IEEE transactions on medical robotics and bionics最新文献_第6页

Design and Characterization of a Low-Profile Haptic System for Telemanipulation 用于远程操控的低矮型触觉系统的设计与特性分析

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-31 DOI: 10.1109/TMRB.2024.3488840

C. F. Blanco-Diaz;G. Degl'Innocenti;E. Vendrame;M. Uliano;M. Controzzi;L. Cappello

{"title":"Design and Characterization of a Low-Profile Haptic System for Telemanipulation","authors":"C. F. Blanco-Diaz;G. Degl'Innocenti;E. Vendrame;M. Uliano;M. Controzzi;L. Cappello","doi":"10.1109/TMRB.2024.3488840","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3488840","url":null,"abstract":"In telemanipulation, supplementary feedback can enhance operator perception and control precision. This study introduces a haptic interface designed to convey temporally discrete tactile cues when remotely controlling a robot. Low-profile piezoelectric sensors were integrated in the thumb of a robotic hand to capture the key events of the manipulation task (i.e., object contact and release). Synchronously with such events, pressure bursts were delivered to the operator’s fingertip through a soft textile thimble equipped with inflatable pockets. Both this haptic display and the sensing module were individually evaluated. The pneumatic system responsible for pockets inflation was characterized in terms of reaction time, proving suitable for the application with a latency of less than 70 ms. Regarding the sensing module, the behavior of the sensorized thumb was first evaluated under static conditions, identifying contact and release events when grasping with the robotic hand differently shaped objects fixed on a table. Then, the accuracy of the touch event detection was assessed while performing a more complex manipulation task (i.e., a pick and lift task). This evaluation was conducted first with the robot programmed to grasp and lift an object following pre-defined trajectories, where we measured accuracy of 100% for contact and 90% for release event detection. Then, we performed a telemanipulation pilot study involving eight participants, where the system proved capable of correctly detecting object contact and release events with an accuracy of 100% and 86.4%. Despite preliminary, these results confirmed proper functioning of the system and paved the way for the exploration of a new haptic feedback policy in telemanipulation based on temporally discrete tactile events.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"100-107"},"PeriodicalIF":3.4,"publicationDate":"2024-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10740009","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143529893","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

Embedded Force Sensor for Soft Robots With Deep Transformation Calibration 具有深度变换校准功能的嵌入式软机器人力传感器

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-14 DOI: 10.1109/TMRB.2024.3479878

Navid Masoumi;Andrés C. Ramos;Tannaz Torkaman;Liane S. Feldman;Jake Barralet;Javad Dargahi;Amir Hooshiar

{"title":"Embedded Force Sensor for Soft Robots With Deep Transformation Calibration","authors":"Navid Masoumi;Andrés C. Ramos;Tannaz Torkaman;Liane S. Feldman;Jake Barralet;Javad Dargahi;Amir Hooshiar","doi":"10.1109/TMRB.2024.3479878","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3479878","url":null,"abstract":"A novel soft sensor calibration method is proposed for minimally invasive surgery, based on our developed gelatin-graphite sensor with high compliance and adaptability. This approach uses convolutional deep learning that accounts for a sensor’s non-linear behavior and reduces noise amplification. This technique offers a smaller minimum detectable force than other approaches and is particularly useful in sensitive surgical scenarios. The sensor’s performance is characterized by its fine resolution (\u0000<inline-formula> <tex-math>$leq 1$ </tex-math></inline-formula>\u0000mN) and accurate force estimation, especially for forces below 400 mN of amplitude. The best calibration (Morse) scheme provides high performance, with a Mean Absolute Error of \u0000<inline-formula> <tex-math>$leq 7.9$ </tex-math></inline-formula>\u0000 mN. This work was validated through comparison among other representative studies and offered a path toward future directions for optimizing and implementing soft robotic sensors in minimally invasive surgeries. The application of this sensor can revolutionize surgical procedures and capitalize on the benefits of soft robotics, potentially enhancing precision and reducing trauma in surgeries.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1363-1374"},"PeriodicalIF":3.4,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600357","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

ENTRI: Enhanced Navigational Toolkit for Robotic Interventions ENTRI：机器人干预增强导航工具包

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-14 DOI: 10.1109/TMRB.2024.3475827

Manish Sahu;Hisashi Ishida;Laura Connolly;Hongyi Fan;Anton Deguet;Peter Kazanzides;Francis X. Creighton;Russell H. Taylor;Adnan Munawar

引用次数: 0

Soft Crawling Robot With a Dual-Morphing Origami Configuration 采用双变形折纸结构的软体爬行机器人

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-14 DOI: 10.1109/TMRB.2024.3472858

Xuyang Ren;Yu Huan;Matteo Cianchetti;Shuxin Wang;Paolo Dario;Gastone Ciuti

{"title":"Soft Crawling Robot With a Dual-Morphing Origami Configuration","authors":"Xuyang Ren;Yu Huan;Matteo Cianchetti;Shuxin Wang;Paolo Dario;Gastone Ciuti","doi":"10.1109/TMRB.2024.3472858","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3472858","url":null,"abstract":"Soft crawling robots demonstrated high compliance and effectiveness in performing complex tasks in unstructured and harsh environments. They can navigate inside constrained spaces and provide superior adaptability. This paper presents a soft crawling robot with a modified Yoshimura origami-based central chamber (elongation/contraction actuator) and four electrostatic adhesion feet (anchoring elements). It was designed to perform linear and steering locomotion under specific actuation sequences to avoid obstacles autonomously; it features a height-adjustable ability to squeeze under low gaps. A dual-morphing mechanism, enabling the origami-based chamber to operate with two locomotion modalities, was investigated to provide a simple but effective actuation method. Tests were carried out to validate the dual-morphing mechanism and to characterise the crawling robot’s performance. Experimental tests successfully demonstrated the robot’s capabilities, e.g., locomotion under low gaps (i.e., 20 mm, 66% of the height of the robot), obstacle avoidance, climbing on a sloped surface (i.e., 15 deg), and lifting and carrying objects (i.e., 80 g, ten times its weight).","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1771-1780"},"PeriodicalIF":3.4,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Simulating Surgical Robot Cutting of Thin Deformable Materials Using a Rope Grid Structure 利用绳网结构模拟手术机器人切割薄型可变形材料的过程

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-07 DOI: 10.1109/TMRB.2024.3475509

Mustafa Haiderbhai;Lueder A. Kahrs

{"title":"Simulating Surgical Robot Cutting of Thin Deformable Materials Using a Rope Grid Structure","authors":"Mustafa Haiderbhai;Lueder A. Kahrs","doi":"10.1109/TMRB.2024.3475509","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3475509","url":null,"abstract":"Traditional methods for autonomous cutting in surgical robotics have relied on trajectory-based planning algorithms. These methods fail to compensate for dynamic changes in soft materials such as deformation and topological change. To apply recent advances such as reinforcement learning (RL), a simulation is needed that models the cutting of soft materials. In this work, we develop a surgical robotics simulation environment for cutting deformable meshes with the da Vinci Research Kit (dVRK). Our environment is built using a particle-based physics simulation to simulate a rope grid structure to create realistic physics behavior and visual rendering. Cutting is implemented with the EndoWrist Round Tip Scissors (RTS) through a system of collision checking and callbacks to detect and update cuts. To showcase the deformable mesh cutting simulation, we design a cutting task of cutting along a desired path that can be solved through manual control. The grid structure can be adapted to render different materials, and we highlight how it can be made to resemble deformable tissue or fabric while being stable with no visible artifacts. This environment is a stepping stone towards training autonomous agents for cutting 2D deformable materials and building towards cutting more complex deformable shapes.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1401-1404"},"PeriodicalIF":3.4,"publicationDate":"2024-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Model-Based Tracking Control of a Soft Growing Robot for Colonoscopy 基于模型的结肠镜检查软生长机器人跟踪控制

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-04 DOI: 10.1109/TMRB.2024.3474059

Korn Borvorntanajanya;Shen Treratanakulchai;Ferdinando Rodriguez y Rodriguez;Enrico Franco

引用次数: 0

A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms 采用双向表面注册算法的新型增强现实辅助骨科手术机器人系统

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-10-03 DOI: 10.1109/TMRB.2024.3472844

Ang Zhang;Zhe Min;Zhengyan Zhang;Yingying Wang;Max Q.-H. Meng

{"title":"A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms","authors":"Ang Zhang;Zhe Min;Zhengyan Zhang;Yingying Wang;Max Q.-H. Meng","doi":"10.1109/TMRB.2024.3472844","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3472844","url":null,"abstract":"This paper presents a novel augmented reality (AR)-assisted orthopedic surgical robotic system based on Head-Mounted Display (HMD) devices. The proposed system can overlay the preoperative plans over the patient’s anatomy and provide useful guidance for surgeons during interventions, with integrated calibration and registration components. A novel bi-directional generalised point set registration algorithm that utilises robust features is developed to accurately align the pre-operative CT and intra-operative patient spaces, which has been demonstrated to outperform existing registration methods. The efficacy of the system is both qualitatively and quantitatively assessed with an in vitro study representing a total knee arthroplasty (TKA) procedure. The experimental results showed that 1) the system can successfully align the preoperative and intraoperative spaces, with the mean target registration error (TRE) being \u0000<inline-formula> <tex-math>$2.78 ; pm ; 2.51$ </tex-math></inline-formula>\u0000 mm; 2) the models can be properly overlaid to the physical scenarios with the mean AR visualization accuracy being \u0000<inline-formula> <tex-math>$6.97 ; pm ; 1.57$ </tex-math></inline-formula>\u0000 mm.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1555-1566"},"PeriodicalIF":3.4,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

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

IF 3.4

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

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

引用次数: 0

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

IF 3.4

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

Pasquale Marra;Sajjad Hussain;Marco Caianiello;Fanny Ficuciello

{"title":"MPC for Suturing Stitch Automation","authors":"Pasquale Marra;Sajjad Hussain;Marco Caianiello;Fanny Ficuciello","doi":"10.1109/TMRB.2024.3472796","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3472796","url":null,"abstract":"Robot-assisted surgery (RAS) requires effective control strategies to ensure safety and accuracy while respecting the physical limits of the robot during tasks such as suturing and tissue manipulation. Model Predictive Control (MPC), with its inherent capability to handle complex dynamic systems, predict the future response and enforce constraints, is well-suited for these tasks. In this paper, MPC is employed to automate the suturing stitch task by mapping the operational space trajectory to the joint space while ensuring compliance with system kinematics constraints and safety requirements. To address varying requirements during suturing sub-tasks, two different objective functions and their corresponding constraint sets are used. The proposed framework is implemented using the ACADO toolkit to solve the Optimal Control Problem (OCP) and ROS to connect ACADO to CoppeliaSim/DVRK. Validation through simulations in CoppeliaSim and real-time experiments on the DVRK demonstrated that our approach achieved a positional/orientational accuracy of less than \u0000<inline-formula> <tex-math>$1mm/4 ^{circ }$ </tex-math></inline-formula>\u0000 in simulations, and an error norm of approximately \u0000<inline-formula> <tex-math>$1.9mm$ </tex-math></inline-formula>\u0000 in real world implementations, confirming its effectiveness in automating suturing task.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1468-1477"},"PeriodicalIF":3.4,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

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

IF 3.4

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

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

{"title":"Imitation Learning of Compression Pattern in Robotic-Assisted Ultrasound Examination Using Kernelized Movement Primitives","authors":"Diego Dall’Alba;Lorenzo Busellato;Thiusius Rajeeth Savarimuthu;Zhuoqi Cheng;Iñigo Iturrate","doi":"10.1109/TMRB.2024.3472856","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3472856","url":null,"abstract":"Vascular diseases are commonly diagnosed using Ultrasound (US) imaging, which can be inconsistent due to its high dependence on the operator’s skill. Among these, Deep Vein Thrombosis (DVT) is a common yet potentially fatal condition, often leading to critical complications like pulmonary embolism. Robotic US Systems (RUSs) aim to improve diagnostic test consistency but face challenges with the complex scanning pattern requiring precise control over US probe pressure, such as the one needed for indirectly detecting occlusions during DVT assessment. This work introduces an imitation learning method based on Kernelized Movement Primitives (KMP) to standardize the contact force profile during US exams by training a robotic controller using sonographer demonstrations. A new recording device design enhances demonstration acquisition, integrating with US probes and enabling seamless force and position data recording. KMPs are used to link scan trajectory and interaction force, enabling generalization beyond the demonstrations. Our approach, evaluated on synthetic models and volunteers, shows that the KMP-based RUS can replicate an expert’s force control and US image quality, even under conditions requiring compression during scanning. It outperforms previous methods using manually defined force profiles, improving exam standardization and reducing reliance on specialized sonographers.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1567-1580"},"PeriodicalIF":3.4,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10704653","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0