crawling Robot With a Dual-Morphing Origami Configuration 采用双变形折纸结构的软体爬行机器人

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-14 DOI: 10.1109/TMRB.2024.3472858

Xuyang Ren;Yu Huan;Matteo Cianchetti;Shuxin Wang;Paolo Dario;Gastone Ciuti

{"title":"Soft Crawling Robot With a Dual-Morphing Origami Configuration","authors":"Xuyang Ren;Yu Huan;Matteo Cianchetti;Shuxin Wang;Paolo Dario;Gastone Ciuti","doi":"10.1109/TMRB.2024.3472858","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3472858","url":null,"abstract":"Soft crawling robots demonstrated high compliance and effectiveness in performing complex tasks in unstructured and harsh environments. They can navigate inside constrained spaces and provide superior adaptability. This paper presents a soft crawling robot with a modified Yoshimura origami-based central chamber (elongation/contraction actuator) and four electrostatic adhesion feet (anchoring elements). It was designed to perform linear and steering locomotion under specific actuation sequences to avoid obstacles autonomously; it features a height-adjustable ability to squeeze under low gaps. A dual-morphing mechanism, enabling the origami-based chamber to operate with two locomotion modalities, was investigated to provide a simple but effective actuation method. Tests were carried out to validate the dual-morphing mechanism and to characterise the crawling robot’s performance. Experimental tests successfully demonstrated the robot’s capabilities, e.g., locomotion under low gaps (i.e., 20 mm, 66% of the height of the robot), obstacle avoidance, climbing on a sloped surface (i.e., 15 deg), and lifting and carrying objects (i.e., 80 g, ten times its weight).","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600358","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}

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Simulating Surgical Robot Cutting of Thin Deformable Materials Using a Rope Grid Structure 利用绳网结构模拟手术机器人切割薄型可变形材料的过程

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-07 DOI: 10.1109/TMRB.2024.3475509

Mustafa Haiderbhai;Lueder A. Kahrs

{"title":"Simulating Surgical Robot Cutting of Thin Deformable Materials Using a Rope Grid Structure","authors":"Mustafa Haiderbhai;Lueder A. Kahrs","doi":"10.1109/TMRB.2024.3475509","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3475509","url":null,"abstract":"Traditional methods for autonomous cutting in surgical robotics have relied on trajectory-based planning algorithms. These methods fail to compensate for dynamic changes in soft materials such as deformation and topological change. To apply recent advances such as reinforcement learning (RL), a simulation is needed that models the cutting of soft materials. In this work, we develop a surgical robotics simulation environment for cutting deformable meshes with the da Vinci Research Kit (dVRK). Our environment is built using a particle-based physics simulation to simulate a rope grid structure to create realistic physics behavior and visual rendering. Cutting is implemented with the EndoWrist Round Tip Scissors (RTS) through a system of collision checking and callbacks to detect and update cuts. To showcase the deformable mesh cutting simulation, we design a cutting task of cutting along a desired path that can be solved through manual control. The grid structure can be adapted to render different materials, and we highlight how it can be made to resemble deformable tissue or fabric while being stable with no visible artifacts. This environment is a stepping stone towards training autonomous agents for cutting 2D deformable materials and building towards cutting more complex deformable shapes.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600436","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

Model-Based Tracking Control of a Soft Growing Robot for Colonoscopy 基于模型的结肠镜检查软生长机器人跟踪控制

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-04 DOI: 10.1109/TMRB.2024.3474059

Korn Borvorntanajanya;Shen Treratanakulchai;Ferdinando Rodriguez y Rodriguez;Enrico Franco

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A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms 采用双向表面注册算法的新型增强现实辅助骨科手术机器人系统

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-03 DOI: 10.1109/TMRB.2024.3472844

Ang Zhang;Zhe Min;Zhengyan Zhang;Yingying Wang;Max Q.-H. Meng

{"title":"A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms","authors":"Ang Zhang;Zhe Min;Zhengyan Zhang;Yingying Wang;Max Q.-H. Meng","doi":"10.1109/TMRB.2024.3472844","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3472844","url":null,"abstract":"This paper presents a novel augmented reality (AR)-assisted orthopedic surgical robotic system based on Head-Mounted Display (HMD) devices. The proposed system can overlay the preoperative plans over the patient’s anatomy and provide useful guidance for surgeons during interventions, with integrated calibration and registration components. A novel bi-directional generalised point set registration algorithm that utilises robust features is developed to accurately align the pre-operative CT and intra-operative patient spaces, which has been demonstrated to outperform existing registration methods. The efficacy of the system is both qualitatively and quantitatively assessed with an in vitro study representing a total knee arthroplasty (TKA) procedure. The experimental results showed that 1) the system can successfully align the preoperative and intraoperative spaces, with the mean target registration error (TRE) being \u0000<inline-formula> <tex-math>$2.78 ; pm ; 2.51$ </tex-math></inline-formula>\u0000 mm; 2) the models can be properly overlaid to the physical scenarios with the mean AR visualization accuracy being \u0000<inline-formula> <tex-math>$6.97 ; pm ; 1.57$ </tex-math></inline-formula>\u0000 mm.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600397","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