IEEE transactions on medical robotics and bionics最新文献

{"title":"A Global–Local Fusion Model Exploring Temporal–Spatial Dependence for Multimodal Hand Gesture Recognition","authors":"Shengcai Duan;Le Wu;Aiping Liu;Xun Chen","doi":"10.1109/TMRB.2025.3550646","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550646","url":null,"abstract":"Hand Gesture Recognition (HGR) employing surface electromyography (sEMG) and accelerometer (ACC) signals has garnered increasing interest in areas of bionic prostheses and human-machine interaction. However, existing multimodal approaches predominantly extract global specificity at a single temporal scale, which neglects local dynamic characteristics. This limitation hinders the effective capture of global-local temporal information, resulting in restricted performance and frequent misclassification of dynamic gestures. To this end, we propose a novel global-local Fusion model, termed Temporal-spatial Dependence Fusion (TsdFusion), for sEMG-ACC-based HGR. TsdFusion harnesses temporal-spatial dependencies (Tsd) from multi-time scale handcrafted features and employs a Convolution-Transformer framework for global-local fusion, thus enriching local dynamic information while preserving global insights. Specifically, the Tsd inputs are independently constructed from sEMG and ACC through multi-time scale window segmentation and feature engineering. Furthermore, the global and local temporal-spatial correlations within unimodal Tsd inputs are characterized by the unimodal transformer and dimension-wise convolution modules, respectively. Subsequently, a Convolution-coupled-transformer progressive hierarchical fusion module effectively integrates intramodal specificity and intermodal hierarchical relationship for final prediction. Evaluations on four public datasets, including transradial amputees and healthy subjects, demonstrate TsdFusion outperforms the state-of-the-art multimodal HGR methods. The TsdFusion effectively recognizes dynamic gestures, facilitating promising HGR-based interaction for prostheses or assistance robotics.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"723-733"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143949155","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":"Intra-Operative 3-D Modeling of Side Branch Vessels for IVUS-Guided Catheter Navigation","authors":"Beatriz Farola Barata;Wim-Alexander Beckers;Gianni Borghesan;Diego Dall'Alba;Johan Bennett;Keir McCutcheon;Paolo Fiorini;Jos Vander Sloten;Emmanuel Vander Poorten","doi":"10.1109/TMRB.2025.3550709","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550709","url":null,"abstract":"Despite continuous advances in three-dimensional (3D) fusion imaging, two-dimensional (2D) X-ray-based fluoroscopy is still the gold standard intra-operative image guidance tool in endovascular interventions. The adoption of robotic technology offers the potential to bring intra-operative radiation exposure down to a minimum, or even eliminate it. Non-ionizing approaches, such as Intravascular Ultrasound (IVUS), are progressively explored as standalone or fluoroscopy-adjunct techniques for 3D vasculature reconstruction. We have previously demonstrated the feasibility of real-time 3D Main Vessel (MV) modeling from the fusion of IVUS and EM pose data obtained from sensors embedded at the tip of a robotic catheter. This paper proposes to advance MV modeling towards a comprehensive radiation-free 3D guidance framework by means of intra-operative Side Branch (SB) detection and modeling. Two models are proposed to approximate the geometry of SB vessel ostia: a sphere and a cylinder. An Unscented Kalman Filter (UKF) recursively estimates the state of these models considering the MV model, while the catheters navigates through the vessel. In silico and in vitro validation results show the potential clinical value of the proposed strategy for facilitating safer robotic catheter steering.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"443-454"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084787","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":"Model-Based Position Control of a Tendon-Driven Variable-Length Continuum Robot for Minimally Invasive Mitral Valve Repair","authors":"Anna Bicchi;Xiu Zhang;Benjamín Ignacio Fortuño Jara;Vanessa Cannizzaro;Angela Peloso;Elena De Momi","doi":"10.1109/TMRB.2025.3550674","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550674","url":null,"abstract":"Minimally invasive mitral valve repair offers significant advantages over traditional open-heart surgery, yet it remains a complex procedure that exposes both patients and medical staff to radiation. To address these challenges, a significant research interest is growing in automating these manual procedures. Continuum robots represent a promising approach, thanks to their ability to navigate confined spaces. However, their nonlinear behavior presents challenges in modeling and control. In this study, we developed a robust position control method for a variable-length tendon-driven continuum robot. We designed a control system that effectively tracks the desired target positions by employing a constant curvature model and a Jacobian-based control algorithm with real-time position feedback. We assessed the stability of our system through Lyapunov analysis, demonstrating reliable convergence to these target positions. Experimental validation conducted in a cardiovascular phantom demonstrated significant improvements with respect to the state of the art. Our method achieved a trajectory following error of approximately 2.43 mm [1.63, 3.23] and a target position error of about 1.92 mm [1.73, 3.13]. Moreover, the computation time per trajectory point was reduced to approximately 0.04 seconds, highlighting enhanced computational efficiency. These results showcase improved accuracy and efficiency in minimally invasive mitral valve repair procedures.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"562-571"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084734","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":"Real-Time Adaptation of Deep Learning Walking Speed Estimators Enables Biomimetic Assistance Modulation in an Open-Source Bionic Leg","authors":"Jairo Y. Maldonado-Contreras;Cole Johnson;Sixu Zhou;Hanjun Kim;Ian Knight;Kinsey R. Herrin;Aaron J. Young","doi":"10.1109/TMRB.2025.3550642","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550642","url":null,"abstract":"This study introduces a novel continual learning algorithm that incrementally improves the performance of deep-learning-based walking speed estimators during level-ground walking with a powered knee-ankle prosthesis. While user-dependent (DEP) estimators generally outperform user-independent (IND) estimators, they require the pre-collection of DEP training data. In contrast, our real-time algorithm adapts IND estimators to self-labeled DEP data generated during walking, eliminating the need for pre-collected datasets. The algorithm also features a biomimetic scaling mechanism that adjusts prosthetic assistance based on speed estimates. We evaluated our algorithm on novel subjects (N=10) with unilateral above-knee amputations during treadmill and overground walking. For treadmill trials, when adapted with estimated and ground truth labels, estimators achieved mean absolute errors (MAEs) of 0.074 [0.023] (mean, [standard deviation]) and 0.074 [0.018] m/s, respectively, reflecting a significant 28% (p ¡ 0.05) reduction in MAE compared to non-adapted estimators. For overground trials, treadmill-adapted estimators demonstrated a significant 18% (p ¡ 0.05) reduction in MAE compared to non-adapted estimators. Our algorithm significantly reduced speed estimation errors within one minute of walking and delivered biomimetic assistance (r <inline-formula> <tex-math>${=}0.91$ </tex-math></inline-formula>) across speeds. This approach allows off-the-shelf powered prostheses to seamlessly adapt to new users, delivering biomimetic assistance through precise, real-time walking speed estimation.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"711-722"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144073147","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":"Human-Centered Design Trade-Offs for Semi-Powered Knee Prostheses: A Review","authors":"Andrea Berettoni;Josephus J. M. Driessen;Marco Puliti;Giacinto Barresi;Carlo De Benedictis;Carlo Ferraresi;Matteo Laffranchi","doi":"10.1109/TMRB.2025.3550655","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550655","url":null,"abstract":"For many decades, developments of knee prostheses have shown a dichotomy regarding fundamental working principles. The industry has mainly emphasized on quasi-passive hydraulic solutions, whereas most research works have focused on powered devices, employing electric actuation. The former have an energetically passive effect at the knee joint, for which they often lack in providing versatility and movement robustness for the wearer. Powered prostheses can address these deficiencies, but are often rejected as they struggle to fulfill other user needs (e.g., weight and acoustic noise). Correspondingly, recent studies have emerged that attempt to significantly attenuate the deficiencies of fully powered prosthesis knees, partially sacrificing on device versatility. Recognizing the state-of-the art difficulties in balancing active assistance and user needs fulfilment, this work analyses human-centered design perspectives and their prospects for prosthetic development, in light of the often diverging user needs. We conclude that various types of both explored and yet unexplored semi-powered solutions may have the potential to provide the better trade-off between quasi-passive and fully powered prosthetic devices.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"429-442"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10924214","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084799","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":"A Posterior Segment Ocular Microsurgical Robot With a Decoupling RCM Mechanism Based on a Minimized Internal Constraint Force Optimization Method","authors":"Zhi Li;Dunfa Long;Feiyang Chen;Kaifeng Wang;Chaoyang Shi","doi":"10.1109/TMRB.2025.3550643","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550643","url":null,"abstract":"This paper presents a leader-follower robotic system featuring a novel 4-degree-of-freedom (4-DOF) Remote Center of Motion (RCM) mechanism, tailored to address the limitations associated with traditional posterior segment ocular microsurgery. The proposed 4-DOF mechanism employs parallelogram motion replication to relocate the bulky instrument insertion drive from the end-effector to the proximal linkage on the base, minimizing obstruction to the microscope’s field of view and the surgical environment. The mechanism’s orthogonal or coincident arranged degrees of freedom, paired with independent drive units, facilitate calibration and enhance control accuracy. A minimized internal constraint force optimization method was proposed to improve RCM point stability and tip positioning accuracy. The mechanism’s configuration and parameters were optimized through an analytical mechanics model, effectively reducing the constraint force on the internal components under the same external loads, thereby minimizing deformation and maintaining accuracy. To enhance robot compatibility, modular surgical instruments with a quick-change coupler were developed based on the analysis of traditional instruments’ characteristics. The prototype was built and kinematically calibrated to reduce manufacturing and assembly errors and thus improve accuracy. Following kinematic calibration to minimize manufacturing and assembly errors, experimental validation revealed positioning accuracies of <inline-formula> <tex-math>$49~pm ~23~mu $ </tex-math></inline-formula>m and <inline-formula> <tex-math>$22~pm ~13~mu $ </tex-math></inline-formula>m, repeatabilities of <inline-formula> <tex-math>$25~pm ~10~mu $ </tex-math></inline-formula>m and <inline-formula> <tex-math>$9~pm ~4~mu $ </tex-math></inline-formula>m, and RCM deviations of <inline-formula> <tex-math>$13~pm ~10~mu $ </tex-math></inline-formula>m and <inline-formula> <tex-math>$18~pm ~11~mu $ </tex-math></inline-formula>m on the X-Z and Y-Z planes, respectively. The cannulation experiment further demonstrates the prototype’s potential for robot-assisted vitreoretinal microsurgery.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"528-541"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084731","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":"Active-Model-Based Precise Twist Steering for Autonomous Robotic Flexible Endoscope","authors":"Xiangyu Wang;Chong Liu;Yongchun Fang;Ningbo Yu;Yanding Qin;Hongpeng Wang;Jianda Han","doi":"10.1109/TMRB.2025.3550673","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550673","url":null,"abstract":"In natural orifice transluminal endoscopic surgery (NOTES), the twist steering of the flexible endoscope plays an important role in tracking the preoperative path during cavity intervention. However, the flexible endoscope’s twisting motion has high nonlinearity and uncertainty, which bring challenges for accurate modeling and controller design. In this study, a novel active modeling-based improved control (AMIC) scheme is proposed, which achieves precise control of the robotic flexible endoscope’s twisting motion. First, the Coleman-Hodgdon (C-H) model is modified to serve as the reference model to describe the twist steering. Then, the model error in the C-H model is introduced as an extended state. Upon this, an active modeling algorithm is developed by using the unscented Kalman filter. The proposed model estimates both the twisting angle and the model error in real time. Based on the proposed model, the AMIC strategy is developed to enhance the tracking performance of a proportional-integral-derivative (PID) controller for a reference trajectory. Finally, comparative experiments were conducted on a self-built robotic flexible endoscope under various insertion depths and tip-part configurations. Compared to the PID controller, the experimental results demonstrate that the proposed AMIC scheme achieves a 63.1% reduction in tracking error under a sinusoidal trajectory.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"481-491"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084774","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":"Robotic Eye-in-Hand Visual Servo Axially Aligning Nasopharyngeal Swabs With the Nasal Cavity","authors":"Peter Q. Lee;John S. Zelek;Katja Mombaur","doi":"10.1109/TMRB.2025.3550667","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550667","url":null,"abstract":"The nasopharyngeal (NP) swab test is a method for collecting cultures to diagnose for different types of respiratory illnesses, including COVID-19. Delegating this task to robots would be beneficial in terms of reducing infection risks and bolstering the healthcare system, but a critical component of the NP swab test is having the swab aligned properly with the nasal cavity so that it does not cause excessive discomfort or injury by traveling down the wrong passage. Existing research towards robotic NP swabbing typically assumes the patient’s head is held within a fixture. This simplifies the alignment problem, but is also dissimilar to clinical scenarios where patients are typically free-standing. Consequently, our work creates a vision-guided pipeline to allow an instrumented robot arm to properly position and orient NP swabs with respect to the nostrils of free-standing patients. The first component of the pipeline is a precomputed joint lookup table to allow the arm to meet the patient’s arbitrary position in the designated workspace, while avoiding joint limits. Our pipeline leverages semantic face models from computer vision to estimate the Euclidean pose of the face with respect to a monocular RGB-D camera placed on the end-effector. These estimates are passed into an unscented Kalman filter on manifolds state estimator and a pose based visual servo control loop to move the swab to the designated pose in front of the nostril. Our pipeline was validated with human trials, featuring a cohort of 25 participants. The system is effective, reaching the nostril for 84% of participants, and our statistical analysis did not find significant demographic biases within the cohort.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"469-480"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084732","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":"Design and Accuracy Assessment of NOR²CORS: Navigation-Operation Dual-Robot Collaborative Robotic System for Orthopedic Surgery","authors":"Pengxiu Geng;Mengde Luo;Jianpeng Liu;Tianyao Li;Hongpeng Wang;Yanding Qin;Jianda Han","doi":"10.1109/TMRB.2025.3550652","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550652","url":null,"abstract":"Optical navigation is the mainstream technology used in intraoperative navigation for the orthopedic surgical robot. The information loss problem in optical navigation system (OTS) seriously affects the surgical process. Different from the conventional orthopedic surgical robot systems, we propose to use an additional navigation robot to adjust the viewpoint of the OTS. In this navigation-operation dual-robot collaborative robotic system for orthopedic surgery (NOR2CORS), a comprehensive range of functions are realized, including CT image segmentation, path planning, intraoperative operation, and active navigation. In this paper, pedicle screw placement is adopted as an example to assess the effectiveness and performance of the NOR2CORS. An assessment criterion is also proposed to assess the accuracy of pedicle screw placement based on the widely-used Gertzbein and Robbins classification. Experiments are conducted on a human spine model (24 pedicles) and ex-vivo porcine spine (10 pedicles). According to the proposed assessment criterion, 96% pedicles on human spine model can be classified as grade A and 4% grade B, with 67% of them as grade A2 and above. In the ex-vivo porcine spine experiment, all pedicle screw placements can be classified as grade A, with 80% of them as grade A2 and above. In the surgical process, all positioning targets can be observed without any interruption in navigation. These results demonstrated the efficiency and accuracy of the NOR2CORS.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"502-513"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084778","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":"Model-Based Optimization for the Personalization of Robot-Assisted Gait Training","authors":"Andreas Christou;Daniel F. N. Gordon;Theodoros Stouraitis;Juan C. Moreno;Sethu Vijayakumar","doi":"10.1109/TMRB.2025.3550649","DOIUrl":"https://doi.org/10.1109/TMRB.2025.3550649","url":null,"abstract":"Personalised rehabilitation can be key to promoting gait independence and quality of life. Robots can enhance therapy by systematically delivering support in gait training, but often use one-size-fits-all control methods, which can be suboptimal. Here, we describe a model-based optimisation method for designing and fine-tuning personalised robotic controllers. As a case study, we formulate the objective of providing assistance as needed as an optimisation problem, and we demonstrate how musculoskeletal modelling can be used to develop personalised interventions. Eighteen healthy participants (age <inline-formula> <tex-math>$ = 26~pm ~4$ </tex-math></inline-formula>) were recruited and the personalised control parameters for each were obtained to provide assistance as needed during a unilateral tracking task. A comparison was carried out between the personalised controller and the non-personalised controller. In simulation, a significant improvement was predicted when the personalised parameters were used. Experimentally, responses varied: six subjects showed significant improvements with the personalised parameters, eight subjects showed no obvious change, while four subjects performed worse. High interpersonal and intra-personal variability was observed with both controllers. This study highlights the importance of personalised control in robot-assisted gait training, and the need for a better estimation of human-robot interaction and human behaviour to realise the benefits of model-based optimisation.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 2","pages":"642-654"},"PeriodicalIF":3.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084775","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}