IEEE transactions on medical robotics and bionics最新文献

{"title":"Design and Evaluation of a Compact, MR-Compatible Origami Continuum Robot With Variable Length","authors":"Qiqiang Hu;Jian Tao;Hu Jin;Hangjie Mo;Erbao Dong;Xiaojian Li;Gang Feng;Shiwu Zhang;Dong Sun","doi":"10.1109/TMRB.2026.3699218","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699218","url":null,"abstract":"Continuum robots have recently gained attention for their great value in medical applications. This paper presents a novel design approach for MR-compatible medical continuum robots with the ability to variable length and controllable motion at compact size and light weight. The robot employs a small-scale origami continuum structure with an outside diameter of 15 mm, is driven by three tendon-shape memory alloy (SMA) actuators, and senses the motion of actuators by a thin linear potentiometer (Thinpot). The robot system is lightweight at 76.7 g and compact, with the proximal sensing and actuation module measuring only 34 mm in diameter and 90 mm in length. It is first demonstrated that the Thinpot is insensitive to magnetic disturbance and MR- compatible and can realize accurate feedback control of the large stroke of SMA actuators, even in a real 1.5T MR environment. Further, the bending angle and tip position of the robot can be controlled based on an inverse kinematic model. The robots equipped with different tools will show versatility in biomedical applications, such as endoscopy and needle insertion.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1396-1407"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747786","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}

{"title":"Development of a Fully Decoupled and Overconstrained Serial–Parallel Hybrid Mechanism With RCM for Endonasal Skull Base Surgery","authors":"Feiyang Chen;Minghui Zeng;Jichen Li;Dunfa Long;Zhengbao Yang;Chaoyang Shi","doi":"10.1109/TMRB.2026.3714003","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3714003","url":null,"abstract":"This paper proposes a novel 4-DoF Remote Center of Motion (RCM) mechanism based on a serial-parallel hybrid architecture, denoted as (2-RRRRR-RR)+C. Featuring an overconstrained configuration, the design is specifically engineered to enhance structural stiffness and improve metrological accuracy. The parallel module consists of two orthogonally arranged planar branch chains integrated with a circular-arc branch that effectively suppresses parasitic motion, while the serial end-effector incorporates a specialized decoupled cylindrical gear assembly. This architecture achieves fully decoupled 4-DoF motion, significantly bolstering the safety and reliability of the surgical robot system. A physical prototype was developed and subjected to comprehensive kinematic modeling, Jacobian analysis, and singularity assessments. Furthermore, dimensional optimization based on the Local Transmission Index (LTI) was implemented to maximize motion/force transmission efficiency and workspace volume. Experimental investigations validate an expansive orientational workspace, supporting full 360° axial rotation within a 100° conical envelope, alongside a 100 mm translational range. Metrological evaluations yielded average absolute and repeatable positioning errors of <inline-formula> <tex-math>$58.52~mu $ </tex-math></inline-formula>m and <inline-formula> <tex-math>$25.77~mu $ </tex-math></inline-formula>m, respectively. The average Remote Center of Motion (RCM) deviation and tilt errors were quantified at <inline-formula> <tex-math>$33.34~mu $ </tex-math></inline-formula>m and 0.085°, confirming high-fidelity precision. Finally, simulated nasal cavity-probing tasks demonstrated an average target-point transition time of 71 seconds. These outcomes underscore the potential of the proposed mechanism for robotic endonasal skull base surgery, offering compatibility with relevant surgical instruments and enabling precise manipulation in confined surgical environments.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1161-1173"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148748609","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}

{"title":"Image-Based Backlash Width Identification for Eye-in-Hand Robotized Flexible Endoscopes","authors":"Thibault Poignonec;Philippe Zanne;Nabil Zemiti;Bernard Bayle;Florent Nageotte","doi":"10.1109/TMRB.2026.3712813","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3712813","url":null,"abstract":"Robotic flexible endoscopes allow for more dexterous and ergonomic control than their manual counterparts. However, they are usually actuated by tendon-sheath mechanisms that exhibit backlash-like hysteretic behavior when operated. Various methods have been proposed to perform the model identification of these robots for control purposes, including the compensation of mechanical backlash, but they usually consider that the robotic system is visible to an endoscopic camera, which is not the case in robotic flexible endoscopes. In this paper, we introduce a novel method for automatic <italic>in-situ</i> backlash identification in an eye-in-hand configuration, relying on embedded image measurements only. We propose to track scene landmarks in the image in order to estimate simultaneously their 3D positions and the parameters of the backlash model. The resulting learning problem is solved using a discontinuous extended Kalman filter to cope with the non-smooth model. The proposed approach is studied through simulations and then validated experimentally on a robotized endoscopic platform. The results show that the method allows to estimate non-constant backlash using only the standard embedded endoscopic camera and is thus applicable on-site for most flexible endoscopic robotic systems.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1122-1132"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148748800","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}

{"title":"IEEE Transactions on Medical Robotics and Bionics Information for Authors","authors":"","doi":"10.1109/TMRB.2026.3716578","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3716578","url":null,"abstract":"","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"C4-C4"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11656879","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148748943","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}

{"title":"A Rigid-Flexible Integrated Ankle Dorsiflexion Exoskeleton for Gait Assistance: Design, Control, and Characterization","authors":"Yuqin Xu;Shisheng Zhang;Jinshi Zhang;Yuquan Leng;Chi Zhu;Yang Zhang","doi":"10.1109/TMRB.2026.3712801","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3712801","url":null,"abstract":"The ankle joint is the core hub of human walking and bears the gait load. Its flexibility and stability are crucial to balance walking efficiency, and damage prevention. Insufficient dorsiflexion torque can significantly reduce walking efficiency and stability. Therefore, this paper designs an ankle exoskeleton to assist dorsiflexion motion. Firstly, the system adopts a rigid-flexible integrated structural design, meeting the wearer’s rigid support while reducing the quality of the exoskeleton system and increasing the flexibility to the wearer. Meanwhile, a cable-driven and load alignment transmission structure was designed to improve interaction comfort and data acquisition accuracy. Secondly, a multi-sensor feature-level perception system fused with hidden markov models (HMM) is proposed to accurately identify different gait types. Finally, an impedance control strategy based on force-position feedback is constructed to provide suitable assistive moments for users to walk at different velocities. Four subjects participated in surface electromyography (sEMG) and metabolic cost experiments. Experimental results show that exoskeleton equipment achieves precise assisting ranges, and the Rate of Change with average dorsiflexion sEMG signal and metabolic cost reduction with exoskeleton assistance is 18.52% and 11.49% respectively compared with unwearing conditions.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1242-1253"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148750129","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}

{"title":"Dual-Robot Ultrasound-Guided Drilling System Calibration for Accurate Spine Surgery","authors":"Ayoob Davoodi;Kaat Van Assche;Ruixuan Li;Yuyu Cai;Gianni Borghesan;Emmanuel Vander Poorten","doi":"10.1109/TMRB.2026.3699209","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699209","url":null,"abstract":"Orthopaedic spine surgeries demand millimeter-level precision to avoid complications arising from tool manipulation. While ultrasound (US)-guided robotic systems have emerged in research as radiation-free alternatives, clinical systems still rely on fluoroscopy, which exposes patients and surgical teams to ionising radiation. Existing robotics systems are typically single-robot systems used for guidance in combination with fluoroscopy or CT navigation. Dual-robot systems—dedicating separate robots to imaging and tool manipulation—could enhance efficiency but require accurate and robust calibration. Existing calibration methods, referred to as the <italic>Step-by-Step Calibration</i> approach, primarily rely on external optical trackers or fiducial markers to sequentially estimate individual transformations. These methods are prone to cumulative error propagation and are unsuitable for intraoperative use due to line-of-sight constraints. In this work, we propose a dual-robot spine surgery system featuring a drilling arm and a US arm for scanning the anatomy. A novel markerless calibration pipeline for the dual-robot system is proposed that uses a US probe as an imaging camera to simultaneously estimate the full closed-chain unknown transformation matrices. Our method eliminates the need for external sensors or manual drill tip pose identification by automatically extracting it from 3D US reconstructions. A Lie algebra-based optimisation algorithm ensures global consistency and orthogonality of rotation matrices while estimating the unknown values. Additionally, a fast local recalibration module enables rapid intraoperative tool updates, minimally interrupting the workflow. Experimental validation demonstrates that the proposed framework achieves a median translational error of 0.71 mm and an angular error of 1.14 degree in <italic>in-vitro</i> trials, confirming its clinical potential. This approach advances radiation-free orthopaedic navigation by providing a practical, accurate, and fast calibration solution compatible with surgical constraints.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1072-1085"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148748558","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}

{"title":"Correlation Mechanism of Cranial Bone Mechanical Characteristics and CT Imaging Features in Robot-Assisted Craniotomy","authors":"Zhenzhong Liu;Xiran Hu;Yunqi Zhang;Shuai Li;Guobin Zhang","doi":"10.1109/TMRB.2026.3699230","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699230","url":null,"abstract":"In robot-assisted neurosurgical craniotomy, cranial drilling serves as a core step in establishing precise surgical access. However, the limited surgical field restricts direct observation of the drill-bone interface interaction dynamics. Existing systems lack the capability to predict mechanical responses based on preoperative imaging, which constrains the implementation of intelligent adaptive robotic drilling. In this paper, we developed a craniotomy robotic platform integrating a six-axis force/torque sensor and an optical navigation system. Aiming at the cranial drilling scenario in craniotomy surgery, through 1006 drilling experiments at multiple sites on 74 ex vivo animal skulls, we systematically investigated the quantitative mapping relationship between CT HU values and drilling forces/torques. A predictive model based on quadratic polynomial regression was established, achieving <inline-formula> <tex-math>$mathrm {R^{2}=0.852}$ </tex-math></inline-formula> for the drilling force model and <inline-formula> <tex-math>$mathrm {R^{2} = 0.816}$ </tex-math></inline-formula> for the torque model, significantly outperforming both linear and power-law models. Cross-species validation experiments demonstrated robust generalization performance of the model across bovine and ovine skulls, with prediction errors below 6% in high-density regions. This study realized mechanical sample generalization verification at multiple anatomical sites of the skull for craniotomy drilling, providing experimental evidence and methodological support for preoperative mechanical prediction and adaptive force control of craniotomy surgical robots, and can improve the safety and intelligence level of surgery.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1025-1035"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148748795","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}

{"title":"A Hybrid Magnetic Actuation Strategy for Lung End Bronchus Examination and Treatment of Submillimeter Multifunctional Fiberscopic Robot","authors":"Tieshan Zhang;Yifeng Tang;Gen Li;Hao Ren;Wanfeng Shang;Yajing Shen","doi":"10.1109/TMRB.2026.3712795","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3712795","url":null,"abstract":"Lung diseases cause one of the world’s biggest health concerns. Although varied types of approaches and devices have been developed to achieve diagnosis and treatment goals, it remains a big challenge for examining the lung end bronchial diseases due to the complex physiological structure of this region. Herein, we report a hybrid magnetic actuation strategy for accomplishing simultaneous examination and treatment functions for the lung end bronchus with a submillimeter multifunctional fiberscopic robot. Firstly, the principle of the proposed strategy and the development of the submillimeter multifunctional fiberscopic robot are introduced. Further, the model of the proposed hybrid magnetic actuation strategy with a fiberscopic robot is established. Next, both the high-precision performance of endoscopic imaging (error of about <inline-formula> <tex-math>$2~mu $ </tex-math></inline-formula>m) and magnetic actuation (maximum standard error of about <inline-formula> <tex-math>$13.5~mu $ </tex-math></inline-formula>m) have been investigated. After that, with the established submillimeter fiberscopic robotic system, an interventional demonstration inside a printed bronchial tree phantom is carried out and multiple functions, including scanning imaging, liquid delivery, and laser ablation, have been performed at the end bronchial region. This research paves an effective solution for the interventional control of miniature continnum robots, shining new light on early diagnosis and treatment of more hard-to-reach diseases in the human body.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"958-969"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747092","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}

{"title":"Design, Modeling, and Force-Field Control of a Novel Cable-Driven Robot for Neck Rehabilitation","authors":"Muhammad Shoaib;Ehsan Asadi;Joono Cheong;Alireza Bab-Hadiashar","doi":"10.1109/TMRB.2026.3699182","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699182","url":null,"abstract":"Dropped Head Syndrome (DHS) presents significant challenges for patients in lifting or moving their heads. Physiotherapy can play a crucial role in maximizing patients’ neck function and mitigating symptom progression. This work focuses on the design, modeling, and control of a cable-driven robot for neck rehabilitation. The proposed mechanism is novel in how it employs cable-driven power transmission and multiple on-link joints for neck therapy to control and train the natural range of head-neck motions. Additionally, force-field control for an assist-as-needed robotic strategy is designed to prioritize human neck comfort and safety, as well as adaptable trajectory tracking for therapeutic neck exercises. Mathematical models, closed-chain kinematics, and Jacobian matrices are presented for both the robot-in-charge and the patient-in-charge. Feasible cable tensions are determined by solving a linear programming problem that accounts for the robot’s cable structure matrix and wrench-closure workspace. The robot prototype and control system are showcased, with initial experiments on healthy subjects confirming the device’s ability to cover the complete range of head-neck motions. Subsequent experiments with a humanoid neck demonstrate the robot’s performance in resistive and active modes, addressing jerk, force-moment requirements, and trajectory tracking.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1174-1188"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747226","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}

{"title":"A Cyclic Negative Pressure Therapeutic Robotic Approach With Contact Pose Correction and Adaptive Mouthpart Variation for Limbs Suction","authors":"Zihao Li;Zhenguo Nie;Qi Shao;Huichan Zhao;Xin-Jun Liu","doi":"10.1109/TMRB.2026.3699183","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699183","url":null,"abstract":"Negative Pressure (NP) therapy has become a widely adopted treatment for extremity diseases, with growing demand due to increasing prevalence of limb disorders. To address healthcare workforce shortages, this paper presents a robotic system for automated cyclic NP therapy capable of handling morphologically varied limbs and operational challenges including sensor noise, control inaccuracies, calibration errors, and unpredictable patient motion. The system integrates a vacuum therapy head with haptic feedback and adaptive mouthpart geometry from prior work, enhanced with a novel hybrid force/impedance controller for stable limb interaction. Visual detection generates initial suction poses constrained by the mouthpart dimensions, while real-time tactile feedback enables pose correction during contact. Through phantom and human experiments, this system has been validated with the efficacy of NP suction and is robust to system errors and people’s movement. In the pose correction experiment, the robotic system modified the contact pose with different orientations through the contact force control to make the suctions on the standard phantom. Then, compared to the other methods, the proposed method was utilized in the phantom and human arm suction experiments to apply suctions on unstructured arms with a higher success rate and achieve a higher comfort level.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1189-1205"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747580","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}