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

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":"6 4","pages":"1771-1780"},"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}

引用次数: 0

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":"6 4","pages":"1401-1404"},"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

引用次数: 0

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":"6 4","pages":"1555-1566"},"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

Design, Analysis, and Preliminary Validation of Magnetic Anchored and Cable Driven Endoscope for Minimally Invasive Surgery 用于微创手术的磁性锚定和电缆驱动内窥镜的设计、分析和初步验证

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-03 DOI: 10.1109/TMRB.2024.3472833

Jixiu Li;Tao Zhang;Truman Cheng;Yehui Li;Calvin Sze Hang Ng;Philip Wai Yan Chiu;Zheng Li

引用次数: 0

MPC for Suturing Stitch Automation 用于缝合线自动化的 MPC

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-03 DOI: 10.1109/TMRB.2024.3472796

Pasquale Marra;Sajjad Hussain;Marco Caianiello;Fanny Ficuciello

{"title":"MPC for Suturing Stitch Automation","authors":"Pasquale Marra;Sajjad Hussain;Marco Caianiello;Fanny Ficuciello","doi":"10.1109/TMRB.2024.3472796","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3472796","url":null,"abstract":"Robot-assisted surgery (RAS) requires effective control strategies to ensure safety and accuracy while respecting the physical limits of the robot during tasks such as suturing and tissue manipulation. Model Predictive Control (MPC), with its inherent capability to handle complex dynamic systems, predict the future response and enforce constraints, is well-suited for these tasks. In this paper, MPC is employed to automate the suturing stitch task by mapping the operational space trajectory to the joint space while ensuring compliance with system kinematics constraints and safety requirements. To address varying requirements during suturing sub-tasks, two different objective functions and their corresponding constraint sets are used. The proposed framework is implemented using the ACADO toolkit to solve the Optimal Control Problem (OCP) and ROS to connect ACADO to CoppeliaSim/DVRK. Validation through simulations in CoppeliaSim and real-time experiments on the DVRK demonstrated that our approach achieved a positional/orientational accuracy of less than \u0000<inline-formula> <tex-math>$1mm/4 ^{circ }$ </tex-math></inline-formula>\u0000 in simulations, and an error norm of approximately \u0000<inline-formula> <tex-math>$1.9mm$ </tex-math></inline-formula>\u0000 in real world implementations, confirming its effectiveness in automating suturing task.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1468-1477"},"PeriodicalIF":3.4,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600317","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

Imitation Learning of Compression Pattern in Robotic-Assisted Ultrasound Examination Using Kernelized Movement Primitives 利用核化运动原型模仿学习机器人辅助超声波检查中的压缩模式

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-03 DOI: 10.1109/TMRB.2024.3472856

Diego Dall’Alba;Lorenzo Busellato;Thiusius Rajeeth Savarimuthu;Zhuoqi Cheng;Iñigo Iturrate

{"title":"Imitation Learning of Compression Pattern in Robotic-Assisted Ultrasound Examination Using Kernelized Movement Primitives","authors":"Diego Dall’Alba;Lorenzo Busellato;Thiusius Rajeeth Savarimuthu;Zhuoqi Cheng;Iñigo Iturrate","doi":"10.1109/TMRB.2024.3472856","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3472856","url":null,"abstract":"Vascular diseases are commonly diagnosed using Ultrasound (US) imaging, which can be inconsistent due to its high dependence on the operator’s skill. Among these, Deep Vein Thrombosis (DVT) is a common yet potentially fatal condition, often leading to critical complications like pulmonary embolism. Robotic US Systems (RUSs) aim to improve diagnostic test consistency but face challenges with the complex scanning pattern requiring precise control over US probe pressure, such as the one needed for indirectly detecting occlusions during DVT assessment. This work introduces an imitation learning method based on Kernelized Movement Primitives (KMP) to standardize the contact force profile during US exams by training a robotic controller using sonographer demonstrations. A new recording device design enhances demonstration acquisition, integrating with US probes and enabling seamless force and position data recording. KMPs are used to link scan trajectory and interaction force, enabling generalization beyond the demonstrations. Our approach, evaluated on synthetic models and volunteers, shows that the KMP-based RUS can replicate an expert’s force control and US image quality, even under conditions requiring compression during scanning. It outperforms previous methods using manually defined force profiles, improving exam standardization and reducing reliance on specialized sonographers.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1567-1580"},"PeriodicalIF":3.4,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10704653","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600198","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

Telemanipulated Vascular Intervention System for Minimally Invasive Surgery 用于微创手术的遥控血管介入系统

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-03 DOI: 10.1109/TMRB.2024.3473299

Siyi Wei;Zhiwei Wu;Jinhui Zhang;Shaomeng Gu;Zhanxin Geng;Jiahao Luo;Yueyang Gao;Zheng Li

{"title":"Telemanipulated Vascular Intervention System for Minimally Invasive Surgery","authors":"Siyi Wei;Zhiwei Wu;Jinhui Zhang;Shaomeng Gu;Zhanxin Geng;Jiahao Luo;Yueyang Gao;Zheng Li","doi":"10.1109/TMRB.2024.3473299","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3473299","url":null,"abstract":"Minimally invasive surgery, as a promising treatment method for coronary heart disease and intracranial aneurysm, has received extensive research interest due to its appealing characteristics, e.g., the little surgical trauma, short rehabilitation time, determined curative effect, and less pain. However, the accumulated X-ray radiation during the percutaneous coronary intervention (PCI) and neurovascular intervention (NVI) greatly increases the probability of medical staff suffering from cataracts and brain tumors. In this article, the telemanipulated vascular intervention (TVI) system is presented, a compact and versatile vascular interventional system. The TVI system comprised of a leader joystick, a follower delivery device, and a graphical user interface is designed for intravascular delivery during the robot-assisted PCI and robot-assisted NVI. The performance of the TVI system is evaluated by demonstrating its ability to achieve telemanipulated navigation in the real-sized 3D cardio-cerebrovascular model with coronary stenosis and intracranial aneurysms. The experimental results demonstrate that the TVI system can navigate to 3 types of coronary stenosis, 6 types of cerebral artery, and an intracranial aneurysm with a diameter of 8 mm. To further demonstrate the performance of the TVI system, the robot-assisted renal artery angioplasty is conducted in a rabbit model for preclinical evaluation. These promising results indicate that the TVI system is capable of precisely manipulating the guidewire remotely, mitigating the health risks associated with prolonged exposure to X-ray radiation for interventionists.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1512-1525"},"PeriodicalIF":3.4,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600311","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 of a Cable-Suspended Robot for Early Stage Gait Rehabilitation 设计用于早期步态康复的缆索悬挂式机器人

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-30 DOI: 10.1109/TMRB.2024.3468381

Giacomo Zuccon;Alberto Doria;Giulio Rosati;Christopher A. Johnson;Lee McEligot;Kohl Hertz;Kyle Fernan;Ishaq Khan;V. Reggie Edgerton;David J. Reinkensmeyer

{"title":"Design of a Cable-Suspended Robot for Early Stage Gait Rehabilitation","authors":"Giacomo Zuccon;Alberto Doria;Giulio Rosati;Christopher A. Johnson;Lee McEligot;Kohl Hertz;Kyle Fernan;Ishaq Khan;V. Reggie Edgerton;David J. Reinkensmeyer","doi":"10.1109/TMRB.2024.3468381","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3468381","url":null,"abstract":"Practicing walking motions while supine might help accelerate recovery after neurologic injury. This paper presents the design, modeling, and initial testing of a novel cable-driven device called AirStep that compensates for the weight of the legs, facilitating air-stepping practice while supine. AirStep integrates multiple mass-spring counterbalancing mechanisms to minimize the effect of gravity throughout the entire gait cycle such that patients can perform active or passive stepping motions in a near-zero gravity environment. Handles allow a rehabilitation therapist to manually assist leg motion through the cables as needed. Data acquired from an optical motion capture system validated the mathematical model of the AirStep, showing that the leg trajectories in air-stepping resembled those from running. In pilot testing, two individuals with spinal cord injury (SCI) required manual assistance at the hips from a physical therapist to achieve step-like motions through the AirStep interface. AirStep can apply low-forces, allow stepping in the supine position, and can quantify changes in patient-generated force production. Compared to other rehabilitation robots, AirStep offers the advantages of a low-cost mechanical structure, high acceptability by the patient and easy transportability aside a hospital bed, making the AirStep a good candidate for adoption in the early-stage gait rehabilitation.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1616-1626"},"PeriodicalIF":3.4,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600361","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

Auto-CALM: Autonomous Computer-Assisted Laser Microsurgery Auto-CALM：自主计算机辅助激光显微外科手术

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-30 DOI: 10.1109/TMRB.2024.3468385

Shunlei Li;Ajay Gunalan;Muhammad Adeel Azam;Veronica Penza;Darwin G. Caldwell;Leonardo S. Mattos

{"title":"Auto-CALM: Autonomous Computer-Assisted Laser Microsurgery","authors":"Shunlei Li;Ajay Gunalan;Muhammad Adeel Azam;Veronica Penza;Darwin G. Caldwell;Leonardo S. Mattos","doi":"10.1109/TMRB.2024.3468385","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3468385","url":null,"abstract":"This paper introduces a new controller for real-time dynamic laser ablation: the autonomous computer-assisted laser microsurgery system (Auto-CALM). Auto-CALM allows the surgeon to define the ablation area, which is then precisely ablated by the system while compensating for tissue motions and deformations. This is achieved based on three control blocks: target tracking, laser tracking, and ablation control algorithm. The ablation area, i.e., the target, is defined by the surgeon using a graphics tablet and graphics overlay on the surgical video. This target is then tracked in real-time using improved optical flow and a novel scaling strategy that makes the system robust against tissue deformations. Laser tracking is based on a pretrained Segment Anything Model that localizes the position of the laser in the surgical video. The ablation algorithm generates a trajectory to ablate the target given the dynamically updated laser position and target position. This enables motion compensation, which increases the accuracy of the system. Auto-CALM was validated through laser ablation experiments based on a porcine larynx fixed to a breathing motion simulation stage. The obtained results were also compared with those achieved under manual operation of CALM, and under autonomous ablation using the Track Anything Model as the target tracking algorithm. Furthermore, four different parts of the ex-vivo porcine larynx were tested to investigate different tracking features and the robustness of the system. Auto-CALM achieved a Dice Similarity Coefficient of 95.49% under the most challenging conditions (including tissue motion and no feature), reaching an ablation speed of \u0000<inline-formula> <tex-math>$1.43~mm^{2}/s$ </tex-math></inline-formula>\u0000. The accuracy and usability of the integrated platform bear potential for the accurate ablation of tissue volumes in clinical settings. Further ex-vivo and in-vivo animal studies shall help translate these findings to clinical use.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1423-1435"},"PeriodicalIF":3.4,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600367","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