IEEE transactions on medical robotics and bionics最新文献_第2页

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":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":"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":null,"pages":null},"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":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":"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

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":null,"pages":null},"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

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":null,"pages":null},"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

An Ultrasound-Guided System for Autonomous Marking of Tumor Boundaries During Robot-Assisted Surgery 在机器人辅助手术中自主标记肿瘤边界的超声引导系统

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-26 DOI: 10.1109/TMRB.2024.3468397

Nils Marahrens;Dominic Jones;Nikita Murasovs;Chandra Shekhar Biyani;Pietro Valdastri

{"title":"An Ultrasound-Guided System for Autonomous Marking of Tumor Boundaries During Robot-Assisted Surgery","authors":"Nils Marahrens;Dominic Jones;Nikita Murasovs;Chandra Shekhar Biyani;Pietro Valdastri","doi":"10.1109/TMRB.2024.3468397","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3468397","url":null,"abstract":"While only a limited number of procedures have image guidance available during robotically guided surgery, they still require the surgeon to manually reference the obtained scans to their projected location on the tissue surface. While the surgeon may mark the boundaries on the organ surface via electrosurgery, the precise margin around the tumor is likely to remain variable and not guaranteed before a pathological analysis. This paper presents a first attempt to autonomously extract and mark tumor boundaries with a specified margin on the tissue surface. It presents a first concept for tool-tissue interaction control via Inertial Measurement Unit (IMU) sensor fusion and contact detection from the electrical signals of the Electrosurgical Unit (ESU), requiring no force sensing. We develop and assess our approach on Ultrasound (US) phantoms with anatomical surface geometries, comparing different strategies for projecting the tumor onto the surface and assessing its accuracy in repeated trials. Finally, we demonstrate the feasibility of translating the approach to an ex-vivo porcine liver. We achieve mean true positive rates above \u0000<inline-formula> <tex-math>$mathbf {0.84}$ </tex-math></inline-formula>\u0000 and false detection rates below \u0000<inline-formula> <tex-math>$mathbf {0.12}$ </tex-math></inline-formula>\u0000 compared to a tracked reference for each calculation and execution of the marking trajectory for dummy and ex-vivo experiments.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600199","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

Automatic Focus Adjustment for Single-Spot Tissue Temperature Control in Robotic Laser Surgery 机器人激光手术中用于单点组织温度控制的自动聚焦调节器

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-23 DOI: 10.1109/TMRB.2024.3464670

Nicholas E. Pacheco;Chaitanya S. Gaddipati;Siavash Farzan;Loris Fichera

{"title":"Automatic Focus Adjustment for Single-Spot Tissue Temperature Control in Robotic Laser Surgery","authors":"Nicholas E. Pacheco;Chaitanya S. Gaddipati;Siavash Farzan;Loris Fichera","doi":"10.1109/TMRB.2024.3464670","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464670","url":null,"abstract":"This paper reports on a study whose goal is to control the tissue temperature at a specific spot during laser surgery, for the purpose of, inducing coagulation or sealing blood vessels. We propose a solution that relies on the automatic adjustment of the laser focus (and thus how concentrated the laser beam is), combined with the use of an infrared thermal camera for non-contact temperature monitoring. One of the main challenges in the control of thermal laser-tissue interactions is that these interactions can be hard to predict due to the inherent variability in the molecular composition of biological tissue. To tackle this challenge, we explore two different control approaches: (1) a model-less controller using a Proportional-Integral (PI) formulation, whose gains are set via a tuning procedure performed on laboratory-made tissue phantoms; and (2) a model-based controller using an adaptive formulation that makes it robust to tissue variability. We report on experiments, performed on four types of tissue specimens, showing that both controllers can consistently achieve temperature tracking with a Root-Mean-Square Error (RMSE) \u0000<inline-formula> <tex-math>$approx$ </tex-math></inline-formula>\u0000 1 °C.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600330","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

Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment 治疗心律失常的磁性球链机器人

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-23 DOI: 10.1109/TMRB.2024.3465828

Giovanni Pittiglio;Fabio Leuenberger;Margherita Mencattelli;Max McCandless;Edward O’Leary;Pierre E. Dupont

引用次数: 0

SLAM-TKA: Simultaneously Localizing X-Ray Device and Mapping Pins in Conventional Total Knee Arthroplasty SLAM-TKA：在传统全膝关节置换术中同时定位 X 射线设备和绘图针

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-23 DOI: 10.1109/TMRB.2024.3465565

Shuai Zhang;Liang Zhao;Shoudong Huang;Hua Wang;Qi Luo;Qi Hao;Danail Stoyanov

{"title":"SLAM-TKA: Simultaneously Localizing X-Ray Device and Mapping Pins in Conventional Total Knee Arthroplasty","authors":"Shuai Zhang;Liang Zhao;Shoudong Huang;Hua Wang;Qi Luo;Qi Hao;Danail Stoyanov","doi":"10.1109/TMRB.2024.3465565","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3465565","url":null,"abstract":"This paper presents a novel simultaneous localization and mapping (SLAM) technique, termed SLAM-TKA, for assisting total knee arthroplasty (TKA), a highly effective orthopaedic surgery that replaces arthritic or dysfunctional joint surfaces with knee prostheses. Our proposed SLAM algorithm uses information from a pre-operative tibia CT scan, intra-operative 2D X-ray images, and a trocar pin 3D mesh model to simultaneously localise the X-ray device and map the two trocar pins. Then, the estimated pins are used to evaluate the accuracy of the bone resection plane before the actual bone cutting, which plays a crucial role in precisely implanting the knee prostheses. To ensure high accuracy and robustness of the proposed SLAM algorithm, three energy terms are proposed and used together to align the edge observations of the tibia, fibula and pins on the intra-operative X-ray images and their corresponding pre-operative 3D mesh models in both 2D and 3D space. To enable the proposed iteration-based SLAM algorithm to be implemented in real-time such that the evaluation processing does not interrupt much on the workflow of TKA, the data association of edge correspondences matching and exhausted points-to-mesh distance calculation are pre-computed using the signed distance field method. Simulations are used to evaluate the accuracy and robustness of the proposed algorithm, and the experiments using in-vivo datasets from five patients demonstrate the high accuracy and efficiency in practice. The code and datasets are released at \u0000<uri>https://github.com/zsustc/SLAM-TKA</uri>\u0000.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600395","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