IEEE transactions on medical robotics and bionics最新文献_第9页

A Very Fast and Robust Method for Refinement of Putative Matches of Features in MIS Images for Robotic-Assisted Surgery 一种用于完善机器人辅助手术 MIS 图像中推定匹配特征的快速稳健方法

IEEE transactions on medical robotics and bionics Pub Date : 2024-02-26 DOI: 10.1109/TMRB.2024.3369769

Muhammad Reza Pourshahabi;M. Omair Ahmad;M. N. S. Swamy

{"title":"A Very Fast and Robust Method for Refinement of Putative Matches of Features in MIS Images for Robotic-Assisted Surgery","authors":"Muhammad Reza Pourshahabi;M. Omair Ahmad;M. N. S. Swamy","doi":"10.1109/TMRB.2024.3369769","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3369769","url":null,"abstract":"Robotic-assisted minimally invasive surgery (MIS) has a very important place in the landscape of modern surgical practices. Simultaneous localization and mapping (SLAM), 3D visualization, augmented reality, image registration and mosaicking are some of the image processing operations, which are often feature-based, used in robotic-assisted surgery. Feature matching refinement (FMR) is a crucial task in such operations. FMR is more critical, in cases where the percentage of true matches is very low, which is generally the case for MIS images. Since real-time is a requisite of MIS tasks, an FMR scheme must be very fast. In this paper we propose a very fast and accurate FMR scheme. The main idea used in developing the proposed scheme is on deciding the size of a local neighborhood and on devising a mechanism for checking feature topology preservation in the local neighborhood. To assess the effectiveness of the proposed scheme, we compare its performance with that of several state-of-the-art methods on different MIS image datasets, which shows its superiority in terms of both the processing time and performance.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140820360","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 Mechatronic Thumb for Grasping and In-Hand Manipulation Tasks 用于抓取和手部操作任务的机电一体化拇指

IEEE transactions on medical robotics and bionics Pub Date : 2024-02-26 DOI: 10.1109/TMRB.2024.3369762

John Fasoulas;Michael Sfakiotakis;Vasileios Bekas

{"title":"A Mechatronic Thumb for Grasping and In-Hand Manipulation Tasks","authors":"John Fasoulas;Michael Sfakiotakis;Vasileios Bekas","doi":"10.1109/TMRB.2024.3369762","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3369762","url":null,"abstract":"We present the design, kinematic modeling, and control of a wearable mechatronic thumb device, which is intended to seamlessly integrate with the human hand. The device exhibits lightweight construction, portability, robustness, and safety during use. Initially, we describe the mechanical design of the thumb and an accompanying custom-made data glove that is utilized as a user interface. The kinematic analysis of the mechatronic thumb in conjunction with the human hand is then derived. We subsequently propose intuitive control methods to effectively oppose and coordinate the mechatronic thumb with the remaining fingers, so as to facilitate tasks such as envelope or precision tip grasping, as well as in-hand object manipulation. The potential of the proposed mechatronic thumb to compensate for thumb loss or disability is demonstrated through a series of experiments involving stable grasp and in-hand manipulation tasks of various objects. Grasp quality measures are utilized to assess the experimental results, focusing on the cooperative grasp of the designed mechatronic thumb and the other fingers, in comparison to a non-impaired human hand.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140820257","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}

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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

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-30 DOI: 10.1109/TMRB.2024.3353090

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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

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-30 DOI: 10.1109/TMRB.2024.3353088

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Guest Editorial Special section on The Hamlyn Symposium 2022—MedTech Reimagined 特邀编辑 2022 年哈姆林研讨会特别专栏--医疗科技再创新

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-30 DOI: 10.1109/TMRB.2024.3352951

Benny P. L. Lo;Kwok Wai Samuel Au;Philip Wai Yan Chiu

{"title":"Guest Editorial Special section on The Hamlyn Symposium 2022—MedTech Reimagined","authors":"Benny P. L. Lo;Kwok Wai Samuel Au;Philip Wai Yan Chiu","doi":"10.1109/TMRB.2024.3352951","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3352951","url":null,"abstract":"The field of medical robotics is rapidly evolving, and many new concepts and developments have recently been proposed. New surgical robotic systems, like the latest da Vinci Surgical system, can provide high precision and dexterity enabling surgeons to perform highly complex procedures with small incisions or a single incision which can greatly reduce the trauma to patients. The next generation of robotic surgery will be centered in three main areas: i) Miniaturization: Continued efforts to miniaturize surgical robots allowing for less invasive procedures and greater maneuverability within the human body, and which can further reduce trauma, the risk of post-operative complications and shorten the recovery time; ii) Artificial Intelligence (AI): Given the recent advances in AI, more intelligent assistive and automated functions will be provided by surgical robotic systems and which can greatly enhance the surgical precision and real-time decision making; iii) Sensory and haptic feedback: New sensing and haptic feedback technologies will be integrated into the miniaturized surgical robotic systems providing the surgeons with a sense of touch and texture during the robot-assisted surgery, and which can improve the accuracy and safety of the operations.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10416938","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654723","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

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

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-30 DOI: 10.1109/TMRB.2024.3353086

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Cross-Scene Semantic Segmentation for Medical Surgical Instruments Using Structural Similarity-Based Partial Activation Networks 使用基于结构相似性的部分激活网络对医疗手术器械进行跨场景语义分割

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-29 DOI: 10.1109/TMRB.2024.3359303

Zhengyu Wang;Ziqian Li;Xiang Yu;Zirui Jia;Xinzhou Xu;Björn W. Schuller

{"title":"Cross-Scene Semantic Segmentation for Medical Surgical Instruments Using Structural Similarity-Based Partial Activation Networks","authors":"Zhengyu Wang;Ziqian Li;Xiang Yu;Zirui Jia;Xinzhou Xu;Björn W. Schuller","doi":"10.1109/TMRB.2024.3359303","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3359303","url":null,"abstract":"Robot-assisted minimally invasive surgery requires accurate segmentation for surgical instruments in order to guide surgical robots on tracking the target instruments. Nevertheless, it is difficult to perform surgical-instrument semantic segmentation in unknown scenes with extremely insufficient intra-scene surgical data, despite of the attempts for general semantic segmentation tasks. To address this issue, we propose a cross-scene semantic segmentation approach for medical surgical instruments using structural similarity based partial activation networks in this paper. The proposed approach includes a main branch for multi-level feature extraction, a segmentation head global consistency, and a structural similarity based loss function to provide high-level information acquisition, which improves the generalisation performance for the cross-scene segmentation task. Then, the experimental results in cross-scene surgical-instrument semantic segmentation cases show the effectiveness of the proposed approach compared with state-of-the-art semantic segmentation ones, using the newly established endoscopic simulation dataset.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140820359","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 of Layer Jamming Liver Retractor for Surgical Access, Deployment, and Removal 设计用于手术进入、展开和移除的层式干扰肝脏牵引器

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-11 DOI: 10.1109/TMRB.2024.3349611

W. P. Weston-Dawkes;M. R. A. Majit;J. Sandoval;E. Ochoa;S. Liu;S. Horgan;M. T. Tolley

{"title":"Design of Layer Jamming Liver Retractor for Surgical Access, Deployment, and Removal","authors":"W. P. Weston-Dawkes;M. R. A. Majit;J. Sandoval;E. Ochoa;S. Liu;S. Horgan;M. T. Tolley","doi":"10.1109/TMRB.2024.3349611","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349611","url":null,"abstract":"Retractors for laparoscopic surgery face competing challenges: they must be sufficiently soft/small to be (1) deployed and removed through a small opening and (2) manipulated into a desired configuration, but also (3) sufficiently rigid/wide to affix tissue atraumatically. Existing rigid designs are functional, but present the need for additional incisions and external anchoring. We developed a jamming-based foldable retractor capable of deployment, atraumatic anchoring within the body, retraction, and removal without the need for any additional incisions or surgeon involvement. Through FEA and experiments, including mechanical testing and in-porcine testing, we assessed the effect of different device cross-sectional areas on their ability to retract a liver. A patterned high-friction surface on one side of the device provides atraumatic anchoring to the abdominal wall, we compared different patterns, surface conditions, and preloads experimentally. To facilitate easy (i.e., low-force) removal, the device has a tapered end. When removed via the trocar, the taper causes the device to self-fold, with different tapers resulting in different removal forces. Validated by experimental testing and a in-porcine case study, our device demonstrates the ability of layer-jamming-based approaches to fill a hole in the current surgical toolkit and presents applicability beyond liver retraction.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654634","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

Assessment of a Fault-Tolerant Control-Based Wearable Tremor Suppression Glove Under Faults and Disturbances 评估基于故障容错控制的可穿戴式震颤抑制手套在故障和干扰下的性能

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-08 DOI: 10.1109/TMRB.2024.3350769

Yue Zhou;Parisa Daemi;Mary E. Jenkins;Michael D. Naish;Ana Luisa Trejos

{"title":"Assessment of a Fault-Tolerant Control-Based Wearable Tremor Suppression Glove Under Faults and Disturbances","authors":"Yue Zhou;Parisa Daemi;Mary E. Jenkins;Michael D. Naish;Ana Luisa Trejos","doi":"10.1109/TMRB.2024.3350769","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3350769","url":null,"abstract":"Pathological tremor severely impacts the quality of life of affected individuals. The need for tremor management approaches that are free of side effects and surgical complications has sparked research in wearable tremor suppression technology. The existing wearable tremor suppression devices have achieved suppression ratios of up to 90%. Although the achieved performance is promising, the safety of using these devices outside of a lab environment, where faults and disturbances exist, has not been studied. It was recently discovered that existing tremor suppression systems are not effective and safe for users when faults and disturbances are present. Therefore, this study proposes and evaluates a novel fault-tolerant control system for tremor suppression. Using 18 tremor datasets previously recorded, the performance of the proposed system under three simulated common faults was evaluated on a bench-top mechatronic tremor simulator. The assessment showed that the proposed system remained safe and functional after introducing the faults, maintaining at least a 60% tremor suppression rate, and root mean square tracking error lower than 2.7° (compared to 80.5° without the proposed system). This study improves the robustness and safety of wearable tremor suppression devices, providing strong evidence to facilitate the transition of these devices from the lab to real-life applications.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140820356","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

Terrain-Adaptive Exoskeleton Control With Predictive Gait Mode Recognition: A Pilot Study During Level Walking and Stair Ascent 具有预测性步态模式识别功能的地形适应性外骨骼控制：平地行走和爬楼梯时的试点研究

IEEE transactions on medical robotics and bionics Pub Date : 2024-01-04 DOI: 10.1109/TMRB.2024.3349624

Yuepeng Qian;Chuheng Chen;Jingfeng Xiong;Yining Wang;Yuquan Leng;Haoyong Yu;Chenglong Fu

{"title":"Terrain-Adaptive Exoskeleton Control With Predictive Gait Mode Recognition: A Pilot Study During Level Walking and Stair Ascent","authors":"Yuepeng Qian;Chuheng Chen;Jingfeng Xiong;Yining Wang;Yuquan Leng;Haoyong Yu;Chenglong Fu","doi":"10.1109/TMRB.2024.3349624","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3349624","url":null,"abstract":"Different gait modes and transitions correspond to different lower-limb kinetic and kinematic characteristics. To provide suitable assistance during multimodal locomotion on various terrains, finite state machine-based exoskeleton controls are widely adopted, but smooth and safe transitions between different gait modes are still challenging due to the gait mode recognition delay. In view of this, a novel terrain-adaptive, phase-based exoskeleton control is proposed in this study, which features predictive gait mode recognition and accurate gait phase estimation during gait mode transitions. Experiments in real-world terrains indicated that gait mode transitions can be reliably recognized at least 0.232 ± 0.040 gait cycle prior to the beginning of the transitional gait cycle with high accuracy (above 98.5%), enabling the exoskeleton control to predictively modulate the exoskeleton assistance and ensure the user’s safety during gait mode transitions. In addition, a pilot study during level ground walking and stair ascent was also performed in a biomechanical testing environment, and peak hip extension and flexion torques were utilized as performance criteria. Experimental results showed that the exoskeleton assistance significantly reduced the requirements for peak hip extension and flexion torques during both steady-state walking and gait mode transitions, making multimodal locomotion on various terrains less challenging for individuals with physical limitations.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654378","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