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

A Dual-Arm Robotic System With Virtual Fixture-Guided Light Tracking for Fundus Surgery 用于眼底手术的虚拟夹具引导光跟踪双臂机器人系统

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-06 DOI: 10.1109/TMRB.2026.3680967

Zhaodong Wang;Chenhan Guang;Yu Zheng;Hao Li;Yang Yang;Chuang Lin

{"title":"A Dual-Arm Robotic System With Virtual Fixture-Guided Light Tracking for Fundus Surgery","authors":"Zhaodong Wang;Chenhan Guang;Yu Zheng;Hao Li;Yang Yang;Chuang Lin","doi":"10.1109/TMRB.2026.3680967","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3680967","url":null,"abstract":"Retinal surgery demands submillimeter precision in constrained intraocular spaces, with subretinal injections requiring accurate bimanual coordination between surgical tools and illumination devices. This paper presents the Dual-Arm Robotic System for Subretinal Injection (DASSI), featuring a motion-decoupled Remote Center of Motion (RCM) mechanism and an initial placement strategy to optimize dual-arm workspace overlap. An Automatic Light Pipe Tracking algorithm with Guided Virtual Fixtures (ATLP-GVF) is developed to eliminate redundant light pipe motion when illumination needs are met. Integrated with its hardware design (motion-decoupled RCM mechanism) and ATLP-GVF, DASSI achieves precise performance: orientation tracking error (<inline-formula> <tex-math>$0.65^{circ } pm ~0.28^{circ }$ </tex-math></inline-formula>), depth error (1.86 mm <inline-formula> <tex-math>$pm ~0.93$ </tex-math></inline-formula> mm), and stable illumination (tracking offset ratio 26% <inline-formula> <tex-math>$pm ~14$ </tex-math></inline-formula>%). Notably, in the ex-vivo experiment, ATLP-GVF reduces light pipe movement duration to less than 10% of that with continuous tracking methods, representing a reduction of more than 90%. DASSI demonstrates potential to address bimanual coordination challenges in retinal microsurgery, offering a precise platform for complex procedures such as subretinal gene-therapy delivery.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"642-653"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148504969","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

Lower-Limb Exoskeleton Trajectory and Structure Co-Optimization for Maximum Assistive Efficiency 下肢外骨骼轨迹和结构协同优化以实现最大辅助效率

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-06 DOI: 10.1109/TMRB.2026.3681004

Tianyi Sun;Zhenlei Chen;Qing Guo;Yao Yan

{"title":"Lower-Limb Exoskeleton Trajectory and Structure Co-Optimization for Maximum Assistive Efficiency","authors":"Tianyi Sun;Zhenlei Chen;Qing Guo;Yao Yan","doi":"10.1109/TMRB.2026.3681004","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3681004","url":null,"abstract":"Improving assistance efficiency is paramount for booster exoskeleton design, requiring comprehensive consideration of the human-exoskeleton dynamics, with coupling mechanics playing a central role. This study proposes a purely simulation-based co-optimization framework that simultaneously considers both trajectory and structure parameters of the exoskeleton to maximize assistive efficiency under various coupling conditions. The framework integrates a two-layer optimization strategy for identifying coupling parameters and employs a co-optimization scheme based on the Neighborhood Field Optimization algorithm, utilizing surrogate models for inverse dynamic analysis. Four coupling models across five coupling positions and three surrogate models were examined. The nonlinear coupling model and Bayesian Neural Network surrogate achieved superior accuracy. Optimal exoskeleton segment lengths found to be shorter at varying degrees along the shank, but slightly longer at the thigh compared to corresponding human segment lengths. Furthermore, the optimized results significantly enhanced assistance efficiency, with the linear coupling model achieving torque reductions of 29.65% (knee) and 69.29% (hip). The most effective coupling positions were identified at 70% (shank) and 60% (thigh) of segment lengths. By simultaneously optimizing both the structure and trajectory parameters of the exoskeleton within the proposed framework, effective assistance to the wearer can be achieved. This study offers valuable insights and design strategies for the development and optimization of booster exoskeletons, contributing to enhanced human-exoskeleton coupling and performance.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"763-773"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507809","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

Practical Multiple Model Switching sEMG Decoders for Motion Intention Description in Rehabilitation Robot Control 用于康复机器人控制中运动意图描述的实用多模型开关表面肌电信号解码器

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-09 DOI: 10.1109/TMRB.2026.3682646

Yao Huang;Huifang Liu;Ahmadreza Argha;Branko G. Celler;Andrey V. Savkin;Gongchang Yu;Rong Song;Bin Shi;Steven Weidong Su

{"title":"Practical Multiple Model Switching sEMG Decoders for Motion Intention Description in Rehabilitation Robot Control","authors":"Yao Huang;Huifang Liu;Ahmadreza Argha;Branko G. Celler;Andrey V. Savkin;Gongchang Yu;Rong Song;Bin Shi;Steven Weidong Su","doi":"10.1109/TMRB.2026.3682646","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3682646","url":null,"abstract":"Accurate decoding of human motion intention from surface electromyography (sEMG) is crucial for smooth and responsive rehabilitation robot control. This study develops a multiple-model sEMG decoder incorporating a practical bumpless switching strategy that enables seamless transitions among submodels for complex multi-joint movements. The method identifies a minimal common state representation across submodels with different dimensions, ensuring stable and continuous output without abrupt changes during task transitions. Several state-resetting schemes are proposed and experimentally compared in both numerical simulations and real-time human–robot cooperative arm motion tasks. Results demonstrate that the proposed decoder maintains smooth force estimation and robust performance across diverse movement conditions, supporting its applicability to real-time rehabilitation control. Due to safety constraints regarding potential abrupt switching in human-in-the-loop trials, a limited cohort was used; consequently, these findings should be interpreted as exploratory.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"785-797"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507932","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

Analysis and Control of an Uncertainty-Adaptive Shoulder Rehabilitation Robot 不确定自适应肩部康复机器人的分析与控制

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-08 DOI: 10.1109/TMRB.2026.3680992

Jiaqi Cui;Weiyi Zhao;Qianwei Zheng;Xuefeng Wang

{"title":"Analysis and Control of an Uncertainty-Adaptive Shoulder Rehabilitation Robot","authors":"Jiaqi Cui;Weiyi Zhao;Qianwei Zheng;Xuefeng Wang","doi":"10.1109/TMRB.2026.3680992","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3680992","url":null,"abstract":"Growing demand for shoulder rehabilitation highlights the manual therapy limitation and motivates the robotic training development. Uncertainties in individual differences and shoulder movements challenge the precision and safety of the robotic systems. In this work, a novel shoulder rehabilitation robot is developed to adapt the uncertainties. Explicit kinematic and mechanical models of the shoulder-robot coupled system are firstly established by an analytical method involving linkage-plane projection and three-dimensional reconstruction. The explicit models enable real-time estimation of the uncertain individual parameters and motion variables. A double-loop controller is developed to realize assist-as-needed (AAN) and impedance training, where the user-specific uncertainties are compensated by the estimation. In performance experiments of a robot prototype, the shoulder posture estimation error under uncertainties is less than 1.4° over the full workspace, and that of the shoulder torque is less than 0.1 Nm. In control experiments, the robot can implement smooth flexion/extension and abduction/adduction motion control of the shoulder, and the shoulder-torque tracking errors are less than 0.11 Nm in different AAN levels and impedance targets.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"751-762"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148509086","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 Pneumatically Actuated Robotic Assistant for MRI-Guided Stereotactic Neurosurgery mri引导立体定向神经外科的气动驱动机器人助手

IF 3.8

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-06 DOI: 10.1109/TMRB.2026.3680983

Gang Li;Atharva Paralikar;Pavel Yarmolenko;Ayush Nankani;Wolfgang Loew;Charles Dumoulin;Kevin Cleary;Chima Oluigbo;Reza Monfaredi

{"title":"A Pneumatically Actuated Robotic Assistant for MRI-Guided Stereotactic Neurosurgery","authors":"Gang Li;Atharva Paralikar;Pavel Yarmolenko;Ayush Nankani;Wolfgang Loew;Charles Dumoulin;Kevin Cleary;Chima Oluigbo;Reza Monfaredi","doi":"10.1109/TMRB.2026.3680983","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3680983","url":null,"abstract":"This paper presents the development and cadaveric evaluation of a pneumatically actuated robotic assistant for MRI-guided stereotactic neurosurgery. The robot features two coaxial arcs that provide four degrees of freedom to position and orient a needle within an MRI scanner. It is driven by custom-designed MR-Safe pneumatic stepper motors and powered by in-room compressed medical air, enabling precise interventions under intraoperative MRI guidance. To improve anatomical visualization, two custom MR imaging coils were developed and integrated with the system. A dedicated clinical workflow was also proposed for robot-assisted stereotactic procedures under MRI-guidance. Targeting accuracy was first assessed in free space using an optical tracking system, yielding mean absolute errors of <inline-formula> <tex-math>$0.97 pm 0.42$ </tex-math></inline-formula> mm for tip position and <inline-formula> <tex-math>$0.46 pm 0.23^{circ } $ </tex-math></inline-formula> for needle angle. System-level accuracy was then evaluated in MRI-guided phantom studies, showing errors of <inline-formula> <tex-math>$1.38 pm 0.80$ </tex-math></inline-formula> mm in tip position and <inline-formula> <tex-math>$1.08 pm 0.67^{circ } $ </tex-math></inline-formula> in angle. Finally, a cadaver study validated the clinical workflow, with observed errors of 2.11 mm in position and 3.32° in angle. Quantitative imaging analysis confirmed minimal image degradation, with signal-to-noise ratio (SNR) variation below 12.26% and 2D geometric distortion under 0.20%.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"906-917"},"PeriodicalIF":3.8,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147923908","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

Mechatronics Design and Preclinical Evaluation of ARASH ASiST: ARAS Haptic System for Eye Surgery Training ARASH ASiST: ARAS眼科手术训练触觉系统的机电一体化设计与临床前评估

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-06 DOI: 10.1109/TMRB.2026.3680999

M. M. Nazeri Ardakani;K. A. Jafari;A. Hassani;A. Khorasani;M. R. Dindarloo;R. Heidari;M. Hassanpour;A. Hamzenava;H. Riazi-Esfahani;S. F. Mohammadi;M. Tavakoli;H. D. Taghirad

{"title":"Mechatronics Design and Preclinical Evaluation of ARASH ASiST: ARAS Haptic System for Eye Surgery Training","authors":"M. M. Nazeri Ardakani;K. A. Jafari;A. Hassani;A. Khorasani;M. R. Dindarloo;R. Heidari;M. Hassanpour;A. Hamzenava;H. Riazi-Esfahani;S. F. Mohammadi;M. Tavakoli;H. D. Taghirad","doi":"10.1109/TMRB.2026.3680999","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3680999","url":null,"abstract":"Vitreoretinal surgery demands phenomenal precision, dexterity, and steadiness—skills that push the limits of human motor control. Conventional training approaches, which depend on mentorship and subjective judgment, provide minimal opportunities for standardized evaluation or objective feedback. To address this, we present ARASH ASiST, a dual-user haptic platform aimed at enhancing surgical proficiency through force feedback and real-time performance evaluation. Central to its design is a parallelogram-based remote center of motion mechanism, crafted to deliver four degrees of freedom while enabling precise tool control within the intraocular space. A gravity compensation system, integrating topology optimization and counterweights, reduces the torque required for movement, enhancing stability and responsiveness. Further innovations include a high-precision force sensing system capable of distinguishing expertise levels, a laser-guided remote center of motion visualization tool for accurate anatomical alignment, and a real-time data acquisition framework for quantitative skill assessment. Preclinical evaluations with vitreoretinal surgeons confirmed the system’s effectiveness, demonstrating suitable ergonomic performance, enhanced control, and the ability to differentiate skill levels based on motion efficiency and force application. With the ongoing evolution of robotic and haptic systems in microsurgical training, ARASH ASiST represents a significant advancement toward an objective, data-driven framework for skill development in retinal surgery.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"667-678"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148505628","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

Tunnel-Guided Assist-as-Needed Control for Hand Pre-Shaping: Development and Validation in Healthy Participants 隧道引导辅助按需控制手部预塑形：在健康参与者中的发展和验证

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-06 DOI: 10.1109/TMRB.2026.3680961

Mianzhi Zhou;Peter Walker Ferguson;Guanyu Chen;Jacob Rosen

{"title":"Tunnel-Guided Assist-as-Needed Control for Hand Pre-Shaping: Development and Validation in Healthy Participants","authors":"Mianzhi Zhou;Peter Walker Ferguson;Guanyu Chen;Jacob Rosen","doi":"10.1109/TMRB.2026.3680961","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3680961","url":null,"abstract":"Rehabilitating hand function after stroke is challenging, particularly for individuals with spasticity. Grasp preshaping—an anticipatory component of motor control—is often undertrained in conventional therapy. This work introduces a synergy-based assist-as-needed (AAN) framework for preshaping using the Opposable Thumb Hand Exoskeleton for Rehabilitation (OTHER Hand). Desired motion is expressed in a synergy-dependent representation rather than time, with Gaussian Mixture Models and Regression (GMM/GMR) generating smooth, task-specific reference trajectories. Virtual corrective and tangential forces derived from joint errors and velocities adapt motor output to encourage active effort. A pilot study with five healthy participants tested the controller during both unconstrained movement and a simplified impairment condition created via constant feedforward torque. Although not a velocity-dependent model of spasticity, this perturbation provided a controlled proxy for evaluating adaptive assistance. AAN increased user engagement by 57.6% relative to passive position control and improved efficiency—defined as the ratio of user effort to trajectory error— by 10.1%-22.5% higher than for either force feedback or position control across both constraint levels. These results indicate that synergy-based minimal assistance can enhance engagement and performance, supporting its potential for clinical translation.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"774-784"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507980","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 Experiments of Magnetic-Driven Drug Delivery Capsule Robot Based on Magnetic Spring Mechanism 基于磁弹簧机构的磁驱动给药胶囊机器人设计与实验

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-06 DOI: 10.1109/TMRB.2026.3680975

Shaohui Song;Shuo Zhang;Shicheng Luo;Shuang Song;Lihai Zhang

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 : 2026-03-01 Epub Date: 2026-03-13 DOI: 10.1109/TMRB.2026.3684271

引用次数: 0

A Promising Movement-Based Prosthesis Control Tested on Valid and Arm-Amputated Participants Using First-Person Teleoperation of Humanoid Robot Reachy 一种有前途的基于运动的假体控制在人形机器人Reachy的第一人称遥操作中对有效和截肢参与者进行了测试

IF 4.3

IEEE transactions on medical robotics and bionics Pub Date : 2026-03-01 Epub Date: 2026-04-06 DOI: 10.1109/TMRB.2026.3680980

Vincent Leconte;Effie Segas;Bianca Lento;Emilie Doat;Etienne Guillaud;Matthieu Lapeyre;Pierre Rouanet;Gaëlle Lannuzel;Antoine Pirrone;Rémi Klotz;Daniel Cattaert;Aymar de Rugy

{"title":"A Promising Movement-Based Prosthesis Control Tested on Valid and Arm-Amputated Participants Using First-Person Teleoperation of Humanoid Robot Reachy","authors":"Vincent Leconte;Effie Segas;Bianca Lento;Emilie Doat;Etienne Guillaud;Matthieu Lapeyre;Pierre Rouanet;Gaëlle Lannuzel;Antoine Pirrone;Rémi Klotz;Daniel Cattaert;Aymar de Rugy","doi":"10.1109/TMRB.2026.3680980","DOIUrl":"https://doi.org/10.1109/TMRB.2026.3680980","url":null,"abstract":"We showed recently that a novel prosthesis control, based on natural arm movement reconstructed from an Artificial Neural Network (ANN) that receives movement goal and stump motion as inputs, enables close-to-natural reaching control in Virtual Reality (VR). Here, we applied and tested this control in the physical world using first-person teleoperation of Reachy2, an open-source humanoid robot made by Pollen Robotics that ranked 2nd at ANA Avatar XPRIZE. Direct teleoperation reproducing all arm joints of non-disabled participants (n=14) elicited a 100% success rate for grasping objects at various locations, with best possible usability scores and small workload scores. High success rates (>92%) were also obtained when all distal joints from the elbow onward were operated with the novel prosthesis control, using a movement goal identified through gaze-guided computer vision. While usability and workload scores were slightly degraded when non-disabled participants used the prosthesis control as compared to direct teleoperation, both were scored similarly well by a sample from our target population (n=8 participants with transhumeral limb loss). This platform and control schemes offer broad perspectives for prosthesis control, but also for teleoperation robotics and human-robot interactions.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"8 2","pages":"823-831"},"PeriodicalIF":4.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11475209","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148509698","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