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

Modeling Human Upper Limb Trajectories for Reaching Motions on CLEVERarm 在 CLEVERarm 上模拟人类上肢伸展运动轨迹

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-19 DOI: 10.1109/TMRB.2024.3464097

Kuang Nie;Reza Langari

{"title":"Modeling Human Upper Limb Trajectories for Reaching Motions on CLEVERarm","authors":"Kuang Nie;Reza Langari","doi":"10.1109/TMRB.2024.3464097","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464097","url":null,"abstract":"Given the significant potential for robot-assisted rehabilitation, developing well-planned trajectories plays a crucial role in enhancing the effectiveness of such rehabilitation methods. A critical aspect of this field, particularly concerning the movement of the human upper limb, is the redundancy resolution. In this study, we introduce a novel trajectory planning method aimed at addressing the redundancy resolution in reaching motions related to Activities of Daily Living (ADL). This method is inspired by prior studies on maximum manipulability while emphasizing the natural upper limb posture, particularly the human preference for maintaining a nearly steady elbow position during ADL movements unless, of course, the range of the desired motion requires otherwise. A trajectory-combining approach is developed for generating trajectories in the human configuration space. Additionally, we present a configuration transformation model for human-robot configuration alignment. Experimental results validate the hypothesis of a steady elbow position and combine features from the Minimum Jerk (MJ) and Minimum Angular Jerk (MAJ) methods, demonstrating more natural reaching motions. The configuration transformation model has been successfully tested on the TAMU CLEVERarm, a lightweight and compact upper limb exoskeleton.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1603-1615"},"PeriodicalIF":3.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600325","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 Society Information 电气和电子工程师学会《医疗机器人与仿生学》学会信息

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-08-08 DOI: 10.1109/TMRB.2024.3434228

引用次数: 0

IEEE Transactions on Medical Robotics and Bionics Publication Information 电气和电子工程师学会《医用机器人与仿生学论文集》（IEEE Transactions on Medical Robotics and Bionics）出版信息

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-08-08 DOI: 10.1109/TMRB.2024.3434206

引用次数: 0

Guest Editorial Joining Efforts Moving Faster in Surgical Robotics 特邀社论携手加快手术机器人技术的发展步伐

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-08-08 DOI: 10.1109/TMRB.2024.3426732

Emmanuel Vander Poorten;Leonardo S. Mattos;Guillaume Morel;Paolo Fiorini;Alicia Casals;Arianna Menciassi

引用次数: 0

IEEE Transactions on Medical Robotics and Bionics Information for Authors 电气和电子工程师学会《医用机器人与仿生学学报》（IEEE Transactions on Medical Robotics and Bionics）为作者提供的信息

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-08-08 DOI: 10.1109/TMRB.2024.3434230

引用次数: 0

Breach Detection in Spine Surgery Based on Cutting Torque 基于切割扭矩的脊柱手术裂缝检测

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-07-11 DOI: 10.1109/TMRB.2024.3421543

E. Saghbiny;L. Leblanc;A. Harlé;C. Bobbio;R. Vialle;G. Morel;B. Tamadazte

{"title":"Breach Detection in Spine Surgery Based on Cutting Torque","authors":"E. Saghbiny;L. Leblanc;A. Harlé;C. Bobbio;R. Vialle;G. Morel;B. Tamadazte","doi":"10.1109/TMRB.2024.3421543","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421543","url":null,"abstract":"The accurate placement of pedicle screws is crucial for various spinal interventions, demanding precise geometric alignment while carrying inherent risks. Studies show that the rate of complications can reach up to 18% in case of imprecise placement of pedicle screws. To enhance the precision and safety of pedicle screw placement, we have developed a robotic system equipped with several sensors and paired with a breach detection algorithm capable of identifying potential breaches in the spinal canal. The breach detection algorithm was conceptualized through an analysis of the cutting torque of the drill system. An ex-vivo experiment was conducted to assess the effectiveness of the developed robotic solution and breach detection algorithm. The data (e.g., cutting torque, position, velocity, etc.) used during the validation were collected by drilling 80 pedicles in fresh porcine vertebrae. The results demonstrated that the proposed algorithm could predict breaches in 96.42% of cases, i.e., the distance between the detected point (drilling stop) and the point of the breach is within 2 mm. In a single instance, the detection occurred earlier than anticipated due to the trajectory being oriented significantly medially, resulting in an initial interaction with the cortical bone at an earlier point.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1084-1092"},"PeriodicalIF":3.4,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141966300","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

On the OTHER Hand: A Bilateral, Reconfigurable Hand Exoskeleton With Opposable Thumbs for Use With Upper Limb Exoskeletons 另一只手：与上肢外骨骼一起使用的具有对生拇指的双侧可重构手部外骨骼

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-07-05 DOI: 10.1109/TMRB.2024.3421513

Peter Walker Ferguson;Jianwei Sun;Ji Ma;Joel Perry;Jacob Rosen

引用次数: 0

CathSim: An Open-Source Simulator for Endovascular Intervention CathSim：开放源码的血管内介入模拟器

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-07-05 DOI: 10.1109/TMRB.2024.3421256

Tudor Jianu;Baoru Huang;Minh Nhat Vu;Mohamed E. M. K. Abdelaziz;Sebastiano Fichera;Chun-Yi Lee;Pierre Berthet-Rayne;Ferdinando Rodriguez y Baena;Anh Nguyen

{"title":"CathSim: An Open-Source Simulator for Endovascular Intervention","authors":"Tudor Jianu;Baoru Huang;Minh Nhat Vu;Mohamed E. M. K. Abdelaziz;Sebastiano Fichera;Chun-Yi Lee;Pierre Berthet-Rayne;Ferdinando Rodriguez y Baena;Anh Nguyen","doi":"10.1109/TMRB.2024.3421256","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421256","url":null,"abstract":"Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of training such robots, such as long training duration and safety issues arising from the interaction between the catheter and the aorta. Recently, endovascular simulators have been employed for medical training but generally do not conform to autonomous catheterization due to the lack of standardization and RL framework compliance. Furthermore, most current simulators are closed-source, which hinders the collaborative development of safe and reliable autonomous systems through shared learning and community-driven enhancements. In this work, we introduce CathSim, an open-source simulation environment that accelerates the development of machine learning algorithms for autonomous endovascular navigation. We first simulate the high-fidelity catheter and aorta with a state-of-the-art endovascular robot. We then provide the capability of real-time force sensing between the catheter and the aorta in simulation. Furthermore, we validate our simulator by conducting two different catheterization tasks using two popular reinforcement learning algorithms, namely SAC and PPO. The experimental results show that our open-source simulator can mimic the behavior of real-world endovascular robots and facilitate the development of different autonomous catheterization tasks. Our simulator is publicly available at \u0000<uri>https://github.com/airvlab/cathsim</uri>\u0000.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"971-979"},"PeriodicalIF":3.4,"publicationDate":"2024-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965165","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

Cable-Driven Light-Weighting and Portable System for Robotic Medical Ultrasound Imaging 用于机器人医学超声波成像的电缆驱动轻型便携系统

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-07-03 DOI: 10.1109/TMRB.2024.3422608

Guochen Ning;Jie Wang;Hongen Liao

{"title":"Cable-Driven Light-Weighting and Portable System for Robotic Medical Ultrasound Imaging","authors":"Guochen Ning;Jie Wang;Hongen Liao","doi":"10.1109/TMRB.2024.3422608","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3422608","url":null,"abstract":"Robotic ultrasound imaging systems (RUSs) have captured significant interest owing to their potential to facilitate autonomous ultrasound imaging. However, existing RUSs built upon robotic systems oriented towards conventional manufacturing struggle to navigate the variable and dynamic clinical environments. We introduce a portable and lightweight RUS designed to enhance adaptability for ultrasound imaging tasks. The proposed system features multiple parallel rings and bearings, affording it four degrees-of-freedom for precise posture control. Further enhancing its adaptability, the actuators are isolated from the mechanism and connected by a cable-sheath mechanism, resulting in a mere 519g lightweight structure that attaches to the body. Quantitative assessments indicate that within a vast workspace of 981 cm3, the posture control precision of the probe is measured at \u0000<inline-formula> <tex-math>$1.32pm 0.1$ </tex-math></inline-formula>\u0000mm and [\u0000<inline-formula> <tex-math>$1.8pm 1.1^{circ }$ </tex-math></inline-formula>\u0000, \u0000<inline-formula> <tex-math>$1.9pm 2.2^{circ }$ </tex-math></inline-formula>\u0000, \u0000<inline-formula> <tex-math>$0.8~pm 0.8^{circ }$ </tex-math></inline-formula>\u0000]. The maximum compression force measured for the probe is 14.5 N. The quantitative evaluation results show that the system can attach to various parts of the human body for image acquisition. In addition, the proposed system excels in performing stable scanning procedures even in rapidly changing dynamic environments. Our system can realize imaging tasks with a much lighter structure and has the potential to be applied to more complex scenarios.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1220-1231"},"PeriodicalIF":3.4,"publicationDate":"2024-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965683","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

Toward Human-Out-of-the-Loop Endoscope Navigation Based on Context Awareness for Enhanced Autonomy in Robotic Surgery 基于情境感知的人机交互内窥镜导航，增强机器人手术的自主性

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-07-03 DOI: 10.1109/TMRB.2024.3422618

Ziyang Chen;Ke Fan;Laura Cruciani;Matteo Fontana;Lorenzo Muraglia;Francesco Ceci;Laura Travaini;Giancarlo Ferrigno;Elena De Momi

{"title":"Toward Human-Out-of-the-Loop Endoscope Navigation Based on Context Awareness for Enhanced Autonomy in Robotic Surgery","authors":"Ziyang Chen;Ke Fan;Laura Cruciani;Matteo Fontana;Lorenzo Muraglia;Francesco Ceci;Laura Travaini;Giancarlo Ferrigno;Elena De Momi","doi":"10.1109/TMRB.2024.3422618","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3422618","url":null,"abstract":"Although the da Vinci surgical system enhances manipulation dexterity and restores 3D vision in robotic surgery, it requires surgeons to asynchronously control surgical instruments and the endoscope, which hinders a smooth operation. Surgeons frequently position the endoscope to maintain a good field of view during operation, potentially increasing surgical time and workload. In this paper, a Human-Out-Of-The-Loop (HOOTL) endoscope navigation control with the assistance of context awareness is proposed to enhance surgical autonomy. A comprehensive comparison study using 8 state-of-the-art networks was conducted to find out the best model for surgical phase recognition. Ten human subjects were invited to participate in a classic ring transferring task based on three different endoscope navigation pipelines on a da Vinci research kit platform, including standard endoscope navigation, semi-autonomous endoscope navigation with manual pedal control, and HOOTL endoscope navigation supported by vision-based phase recognition. The experimental results showed that the proposed endoscope navigation approach releases the operation need of controlling the pedals, and it significantly reduces the execution time compared to the other two navigation pipelines. The result of the NASA Task Load Index (NASA-TLX) questionnaire indicates that the proposed endoscope navigation can reduce the physical and mental load for the users.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1116-1124"},"PeriodicalIF":3.4,"publicationDate":"2024-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10584115","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965579","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