IEEE transactions on medical robotics and bionics最新文献_第10页

Tensegrity Sensor-Integrated Hip Exoskeleton for Human Motion Recognition During Walking 张拉整体传感器集成髋关节外骨骼在人体行走过程中的运动识别

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-22 DOI: 10.1109/TMRB.2025.3646760

Yuna Choi;Daehun Lee;Geun Young Hong;Dong-Hyuk Lee;Sajjad Manzoor;Youngjin Choi

{"title":"Tensegrity Sensor-Integrated Hip Exoskeleton for Human Motion Recognition During Walking","authors":"Yuna Choi;Daehun Lee;Geun Young Hong;Dong-Hyuk Lee;Sajjad Manzoor;Youngjin Choi","doi":"10.1109/TMRB.2025.3646760","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3646760","url":null,"abstract":"This paper proposes a hip exoskeleton inspired by the concept of biotensegrity. An actuator directly connected to a rigid structure is applied to provide a high assistive torque for flexion and extension in the sagittal plane. In the frontal and transverse planes, where lower torque is sufficient, passive joints based on tensegrity structures are introduced to mimic the flexibility and load distribution of the human musculoskeletal system. In particular, a novel passive joint mechanism is structurally extended into a universal joint that functions as a joint angle sensor, enabling the quantitative measurement of the wearer’s hip complex motions during walking. To validate this mechanism, five linear parameters are extracted using line geometry to analyze its universal joint behavior mathematically. Specifically, the change in resistance of the rubber band inside the sensor is used to calculate the joint kinematics, that is, it is used to estimate the rotation axis and angle based on a line geometry. Finally, comparative experiments with actual joint angles are conducted, confirming that the three-degrees-of-freedom motion of the wearer’s hip complex can be effectively recognized using the tensegrity sensor-integrated hip exoskeleton.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"515-525"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148486776","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

Learning-Based Hybrid Needle Tip Tracking and Visualization Framework for Robotic Ultrasound-Guided Interventions 基于学习的机器人超声引导干预的混合针尖跟踪和可视化框架

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2026-01-14 DOI: 10.1109/TMRB.2026.3654277

Junling Fu;Zijian Cai;Runing Xiao;Giancarlo Ferrigno;Alberto Redaelli;Elena De Momi

{"title":"Learning-Based Hybrid Needle Tip Tracking and Visualization Framework for Robotic Ultrasound-Guided Interventions","authors":"Junling Fu;Zijian Cai;Runing Xiao;Giancarlo Ferrigno;Alberto Redaelli;Elena De Momi","doi":"10.1109/TMRB.2026.3654277","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3654277","url":null,"abstract":"Ultrasound (US)-guided needle-based interventions have been extensively employed in clinical practice for biopsies, regional anesthesia, and tumor ablation, considering the advantages of real-time imaging, portability, and non-ionizing radiation. Precise localization and tracking of the needle tip are critical for ensuring the successful needle placement while minimizing the risk of injury to surrounding anatomical structures. However, achieving real-time and reliable needle tip tracking remains challenging due to the inherent properties of US images, such as low spatial resolution, speckle noise, and imaging artifacts that obscure the needle tip. This study proposes a hybrid learning-based framework for accurately and robustly localizing the needle tip within the US image plane during robot-assisted interventional procedures. The framework comprises a dual-branch template matching-based detection module, a Convolutional Neural Network (CNN)-based detection module, and a “dynamic template selection and updating” mechanism to enhance overall tracking performance. Additionally, to recover the needle tip invisibility caused by unanticipated movements, an active exploration strategy based on a Gaussian Process (GP) model and Bayesian Optimization (BO) is proposed for efficient and accurate robotic US probe pose adjustment. The effectiveness of the proposed method for needle tip tracking performance has been evaluated through a series of experiments conducted on ex vivo porcine liver samples under varying insertion angles and velocities. Experimental results demonstrate that the proposed framework achieves a maximum median localization error of 1.17 mm and an Interquartile Range (IQR) of 1.28 mm across all test conditions. Furthermore, in scenarios requiring needle tip visibility recovery, the proposed BO-based strategy achieved a median localization error of 1.52 mm and an IQR of 0.95 mm.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"252-263"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11352972","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148487088","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

Visuo-Haptic Feedback and Extended Reality in Microinvasive Cardiac Surgery: A Next-Generation Simulator for Mitral Valve Repair 微创心脏手术中的视触觉反馈和扩展现实：新一代二尖瓣修复模拟器

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-15 DOI: 10.1109/TMRB.2025.3643940

Sofia Breschi;Domenico Riggio;Ingrid Tombini;Junling Fu;Maria Francesca Spadea;Elena De Momi

{"title":"Visuo-Haptic Feedback and Extended Reality in Microinvasive Cardiac Surgery: A Next-Generation Simulator for Mitral Valve Repair","authors":"Sofia Breschi;Domenico Riggio;Ingrid Tombini;Junling Fu;Maria Francesca Spadea;Elena De Momi","doi":"10.1109/TMRB.2025.3643940","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3643940","url":null,"abstract":"Mitral regurgitation is a structural heart disease characterized by dysfunction of the mitral valve. It can be treated through minimally invasive transcatheter edge-to-edge repair procedures, such as those involving the MitraClip<inline-formula> <tex-math>${}^{^{text {TM}}} $ </tex-math></inline-formula> system. Despite its clinical efficacy, the procedure poses technical challenges, requiring interventional cardiologists to undergo multiple procedures to achieve instrumentation proficiency. Previous studies have demonstrated the efficacy of extended reality simulators in improving surgical skill training. The purpose of this study is to evaluate the effectiveness of visuo-haptic feedback within an extended reality simulator to accelerate and enhance the learning process for the MitraClip<inline-formula> <tex-math>${}^{^{text {TM}}} $ </tex-math></inline-formula> procedure, potentially offering a valuable tool in surgical training. In this study, based on the prototype of our previous simulator, we further implemented a novel cardiac dynamic environment, a visual feedback interface, an innovative haptic armband, and a new model of the catheter to enhance the simulator’s fidelity and educational usability. Experiment results demonstrated that users benefiting from visuo-haptic feedback exhibited significantly reduced completion times, reduced deviation from predefined trajectories, and presented safer navigation results. Moreover, users preferred the visuo-haptic feedback experience, highlighting its perceived value in enhancing training. These findings underscore the potential of adding visuo-haptic feedback to extended reality simulators in surgical training for complex procedures, improving proficiency and patient surgery outcomes.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"277-287"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11299599","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148487612","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

Trajectory Planning and Correction for Transnasal Surgical Robots via RCM Constraint Modeling and Fiber Optic Sensing Feedback 基于RCM约束建模和光纤传感反馈的经鼻手术机器人轨迹规划与修正

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-22 DOI: 10.1109/TMRB.2025.3646762

Zhixiong Zhou;Qingsong Ai;Ping Liang;Zemin Liu;Quan Liu;Tianliang Li;Weiwei Xia;Wei Meng

{"title":"Trajectory Planning and Correction for Transnasal Surgical Robots via RCM Constraint Modeling and Fiber Optic Sensing Feedback","authors":"Zhixiong Zhou;Qingsong Ai;Ping Liang;Zemin Liu;Quan Liu;Tianliang Li;Weiwei Xia;Wei Meng","doi":"10.1109/TMRB.2025.3646762","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3646762","url":null,"abstract":"Transnasal surgical robots must operate within the confined anatomical space of the nasal cavity, which requires high precision in trajectory planning and real-time correction. This study presents a comprehensive trajectory planning and real-time correction framework for transnasal surgical robots, integrating Remote Center of Motion (RCM) constraints and real-time fiber optic sensing feedback. A personalized 3D point cloud and grid map of the nasal cavity are constructed based on computed tomography (CT) imaging. The improved RRT* algorithm is used to generate collision-free paths that adhere to RCM constraints. To address sensor measurement errors, an Adaptive Unscented Kalman Filter (AUKF) is employed to accurately estimate the end-effector’s position and correct minor deviations in real-time through position control. When significant trajectory deviation or contact with nasal tissue is detected, a local trajectory replanning strategy with multiple constraints is introduced, dynamically adjusting the path based on sensor feedback. Experimental results show that the proposed framework effectively generates anatomically compatible motion paths and provides real-time trajectory error correction in complex nasal environments, offering a reliable and precise solution for robot-assisted transnasal surgery.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"198-207"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148490429","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

OmniSense: A Visuotactile Sensor for Force, Texture, and Temperature OmniSense：一种用于力、纹理和温度的视觉触觉传感器

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-22 DOI: 10.1109/TMRB.2025.3646751

Thad Jacob T. Tiong;Aaron Raymond See

引用次数: 0

A Novel Real-Time Modeling and Perception Method for Surgical Robots Based on Multisensory Data in a Dynamic Unstructured Environment 一种基于动态非结构化环境下多感官数据的手术机器人实时建模与感知方法

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-15 DOI: 10.1109/TMRB.2025.3643987

Guoli Song;Tian Gao;Xingang Zhao;Lu Hua;Ting Zhang;Yiwen Zhao

引用次数: 0

Human-Centric Shoulder Exoskeleton: A Novel Assistive Device With a Self-Aligning Mechanism to Reduce Interaction Forces 以人类为中心的肩部外骨骼：一种具有自对准机制的新型辅助装置，以减少相互作用力

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-22 DOI: 10.1109/TMRB.2025.3646719

Avinash S. Pramod;Santhakumar Mohan;Asokan Thondiyath

{"title":"Human-Centric Shoulder Exoskeleton: A Novel Assistive Device With a Self-Aligning Mechanism to Reduce Interaction Forces","authors":"Avinash S. Pramod;Santhakumar Mohan;Asokan Thondiyath","doi":"10.1109/TMRB.2025.3646719","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3646719","url":null,"abstract":"Upper limb wearable exoskeletons are devices used for assistive and augmentative applications in work environments. The shoulder mechanism of the upper limb exoskeleton is vital in fulfilling its objective by exhibiting its capability to move with the human shoulder in unity without any joint axis misalignment. Any misalignment can cause strain on the human shoulder complex due to unwanted interaction forces between the user and the exoskeleton. Most existing portable assistive or augmentation exoskeletons fail to exhibit the capability to self-align when there is a joint axis misalignment due to design-related issues. This paper presents the design, analysis, and experimental evaluation of a novel human-centric shoulder exoskeleton with a self-aligning shoulder mechanism for an average adult male. The novelty of the design is that it considers the human shoulder’s humeral head (HH) translation and incorporates a novel mechanism to reduce misalignment. The system’s design details, workspace analysis, and prototype testing and analysis are explained. The proposed exoskeleton is evaluated and validated using simulation and experimentation on a standardised test bench. The results are compared with the existing conventional exoskeleton and human-assisted motion, and it was found that the proposed exoskeleton is capable of reducing the interaction forces due to misalignment by 99%. Further, a simple assistive control architecture is proposed and implemented for the exoskeleton for efficient operation.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"347-356"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148491084","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

Development of a Virtual da Vinci Xi Training Simulator for Robotic In-Utero Open Spina Bifida Repair 用于子宫内开放性脊柱裂机器人修复的虚拟达芬奇Xi训练模拟器的开发

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2025-12-15 DOI: 10.1109/TMRB.2025.3644001

Ella Walsh;Nillan Nimal;Adnan Munawar;James Drake;Tim Van Mieghem;Thomas Looi

{"title":"Development of a Virtual da Vinci Xi Training Simulator for Robotic In-Utero Open Spina Bifida Repair","authors":"Ella Walsh;Nillan Nimal;Adnan Munawar;James Drake;Tim Van Mieghem;Thomas Looi","doi":"10.1109/TMRB.2025.3644001","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3644001","url":null,"abstract":"Open spina bifida (OSB), also known as myelomeningocele, is a neural tube defect where the spine of a developing fetus is exposed. Repair of the defect before birth improves outcomes for both mother and child. A novel minimally invasive robotic in-utero approach is proposed, requiring new tools to enable surgeon planning and training. This work presents a dynamic virtual simulator of the da Vinci Xi Robotic Surgical System with an interactive fetal environment that allows surgeons to practice simulated OSB repair. The simulator is built in the Asynchronous Multi-Body Framework (AMBF) and integrated with the da Vinci Research Kit (dVRK). The directional and rotational control mappings were consistent with the respective controls tested on a real operative da Vinci Xi robot <inline-formula> <tex-math>$(R^{2} geq 0.979)$ </tex-math></inline-formula>. Kinematics were further validated with path tracing tasks which yielded similar trajectory deviation errors between the simulator and the real Xi robot. Surgeons completed a suturing task using the simulator and evaluated the performance, agreeing that simulator robot controls are realistic, fetal model and suturing are somewhat realistic, and that the simulator is useful as a training tool. This simulator has potential applications in research, surgical training and preoperative planning for robotic approaches to fetal surgical procedures.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"296-303"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148491080","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

Design and Control of Continuum Manipulators With Pose Reconstruction Based on Feedforward Compensation 基于前馈补偿的姿态重构连续体机械臂设计与控制

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2026-01-15 DOI: 10.1109/TMRB.2026.3654262

Yongzhuo Gao;Dexin Cheng;Hui Dong;Zhijiang Du;Wei Wang;Yanyu Su;Wei Dong

{"title":"Design and Control of Continuum Manipulators With Pose Reconstruction Based on Feedforward Compensation","authors":"Yongzhuo Gao;Dexin Cheng;Hui Dong;Zhijiang Du;Wei Wang;Yanyu Su;Wei Dong","doi":"10.1109/TMRB.2026.3654262","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3654262","url":null,"abstract":"Existing continuum manipulators excel at operations because of their omnidirectional bending capabilities. However, their operational performance is constrained by the lack of torsional function along their backbone curves. This paper addresses this issue by proposing a pose reconstruction control strategy that has been successfully applied to tendon-driven continuum manipulators with specific structural designs. This strategy achieves high-precision pose control through bend-torsion decoupling. Additionally, we introduce a model-based backlash function to address the non-linear relationship between the end effector and the actuators and to improve positional and directional accuracy during pose reconstruction. By incorporating indirect rotational compensation and separating control variables, the proposed method enables the manipulator to perform torsional functions along its backbone curves while ensuring applicability to different structural configurations. Simulation and experimental results confirm the efficacy of the proposed method: indirect rotational compensation reduces positional and directional errors by 30.76% and 87.29%, respectively. These findings demonstrate that the proposed approach provides a robust solution for pose reconstruction and high-precision manipulation with continuum manipulators in minimally invasive surgery.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"264-276"},"PeriodicalIF":4.3,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148490104","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

IEEE Transactions on Medical Robotics and Bionics Publication Information IEEE医学机器人与仿生学汇刊

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-02-01 Epub Date: 2026-03-10 DOI: 10.1109/TMRB.2025.3648629

引用次数: 0