IEEE transactions on medical robotics and bionics最新文献_第8页

Visuomotor Policy Learning for Task Automation of Surgical Robot 外科手术机器人任务自动化的视觉运动策略学习

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464090

Junhui Huang;Qingxin Shi;Dongsheng Xie;Yiming Ma;Xiaoming Liu;Changsheng Li;Xingguang Duan

引用次数: 0

A Chemical Reaction-Driven Untethered Volume Changing Robotic Capsule for Tissue Dilation 用于组织扩张的化学反应驱动型无系容积变化机器人胶囊

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464728

Kaan Esendag;Mark E. McAlindon;Daniela Rus;Shuhei Miyashita;Dana D. Damian

{"title":"A Chemical Reaction-Driven Untethered Volume Changing Robotic Capsule for Tissue Dilation","authors":"Kaan Esendag;Mark E. McAlindon;Daniela Rus;Shuhei Miyashita;Dana D. Damian","doi":"10.1109/TMRB.2024.3464728","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464728","url":null,"abstract":"Robotic capsules provide an alternative route of entry to the gastrointestinal tract with minimal discomfort to patients. As capabilities of milli to micro robots progress, the potential of using robotic capsules not just for inspection, but for surgical procedures increase. To aid operations in the intestine, the capsule could be used to expand the site of surgery and anchoring to the intestinal walls to keep itself in place. This paper presents an untethered robotic capsule that can provide volumetric expansion using a chemical reaction without on-board electronic components. The expansion is based on the reaction between chemicals that are safe for ingestion, operated with magnetic fields and temperatures that are within safe limits. The capsule was able to expand greater than the diameter of the small intestine for 44 minutes and provided 0.27N of anchoring force. A theoretical model of the reaction process was built and simulated to predict the behavior of the capsule expansion and validated through the experiments. The design and the simulation presented in this paper can be used for fabricating capsules to specific clinical needs. The work also opens up the possibility of untethered technologies that are remotely and chemically programmed for in-vivo surgical applications.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1300-1308"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600197","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

SLAM-Based Breast Reconstruction System for Surgical Guidance Using a Low-Cost Camera 基于 SLAM 的乳房再造系统，使用低成本相机为手术提供指导

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464739

Elise Fu;Haoyin Zhou;Ángela Alarcón de la Lastra;Ruisi Zhang;Haripriya Ayyala;Justin Broyles;Bohdan Pomahac;Jayender Jagadeesan

{"title":"SLAM-Based Breast Reconstruction System for Surgical Guidance Using a Low-Cost Camera","authors":"Elise Fu;Haoyin Zhou;Ángela Alarcón de la Lastra;Ruisi Zhang;Haripriya Ayyala;Justin Broyles;Bohdan Pomahac;Jayender Jagadeesan","doi":"10.1109/TMRB.2024.3464739","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464739","url":null,"abstract":"Mastectomy is often coupled with breast reconstruction surgery (BRS) to reconstruct the breast mound. However, BRS is challenging and subject to the judgement of the surgeon in determining the amount of tissue to be harvested and the shape of reconstructed breast. To date, the existing tools aimed at maintaining symmetry and appearance of the reconstructed breast are costly. In this paper, we have developed an intuitive breast reconstruction system comprising a software application integrated with the simultaneous localization and mapping (SLAM) algorithm, and a low-cost RGB-D camera. Our SLAM-based breast reconstruction system will be used to scan and reconstruct the patient’s breast using our customized mesh-generating method prior to mastectomy. Using this reconstructed model, a patient-specific 3D printed mold is created to help shape the harvested tissue that is inserted into the mastectomy site during BRS. Validation experiments show that the mean repeatability and accuracy errors for the surface reconstruction are less than 1.5 mm. The software application has been tested on 20 patients under an IRB-approved protocol including intraoperative guidance for 4 patients. The results show the consistent and accurate reconstruction of the breasts including the inframammary fold for different breast shapes and skin tones.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1345-1353"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600320","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

Global Versus Local Kinematic Skills Assessment on Robotic-Assisted Hysterectomies 机器人辅助子宫切除术的整体与局部运动学技能评估

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464669

Arnaud Huaulmé;Krystel Nyangoh Timoh;Victor Jan;Sonia Guerin;Pierre Jannin

{"title":"Global Versus Local Kinematic Skills Assessment on Robotic-Assisted Hysterectomies","authors":"Arnaud Huaulmé;Krystel Nyangoh Timoh;Victor Jan;Sonia Guerin;Pierre Jannin","doi":"10.1109/TMRB.2024.3464669","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464669","url":null,"abstract":"Different methods have been proposed to evaluate surgical skills from observer-based scoring to recent data-driven approaches. However, most of these methods assess the surgical performance considering the procedure as a whole, avoiding detailed performance insights. In this study, we focused on the most challenging phases of robotic-assisted hysterectomies to compare the performance of expert and intermediate surgeons using the surgical process model methodology. We recorded surgical video and kinematic data of fifty-two robotic-assisted laparoscopic hysterectomies performed by five experts and three intermediate surgeons. We annotated the video in eight phases. We computed twenty-five automated performance metrics (APMs); seven for each of the right, left, and endoscope robotic arms, and four global ones. For the global analysis, only four APMs differed significantly between experts and intermediates. However, interpreting these APMs was difficult. For local analysis, we observed that 23 APMs were significantly different for at least one phase. We found that the two most challenging phases had APMs that highlighted difficulty due to the presence of the uterus, lack of confidence in anatomical knowledge, and difficulty in moving the endoscope. Such results of the local analysis allow us to propose appropriate training for surgeons.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1382-1385"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600356","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

Selectively Tunable Joints With Variable Stiffness for a Magnetically-Steerable 6-DOF Manipulator 为磁可调 6-DOF 机械手设计具有可变刚度的选择性可调关节

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464668

Simon Frieler;Sarthak Misra;Venkatasubramanian Kalpathy Venkiteswaran

{"title":"Selectively Tunable Joints With Variable Stiffness for a Magnetically-Steerable 6-DOF Manipulator","authors":"Simon Frieler;Sarthak Misra;Venkatasubramanian Kalpathy Venkiteswaran","doi":"10.1109/TMRB.2024.3464668","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464668","url":null,"abstract":"Robotic manipulators are used across various surgical tasks, including endoscopic and laparoscopic procedures. Operating in small and constrained spaces during these procedures requires the manipulators to have high dexterity and control over the motion path but with a small footprint. In this work, we propose a modular design of a magnetically-guided small-sized robotic manipulator. The manipulator has discrete universal joints that allow ease of actuation. Variable stiffness is incorporated into the joints to allow the locking and unlocking of individual degrees of freedom (DOFs). The design is modular and allows extension to additional DOFs. The range of each DOF is 60° and is controlled by a pair of shape memory polymer flexures; four flexures comprise one joint. With rolling-contact elements, the design eliminates problems with buckling and pushability. A custom-designed heating element triggers the flexures to switch from a high (0.57Nmm/°) to a low stiffness (0.06Nmm/°) state within 14(±0.8)s. Ambient cooling secures shape-locking within 64(±3.7)s. In an experiment, a 6-DOF version of the manipulator navigates around obstacles in confined spaces and remains shape-locked for stable operation. Practical application is demonstrated through simulated gastroscopy and polypectomy using inserted surgical tools.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1713-1725"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600355","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 Multi-Cavity Touch Interface for a Flexible Soft Laparoscopy Device: Design and Evaluation 用于柔性软腹腔镜设备的多腔触摸界面：设计与评估

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464676

Jialei Shi;Ge Shi;Yu Wu;Helge A. Wurdemann

{"title":"A Multi-Cavity Touch Interface for a Flexible Soft Laparoscopy Device: Design and Evaluation","authors":"Jialei Shi;Ge Shi;Yu Wu;Helge A. Wurdemann","doi":"10.1109/TMRB.2024.3464676","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464676","url":null,"abstract":"Medical instruments made of compliant materials provide increased safety and dexterity when interacting with anatomical environments. Beyond the development of hardware, the maneuverability of these medical instruments presents significant challenges, especially in practical applications like minimally invasive surgery. Consequently, developing efficient and intuitive interfaces for operating these soft instruments is crucial. This study focuses on creating a flexible, soft robotic handheld laparoscopy device featuring a multi-cavity touch interface. The pneumatically driven soft robotic device has a continuum structure and an outermost diameter of 11.5 mm. The laparoscopy device is equipped with a silicone-cast touch interface that includes five air-filled cavities. Monitoring the pressure within these cavities facilitates the identification of user inputs, offering an intuitive and cost-effective way to operate the device. To evaluate the laparoscopy device’s performance, in vitro tests were conducted using a test rig and a phantom environment. The device’s usability was assessed by participants, providing valuable insights into its functionality and practicality in a controlled setting. These evaluations lay the groundwork for future advancements in soft robotic medical instruments for minimally invasive procedures.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1309-1321"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600365","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 Variable-Friction Catheters Using Ultrasonic Lubrication 利用超声波润滑实现可变摩擦导管

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464672

Mostafa A. Atalla;Jeroen J. Tuijp;Michaël Wiertlewski;Aimée Sakes

{"title":"Toward Variable-Friction Catheters Using Ultrasonic Lubrication","authors":"Mostafa A. Atalla;Jeroen J. Tuijp;Michaël Wiertlewski;Aimée Sakes","doi":"10.1109/TMRB.2024.3464672","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464672","url":null,"abstract":"Minimally invasive endovascular procedures use catheters that are guided through blood vessels to perform interventions, resulting in an inevitable frictional interaction between the catheter and the vessel walls. While this friction enhances stability during the intervention, it poses a risk of damaging the inner layer of the blood vessel wall during navigation, leading to post-operative complications including infectious diseases and thrombus formation. To mitigate the risk of adverse complications, we propose a new concept of a variable-friction catheter capable of transitioning from low friction during navigation to high friction for increased stability while performing the intervention. This variable-friction catheter leverages ultrasonic lubrication to actively control the frictional forces experienced by the catheter during the procedure. In this paper, we demonstrate a proof-of-concept for a friction control module, a pivotal component of the proposed catheter design. Our experiments demonstrate that the prototype effectively reduce friction by up to 11% and 60%, on average, on soft and rigid surfaces, representing its potential performance on healthy and calcified tissue, respectively. This result underscores the feasibility of the design and its potential to improve the safety and efficacy of minimally invasive endovascular procedures.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1375-1381"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600328","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

Optimized Impedance Control of a Lightweight Gait Rehabilitation Exoskeleton Based on Accurate Knee Joint Torque Estimation 基于精确膝关节扭矩估算的轻型步态康复外骨骼的优化阻抗控制

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464671

Wei Meng;Zunmei Tian;Chang Zhu;Qingsong Ai;Quan Liu

{"title":"Optimized Impedance Control of a Lightweight Gait Rehabilitation Exoskeleton Based on Accurate Knee Joint Torque Estimation","authors":"Wei Meng;Zunmei Tian;Chang Zhu;Qingsong Ai;Quan Liu","doi":"10.1109/TMRB.2024.3464671","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464671","url":null,"abstract":"In recent years, with the increasing problem of an aging population, there has been a significant increase in the number of stroke patients presenting with motor dysfunction of the lower limbs. In this study, a knee exoskeleton rehabilitation robot driven by a quasi-direct driver actuator is designed. The torque generation model is constructed based on the TCN-LSTM hybrid neural network, and the knee joint torque is generated by sEMG and angle signal. A joint attention mechanism is introduced to enhance the accuracy of torque generation model. The impedance control parameters are adaptively adjusted in accordance with the joint torque. The experimental results demonstrate that the TCN-LSTM hybrid neural network is capable of effectively estimating torque, the mean MAE and CC of the proposed model are 1.141Nm and 93.7%, respectively. The optimized impedance control can optimize the initial value of the impedance parameter, which reduced the torque error by 5.54% and 50.64% at uphill tasks and walking task, respectively, and adaptively adjust the impedance parameter to ensure the coordination of the gait rehabilitation and the friendly human-robot interaction.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1648-1657"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600331","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

Homogeneous Dynamic Control for Stair Ascent in a Swing-Assist Knee Prosthesis 摆动辅助膝关节假体爬楼梯的同质动态控制

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3465024

Marco Puliti;David M. Marsh;Michael Goldfarb

{"title":"Homogeneous Dynamic Control for Stair Ascent in a Swing-Assist Knee Prosthesis","authors":"Marco Puliti;David M. Marsh;Michael Goldfarb","doi":"10.1109/TMRB.2024.3465024","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3465024","url":null,"abstract":"Stair ascent is a challenging task for people with transfemoral amputation. It can be made substantially easier with a swing-assist prosthesis, actively supplementing the prosthesis nominally passive behavior to help the user place their foot on the next stair tread. A significant control challenge is providing power without competing with the user’s agency during the swing-phase movement. This paper presents a new control approach for stair ascent swing-phase assistance in swing-assist prostheses. The approach is designed to supplement swing-phase movement with power without introducing an additional exogenous control input, leaving the user as the sole source of prosthesis movement. Namely, this is achieved by adding power to modify the homogeneous dynamics of the prosthesis’s passive behavior. This control approach is developed in the paper, implemented on an experimental prosthesis, and assessed in stair ascent trials with three unilateral transfemoral amputees, comparing it with their daily-use device. Experimental results demonstrate, for step-over stair ascent aggregated across participants, the proposed approach: 1) increased peak knee angle by a factor of 2.5; 2) improved symmetry from 41% to 84% (where 100% is perfectly symmetric); and 3) required 2 times less hip effort to achieve a given knee motion, all relative to daily-use prostheses.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1637-1647"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142672066","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

Coaching a Robotic Sonographer: Learning Robotic Ultrasound With Sparse Expert’s Feedback 指导机器人超声技师：利用稀疏的专家反馈学习机器人超声技术

IF 3.4

IEEE transactions on medical robotics and bionics Pub Date : 2024-09-20 DOI: 10.1109/TMRB.2024.3464698

Deepak Raina;Mythra V. Balakuntala;Byung Wook Kim;Juan Wachs;Richard Voyles

{"title":"Coaching a Robotic Sonographer: Learning Robotic Ultrasound With Sparse Expert’s Feedback","authors":"Deepak Raina;Mythra V. Balakuntala;Byung Wook Kim;Juan Wachs;Richard Voyles","doi":"10.1109/TMRB.2024.3464698","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3464698","url":null,"abstract":"Ultrasound is widely employed for clinical intervention and diagnosis, due to its advantages of offering non-invasive, radiation-free, and real-time imaging. However, the accessibility of this dexterous procedure is limited due to the substantial training and expertise required of operators. The robotic ultrasound (RUS) offers a viable solution to address this limitation; nonetheless, achieving human-level proficiency remains challenging. Learning from demonstrations (LfD) methods have been explored in RUS, which learns the policy prior from a dataset of offline demonstrations to encode the mental model of the expert sonographer. However, active engagement of experts, i.e., Coaching, during the training of RUS has not been explored thus far. Coaching is known for enhancing efficiency and performance in human training. This paper proposes a coaching framework for RUS to amplify its performance. The framework combines DRL (self-supervised practice) with sparse expert’s feedback through coaching. The DRL employs an off-policy Soft Actor-Critic (SAC) network, with a reward based on image quality rating. The coaching by experts is modeled as a Partially Observable Markov Decision Process (POMDP), which updates the policy parameters based on the correction by the expert. The validation study on phantoms showed that coaching increases the learning rate by 25% and the number of high-quality image acquisition by 74.5%.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1391-1396"},"PeriodicalIF":3.4,"publicationDate":"2024-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142600321","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