IEEE transactions on medical robotics and bionics最新文献

{"title":"Modeling and Control For Minimally Invasive Intracerebral Hemorrhage Evacuation","authors":"Anthony L. Gunderman;Satya A. Velumuri;Saikat Sengupta;Dimitri Sigounas;Kevin Cleary;Yue Chen","doi":"10.1109/TMRB.2025.3646744","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3646744","url":null,"abstract":"Intracerebral hemorrhage (ICH) is a severe type of hemorrhagic stroke that causes nearly 3 million deaths annually. Recent studies have indicated minimally invasive surgery (MIS) can improve functional outcomes in patients with lobar ICH. However, despite these promising results, challenges persist, including tool dexterity and visualization. Our group has been developing a concentric tube robot (CTR) for MR-guided ICH evacuation to address these concerns. We have demonstrated feasibility in prior ex vivo studies. However, to improve clot evacuation, better control strategies, such as closed-loop evacuation control, are needed. In this short paper, we present a modeling strategy for hybrid pneumatic-hydraulic closed-loop evacuation control that is suitable for use in the MR-environment, which requires long pneumatic (for vacuum canister regulation) and hydraulic (for hematoma evacuation) transmission lines. The control strategy is evaluated in a bench-top setting using our CTR and evacuation system. The CTR is used to evacuate an artificial hematoma at volumetric flow rates ranging from <inline-formula> <tex-math>$2.5~left [{{{}frac {text {cm}^{3}}{min }}}right]$ </tex-math></inline-formula> to <inline-formula> <tex-math>$10~left [{{{}frac {text {cm}^{3}}{min }}}right]$ </tex-math></inline-formula>. Notably, prior to steady-state, the system exhibits a mean evacuation volumetric flow rate error of <inline-formula> <tex-math>$0.533~left [{{{}frac {text {cm}^{3}}{min }}}right]$ </tex-math></inline-formula> and a steady-state mean error of <inline-formula> <tex-math>$0.229~left [{{{}frac {text {cm}^{3}}{min }}}right]$ </tex-math></inline-formula>.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"563-568"},"PeriodicalIF":3.8,"publicationDate":"2025-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147383054","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 Vibration-Based Method for Penetration Detection to Enhance the Safety of Hand-Held Oscillating Saw Systems: A Proof-of-Concept Study","authors":"Weixiang Ke;Sicheng Wang;Rui Xi;Jianxun Zhang;Yuan Xue;Yu Dai","doi":"10.1109/TMRB.2025.3644029","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3644029","url":null,"abstract":"To address the risk of soft tissue injury caused by saw blade penetration during freehand orthopedic osteotomies, this paper designs and implements a vibration-based penetration detection system for oscillating saw cutting. The system integrates high-sensitivity vibration sensors and employs multi-domain feature fusion with a CNN-LSTM neural network to achieve accurate recognition and real-time warning of five cutting states. To enhance the model’s generalization under varying bone densities and class imbalance, SMOTE oversampling and transfer learning strategies are adopted. Experimental results show that the proposed method outperforms traditional classifiers in terms of accuracy and recall. In addition, the introduction of a state transition counting mechanism effectively suppresses occasional misjudgments and improves system robustness. In 25 independent experiments, the mean and standard deviation of the time difference between system detection and the laser reference standard were -33.56 ms and 141.95 ms, respectively, demonstrating near real-time detection capability. Final validation confirms the feasibility and engineering stability of the system for actual surgical deployment, providing a solid technical foundation for intelligent perception and enhanced surgical safety of surgical tools.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"569-577"},"PeriodicalIF":3.8,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147383049","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":"Miniature Compliance Controllable Sensor for Tissue Stiffness Sensing and Palpation","authors":"Duncan G. Raitt;Shervanthi Homer-Vanniasinkam;Prokar Dasgupta;Sara-Adela Abad;Helge A. Wurdemann","doi":"10.1109/TMRB.2025.3643937","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3643937","url":null,"abstract":"Tissue stiffness can provide key details about the health and type of tissues. This paper presents the creation of a miniaturised soft tissue stiffness sensor with dimensions that make it suitable for palpation in minimally invasive surgery. We introduce the stiffness sensor design and experimentally test its force sensing, elasticity measurement, and dynamic palpation performance. The sensor can measure normal forces with an adjustable range. Angled forces were measured with their magnitude and angles, <inline-formula> <tex-math>$theta _{Y}$ </tex-math></inline-formula> and <inline-formula> <tex-math>$theta _{X}$ </tex-math></inline-formula>, root-mean-square errors (RMSE) of 8.37%, 6.68%, and 13.92% of their respective ranges. Furthermore, samples with an elasticity between 4.20 kPa and 177.62 kPa, which were not in the training set, were measured with an RMSE of 7.79% of the tested range. During palpation, the boundary between the 13.4 kPa elastomer and the 2 mm embedded 29.3 kPa elastomer was located with a signal-noise ratio (SNR) of 77.04:1 and a mean offset of 0.706 mm. This investigation provides new insights into sensing devices capable of fitting trocars while measuring tissue elasticity and force during minimally invasive procedures.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 1","pages":"551-562"},"PeriodicalIF":3.8,"publicationDate":"2025-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147383109","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":"2025 Index IEEE Transactions on Medical Robotics and Bionics","authors":"","doi":"10.1109/TMRB.2025.3642649","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3642649","url":null,"abstract":"","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 4","pages":"1795-1837"},"PeriodicalIF":3.8,"publicationDate":"2025-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11297432","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145729493","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":"IEEE Transactions on Medical Robotics and Bionics Society Information","authors":"","doi":"10.1109/TMRB.2025.3613098","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3613098","url":null,"abstract":"","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 4","pages":"C3-C3"},"PeriodicalIF":3.8,"publicationDate":"2025-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11274525","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145659231","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":"Corrections to “Toward Wearable Electromyography for Personalized Musculoskeletal Trunk Models Using an Inverse Synergy-Based Approach”","authors":"Jan Willem A. Rook;Massimo Sartori;Mohamed Irfan Refai","doi":"10.1109/TMRB.2025.3613128","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3613128","url":null,"abstract":"Presents corrections to the paper, (Corrections to “Toward Wearable Electromyography for Personalized Musculoskeletal Trunk Models Using an Inverse Synergy-Based Approach”).","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 4","pages":"1794-1794"},"PeriodicalIF":3.8,"publicationDate":"2025-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11274524","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145659207","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":"IEEE Transactions on Medical Robotics and Bionics Information for Authors","authors":"","doi":"10.1109/TMRB.2025.3613100","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3613100","url":null,"abstract":"","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 4","pages":"C4-C4"},"PeriodicalIF":3.8,"publicationDate":"2025-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11274522","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145659217","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":"Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery.","authors":"Haoran Wang, Yasamin Foroutani, Matthew Nepo, Mercedes Rodriguez, Ji Ma, Jean-Pierre Hubschman, Tsu-Chin Tsao, Jacob Rosen","doi":"10.1109/tmrb.2025.3604102","DOIUrl":"10.1109/tmrb.2025.3604102","url":null,"abstract":"<p><p>The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode, which emulates tool manipulation near the distal end (i.e., as if the surgeon was holding the tip of the instrument inside the patient's body), and (2) Outside Control Mode, which emulates manipulation near the proximal end (i.e., as if the surgeon was holding the tool externally). The overarching aim of this reported research is to study and compare the surgeon's performance utilizing these two control modes of operation along with various scaling factors in a simulated vitreoretinal surgical setting. The console of Intraocular Robotic Interventional Surgical System (IRISS) was utilized but the surgical robot itself and the human eye anatomy was simulated by a virtual environment (VR) projected microscope view of an intraocular setup to a VR headset. Five experienced vitreoretinal surgeons and five subjects with no surgical experience used the system to perform fundamental tool/tissue tasks common to vitreoretinal surgery including: (1) touch and reset; (2) grasp and drop; (3) inject; (4) circular tracking. The results indicate that Inside Control outperforms Outside Control across multiple tasks and performance metrics. Higher scaling factors (20 and 30) generally provided better performance, particularly for reducing trajectory errors and tissue damage. This improvement suggests that larger scaling factors enable more precise control, making them the preferred option for fine manipulation tasks. However, task completion time was not consistently reduced across all conditions, indicating that surgeons may need to balance speed and accuracy/precision based on specific surgical requirements. By optimizing control dynamics and user interface, robotic teleoperation has the potential to reduce complications, enhance surgical dexterity, and expand the accessibility of high-precision procedures to a broader range of practitioners.</p>","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 4","pages":"1455-1464"},"PeriodicalIF":3.8,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12782209/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145954143","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":"Bimanual Robotic Eye Manipulation Using Adaptive Sclera Force Control: Towards Safe Retinal Vein Cannulation.","authors":"Mojtaba Esfandiari, Ji Woong Kim, Peiyao Zhang, Jacob S Heng, Peter Gehlbach, Russell H Taylor, Iulian I Iordachita","doi":"10.1109/tmrb.2025.3617962","DOIUrl":"10.1109/tmrb.2025.3617962","url":null,"abstract":"<p><p>Retinal surgery typically requires bimanual manipulation of tools in the eye. Freehand retinal vein cannulation (RVC) is a highly challenging operation mainly due to typical hand tremors relative to the small size of retinal veins. Robot-assisted technology resolves hand tremor issues and gives ophthalmologists higher positioning resolution to enable RVC. Bimanual robot manipulation of the eyeball typically requires kinematics-based control to maintain each robotic tool's remote center of motion (RCM) constraint and registration between the two robots to avoid scleral injury. Any potential relative movement of the robot base can impact patient safety. To avoid these problems, we developed a bimanual adaptive cooperative (BMAC) control framework. Each robot is independently controlled via a hybrid adaptive position-force control algorithm using fiber Bragg grating-based force-sensing surgical instruments. This algorithm minimizes the tool-sclera interaction forces automatically, resulting in maintaining the sclera forces within a safe threshold and avoiding over-stretch of the sclera, which guarantees patient safety despite the absence of kinematic RCM constraint and registration of the two robots. The effectiveness of this approach is validated through a pilot study with five users in a vessel-following experiment on an eye phantom under a surgical microscope.</p>","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 4","pages":"1499-1512"},"PeriodicalIF":3.8,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12829964/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146055098","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":"Using HD-EMG to Assess Motor Units in Vastus Lateralis With the Lokomat: A Pilot Study With Young, Elderly and Individuals Post-Stroke","authors":"G. Corvini;M. Lorusso;N. L. Tagliamonte;M. Masciullo;M. Molinari;G. Scivoletto;F. Tamburella;J. C. Moreno","doi":"10.1109/TMRB.2025.3625050","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3625050","url":null,"abstract":"High-Density Electromyography (HD-EMG) shows strong potential in research, but its translation into clinical rehabilitation remains limited. This pilot study explores the feasibility of integrating a portable HD-EMG system into a standardized rehabilitation test using the Lokomat, a robotic gait trainer widely employed in neurorehabilitation. By decomposing EMG signals and analyzing Motor Unit (MU) properties, this study aims to assess neuromuscular differences related to age and post-stroke conditions. Three groups (healthy young, healthy elderly, and chronic stroke survivors) performed isometric sub-maximal knee extensions at 30%, 50%, and 70% of their maximum force. EMG signals were recorded from the Vastus Lateralis muscle using a 64-channel electrode grid. Conventional EMG parameters (e.g., envelope and median frequency) failed to differentiate among groups. In contrast, MU-level analysis revealed fewer detected MUs and lower discharge rates in elderly participants, along with stroke-related alterations in MU recruitment and muscle relaxation. These findings demonstrate both the feasibility and added diagnostic value of HD-EMG in routine clinical robotic rehabilitation. HD-EMG offers objective, detailed insights into neuromuscular functions and could support the optimization of rehabilitation strategies. Further research is needed to validate its clinical applicability in larger populations and promote the adoption of HD-EMG as a standard diagnostic tool.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 4","pages":"1693-1702"},"PeriodicalIF":3.8,"publicationDate":"2025-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145659219","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}