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

An Adaptive Assistance Strategy Based on Handling Load and Kinematics to Control a Back Exoskeleton for Lifting Assistance 基于搬运载荷和运动学的背外骨骼自适应辅助控制策略

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-07-13 DOI: 10.1109/TMRB.2026.3712804

Jin Tian;Baichun Wei;Haijiao Wang;Chifu Yang;Jingyuan Guan;Haiqi Zhu;Chunzhi Yi

{"title":"An Adaptive Assistance Strategy Based on Handling Load and Kinematics to Control a Back Exoskeleton for Lifting Assistance","authors":"Jin Tian;Baichun Wei;Haijiao Wang;Chifu Yang;Jingyuan Guan;Haiqi Zhu;Chunzhi Yi","doi":"10.1109/TMRB.2026.3712804","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3712804","url":null,"abstract":"The handling load are strongly associated with back muscle strain. However, most existing active back exoskeletons do not explicitly account for the impact of handling loads on assistive torque. This study presents an adaptive assistance strategy for controlling an active back exoskeleton during lifting tasks, integrating both handling load and kinematic information, enabling the system to adapt to different load weights. This is the first study to incorporate handling load as a continuous control variable in a back exoskeleton assistance strategy. Compared to the traditionally kinematic-based assistance strategies, its key feature is the ability to provide greater assistance through load-compensation torque when lifting heavier loads. Additionally, we developed an active back exoskeleton and deployed the adaptive assistance strategy onto the system. To evaluate the effectiveness of the adaptive assistance strategy, we recruited ten participants to perform lifting tasks under three conditions: without the exoskeleton, with the exoskeleton using either a kinematic-based or adaptive assistance strategy. Experimental results demonstrate that the efficacy of the adaptive assistance strategy in reducing lumbar muscle activation metrics. Specifically, the root mean square, average rectified value, and <inline-formula> <tex-math>$90^{th}$ </tex-math></inline-formula> percentile value of muscle activation decreased by up to 34.94%, 40.89%, and 46.92%, respectively.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1254-1263"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747882","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

Autonomous Localization of Renal Ultrasound Scan Planes Using Sim-to-Real Reinforcement Learning With Image-Based Rewards 基于图像奖励的模拟到真实强化学习肾脏超声扫描平面的自主定位

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-08 DOI: 10.1109/TMRB.2026.3699227

Yicheng Hu;Yixuan Huang;Craig K. Jones;Debarghya China;Huilin Xu;Burcu Basar;Yvan Paitel;Patrick A. Helm;Ali Uneri

{"title":"Autonomous Localization of Renal Ultrasound Scan Planes Using Sim-to-Real Reinforcement Learning With Image-Based Rewards","authors":"Yicheng Hu;Yixuan Huang;Craig K. Jones;Debarghya China;Huilin Xu;Burcu Basar;Yvan Paitel;Patrick A. Helm;Ali Uneri","doi":"10.1109/TMRB.2026.3699227","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699227","url":null,"abstract":"Locating standard scan planes in ultrasound (US)-guided procedures is operator-dependent and time-consuming, often requiring experienced sonographers. We propose a deep reinforcement learning framework for autonomous probe guidance to localize the long-axis (dorsal) kidney scan plane. A dueling deep Q-network was trained in silico using US images synthesized from dynamically resliced CT volumes, with an image-based reward derived from CT-labeled anatomy. On unseen simulated data, the agent achieved an 80.4% success rate, reaching the target in under 34 seconds. The image-based reward improved the success rate by ~50% compared to a distance-based reward, with the largest gains in higher-degree-of-freedom (5-DoF) tasks. Real-world validation showed 75.8% success on a phantom model and 74.0% on a cadaver specimen. These results demonstrate strong sim-to-real generalization and the feasibility of autonomous scan plane localization for renal imaging, with potential applicability to broader US-guided interventional procedures and robotic imaging workflows.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1005-1014"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747026","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

Intuitive Tele-Operated Robotic Catheter System With Wrist-Based Controller 直观的远程操作机器人导管系统与手腕为基础的控制器

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-08 DOI: 10.1109/TMRB.2026.3699222

Satoshi Miura;Motoi Hamashima;Victor Parque;Tomoyuki Miyashita

{"title":"Intuitive Tele-Operated Robotic Catheter System With Wrist-Based Controller","authors":"Satoshi Miura;Motoi Hamashima;Victor Parque;Tomoyuki Miyashita","doi":"10.1109/TMRB.2026.3699222","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699222","url":null,"abstract":"Catheter ablation realizes radical surgery for arrhythmia. However, it is too challenging to manipulate the catheter accurately because the catheter’s motion is quite different from human hands due to the flexible and non-haptic structure. This study presents a novel tele-operated robotic catheter system for using human wrist embodiment. We developed the wrist-based controller, and the catheter advancement robot adapting to most catheters. The catheter’s tip moves according to the motion and twist of the operator’s hand at each direction due to the robot system. We conducted two experiments as follows: First, the motion of the catheter tip was measured by three-dimensional magnetic positioning sensor. Second, five participants conducted the experiment to insert the catheter into the vessel and heart model each six times randomly by both manual hand and tele-operated system, respectively. As results, the leader’s input matches the catheter’s motion with high precision in each direction, respectively (R<inline-formula> <tex-math>$2gt 0.99$ </tex-math></inline-formula>). Furthermore, the contact force decreased significantly (p = 0.02), the achievement time decreased 45.7%, and the oxy-Hb in parietal area activated 54.8% higher in tele-operated system than manual by fNIRS. It was concluded that the tele-operated system could perform precise, quick, and intuitive operation.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1099-1109"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11554216","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747227","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

Safe Variable-Force Control for Robotic Ultrasound Scanning via ℓ2-Regularized Fuzzy Broad Offline Reinforcement Learning 基于l2正则化模糊广义离线强化学习的机器人超声扫描安全变力控制

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-02 DOI: 10.1109/TMRB.2026.3699233

Liang Yao;Yun Zhang;Yeying Qin;Ziwen Wang;Jinhang Li;Baoliang Zhao;Faqin Lv;Peng Zhang;Pak Kin Wong;Ying Hu

{"title":"Safe Variable-Force Control for Robotic Ultrasound Scanning via ℓ2-Regularized Fuzzy Broad Offline Reinforcement Learning","authors":"Liang Yao;Yun Zhang;Yeying Qin;Ziwen Wang;Jinhang Li;Baoliang Zhao;Faqin Lv;Peng Zhang;Pak Kin Wong;Ying Hu","doi":"10.1109/TMRB.2026.3699233","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699233","url":null,"abstract":"Robotic ultrasound scanning (RUSS) is a promising technology for standardizing examinations, improving repeatability, and alleviating the workload of sonographers. A key prerequisite for its safe clinical use is reliable control of the contact force between the probe and the patient’s skin. In practice, this force should vary along the scan: it must be reduced over symptomatic or painful regions to avoid discomfort and potential tissue damage, while remaining sufficiently high elsewhere to ensure good acoustic coupling and image quality. Patient-specific soft-tissue properties and unstructured examination environments make it difficult to tune conventional (adaptive) impedance controllers, often leading to force overshoot or poor tracking performance. To address this challenge, we propose an <inline-formula> <tex-math>$ell _{2}$ </tex-math></inline-formula>-regularized fuzzy broad offline reinforcement learning framework (<inline-formula> <tex-math>$ell _{2}$ </tex-math></inline-formula>-FBORL) that learns variable force control policies from limited, suboptimal demonstrations generated by stabilizing controllers. Building on <inline-formula> <tex-math>$ell _{2}$ </tex-math></inline-formula>-FBORL, we formulate variable force tracking in RUSS as a Markov decision process and develop a Fuzzy Learning-based Adaptive Impedance Control (FLAIC) scheme that adaptively adjusts the impedance adaptation rate to suppress overshoot while maintaining fast convergence. The proposed approach is evaluated in high-fidelity simulation, phantom experiments, and in vivo upper-limb venous and abdominal scanning under respiratory motion. Across all scenarios, FLAIC reduces force overshoot and improves tracking accuracy compared with conventional impedance and adaptive impedance controllers, without patient-specific retuning, indicating its potential to enhance the safety, robustness, and standardization of robotic ultrasound procedures.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1036-1047"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747572","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 Evaluation of Visuo-Haptic Simulators for Skill Acquisition in Epidural Needle Insertion 用于硬膜外穿刺术技能习得的视触觉模拟器的设计与评估

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-01 DOI: 10.1109/TMRB.2026.3699234

Nitsan Davidor;Yoav Farawi;Yair Binyamin;Shachar Maidenbaum;Ilana Nisky

{"title":"Design and Evaluation of Visuo-Haptic Simulators for Skill Acquisition in Epidural Needle Insertion","authors":"Nitsan Davidor;Yoav Farawi;Yair Binyamin;Shachar Maidenbaum;Ilana Nisky","doi":"10.1109/TMRB.2026.3699234","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699234","url":null,"abstract":"Epidural analgesia is challenging, especially for novice anesthesiologists. Traditional approaches, relying on the ‘see one, do one, teach one’ paradigm, limit opportunities for extensive practice without patient risk. To address this challenge, a haptic-only simulator was previously developed and evaluated. In this study, we added immersive visualizations using Unity and Chai-3D platforms, creating two visuo-haptic simulators. We tested to see how these visual components would affect the simulator’s face validity (realism) and content validity (perception of training effectiveness), and whether they would compromise performance. Twenty anesthesiologists of varying experience levels performed simulated epidural needle insertions using each simulator. We evaluated face and content validity through visual analog scale (VAS) questionnaires, and assessed user performance based on success rates and error measures. No statistically significant differences were found between the three simulators in user preference or performance metrics. The Unity-based simulator received slightly higher scores for visual realism, while the <italic>‘Chai-3D’</i> simulator showed marginally better performance. Considering expert feedback and practical considerations such as ease of setup and seamless integration between the haptic and visual components, the <italic>‘Chai-3D’</i> simulator emerged as the most suitable option for future use.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1048-1058"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747621","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

A Consumption-Based Approach for Fault Diagnosis in Multi-DOF Robots 基于消耗的多自由度机器人故障诊断方法

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-07-20 DOI: 10.1109/TMRB.2026.3713987

Ameer H. Sabry;Ungku Anisa Bte Ungku Amirulddin;Syed Zainal Abidin Syed Kamarul Bahrin;Muhammad Fairuz Abdul Jalal

{"title":"A Consumption-Based Approach for Fault Diagnosis in Multi-DOF Robots","authors":"Ameer H. Sabry;Ungku Anisa Bte Ungku Amirulddin;Syed Zainal Abidin Syed Kamarul Bahrin;Muhammad Fairuz Abdul Jalal","doi":"10.1109/TMRB.2026.3713987","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3713987","url":null,"abstract":"Fault detection and diagnosis (FDI) in multi-degree-of-freedom (multi-DOF) robotic systems is essential for ensuring operational integrity in life-critical applications, such as robotic-assisted surgery and advanced bionics. Traditional methods often struggle with limited data sources and the masking effects of complex motion dynamics on fault localization. The theoretical innovation of this work lies in a novel, hierarchical FDI architecture that synergistically integrates frequency-domain signature modeling with bidirectional temporal learning to decouple motion-induced power fluctuations from subtle fault signals. We utilize the Bode Equation Vector Fitting (BEVF) method to precisely model non-stationary dynamic fault signatures, providing a high-fidelity reference baseline. A two-stage classifier is then employed: a Bidirectional Long Short-Term Memory (BiLSTM) network first localizes faults to a specific joint with 94.4% accuracy by exploiting bidirectional temporal dependencies in the power residuals. Subsequently, a Support Vector Machine (SVM) diagnoses the fault type (mechanical or electrical) with an overall accuracy of 76.3%. This approach successfully identifies high-impact electrical faults while capturing subtle mechanical deviations often masked by the robot’s internal compensatory control loop. Our framework demonstrates a robust and non-invasive solution for FDI, significantly improving diagnostic granularity and providing actionable insights for high-reliability robotic systems.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1323-1335"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747797","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

AutoCam: Hierarchical Path Planning for an Autonomous Auxiliary Camera in Surgical Robotics AutoCam：手术机器人中自主辅助相机的分层路径规划

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-02 DOI: 10.1109/TMRB.2026.3699217

Alexandre Banks;Randy Moore;Sayem Nazmuz Zaman;Alaa Eldin Abdelaal;Septimiu E. Salcudean

{"title":"AutoCam: Hierarchical Path Planning for an Autonomous Auxiliary Camera in Surgical Robotics","authors":"Alexandre Banks;Randy Moore;Sayem Nazmuz Zaman;Alaa Eldin Abdelaal;Septimiu E. Salcudean","doi":"10.1109/TMRB.2026.3699217","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699217","url":null,"abstract":"Incorporating an autonomous auxiliary camera into robot-assisted minimally invasive surgery (RAMIS) enhances spatial awareness and eliminates manual viewpoint control. Existing path planning methods for auxiliary cameras track two-dimensional surgical features without simultaneously accounting for camera orientation, workspace constraints, and robot joint limits. This study introduces AutoCam: a system for automatic auxiliary camera placement to improve visualization in RAMIS. Implemented on the da Vinci Research Kit, AutoCam uses a priority-based, workspace-constrained controller that combines heuristic geometric placement with nonlinear optimization to ensure robust tracking. A user study (N= 6) demonstrated that the system achieved 99.84% visibility of a salient feature, a pose error of <inline-formula> <tex-math>$1.71pm 1.54$ </tex-math></inline-formula> degrees and <inline-formula> <tex-math>$4.98 pm 5.00$ </tex-math></inline-formula> mm, and computational efficiency (<inline-formula> <tex-math>$6.8pm 12.8$ </tex-math></inline-formula> ms loop time). An additional pilot study (N= 6), in which novices completed a Fundamentals of Laparoscopic Surgery task, suggests that users can teleoperate as effectively from AutoCam’s viewpoint as from the endoscope’s, while still benefiting from AutoCam’s improved visual coverage. These results indicate that an auxiliary camera can be autonomously controlled using the da Vinci patient-side manipulators to track a salient feature, laying the groundwork for new multi-camera visualization methods in RAMIS. The open-source code for AutoCam is available at: <uri>RCL_Autocam_Public.git</uri>.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"982-993"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148749225","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

Trans-Intestinal Port for Periodic Drug Refilling: Bridging Ingestible Capsules and Implantable Devices 定期药物补充的肠口：连接可摄取胶囊和植入式装置

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-02 DOI: 10.1109/TMRB.2026.3699210

Hind Al-Haddad;Simone Isolani;Fabio Vistoli;Paolo Dario;Benjamin Terry;Leonardo Ricotti

{"title":"Trans-Intestinal Port for Periodic Drug Refilling: Bridging Ingestible Capsules and Implantable Devices","authors":"Hind Al-Haddad;Simone Isolani;Fabio Vistoli;Paolo Dario;Benjamin Terry;Leonardo Ricotti","doi":"10.1109/TMRB.2026.3699210","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699210","url":null,"abstract":"Implantable devices for controlled drug release are extremely promising for the treatment of chronic diseases, such as type 1 diabetes, chronic pain, and others. However, these systems still require periodic invasive refills, which can result in clinical complications and patient discomfort. Previous works introduced the opportunity for a non-invasive refilling of these devices through ingestible capsules. However, concerns remain regarding repeated tissue perforation of the intestinal wall and the corresponding risk of fistula formation. This study presents a novel trans-intestinal port system enabling non-invasive refilling of implanted devices designed to create a stable and controlled interface between the device and the intestinal lumen. The system aims to avoid tissue damage due to repeated needle insertions, ensure proper alignment between the device and capsule, and prevent leakage of digestive fluids into the peritoneal cavity. The design and fabrication of this trans-intestinal port are presented, together with the results of bench tests and a preliminary short-term <italic>in vivo</i> test. These findings highlight the potential of the proposed trans-intestinal port as an innovative solution to enable a non-invasive periodic refilling of implantable drug delivery systems, paving the way to a full validation of this technology in the future, which will require long-term in vivo experiments.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"1373-1382"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148749665","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

Bilateral Soft Pouch Matrix Actuation for Multimodal Intraluminal Locomotion of Liquid Sampling Robotics 液体取样机器人多模态腔内运动的双侧软袋矩阵驱动

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-08-01 Epub Date: 2026-06-05 DOI: 10.1109/TMRB.2026.3699220

Yixin Zhang;Wenchao Yue;Hiu Ching Cheung;Haixu Meng;Xiaoxiao Yang;Shichen Fu;Jinran Su;Huxin Gao;Chia-Hung Chen;Xiuli Zuo;Hongliang Ren

{"title":"Bilateral Soft Pouch Matrix Actuation for Multimodal Intraluminal Locomotion of Liquid Sampling Robotics","authors":"Yixin Zhang;Wenchao Yue;Hiu Ching Cheung;Haixu Meng;Xiaoxiao Yang;Shichen Fu;Jinran Su;Huxin Gao;Chia-Hung Chen;Xiuli Zuo;Hongliang Ren","doi":"10.1109/TMRB.2026.3699220","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3699220","url":null,"abstract":"Cystic fibrosis (CF) patients continue to suffer from mucus accumulation and recurrent infections despite long-term clinical interventions. Conventional airway clearance therapies have limited accessibility to distal bronchial regions with low overall clearance efficiency, and existing studies lack objective quantitative metrics. Here, we present a microfluidic suction robot for targeted mucus clearance and liquid biopsy. The system integrates a pneumatically controlled 2-by-2 pouch matrix for multimodal actuation and a microfluidic suction module for active liquid extraction. A balloon-based pitch control mechanism with an optimal initial pitch-control pressure range of 2-3 kPa is incorporated to enable more controllable pouch deformation and stable intraluminal operation. Single-pouch deformation characterization revealed a cubic relationship between injected volume and expansion ratio, and a pouch radius of 2 mm was selected to achieve a maximum deformation of 246.91%. Destructive burst pressure tests were conducted, and the system’s safety factor is approximately 5.27. Dynamic modeling of the pouch matrix enabled sequential actuation. Differential pouch drive achieved a forward speed of 26.9 mm/min and an average yaw angle of 4.86° per drive cycle. The integrated suction module efficiently extracted 20-80% glycerol solutions within 10 s. In vivo validation confirmed sequential pouch-driven multimodal motion and successful recovery of biological samples containing mucus and tissue fragments following saline irrigation. We demonstrate that this intraluminal robotic platform enables localized mucus clearance and liquid biopsy, offering a promising strategy for minimally invasive intervention in narrow biological lumens.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 3","pages":"945-957"},"PeriodicalIF":4.3,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148747522","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 : 2026-08-01 Epub Date: 2026-08-17 DOI: 10.1109/TMRB.2026.3716574

引用次数: 0