Journal of medical robotics research最新文献

Dual-EKF System Identification and Model Predictive Path Integral Control of a Retinal Microsurgical Robot. 视网膜显微手术机器人双ekf系统辨识及模型预测路径积分控制。

Journal of medical robotics research Pub Date : 2026-07-04 DOI: 10.1142/s2424905x26500078

Pengyuan Du, Mojtaba Esfandiari, Haochen Wei, Makoto Jinno, Peter Gehlbach, Adnan Munawar, Peter Kazanzides, Iulian Iordachita

{"title":"Dual-EKF System Identification and Model Predictive Path Integral Control of a Retinal Microsurgical Robot.","authors":"Pengyuan Du, Mojtaba Esfandiari, Haochen Wei, Makoto Jinno, Peter Gehlbach, Adnan Munawar, Peter Kazanzides, Iulian Iordachita","doi":"10.1142/s2424905x26500078","DOIUrl":"10.1142/s2424905x26500078","url":null,"abstract":"This study presents a modeling and control framework for a retinal microsurgical robot, the Improved Integrated Robotic Intraocular Snake (I2RIS), which accounts for the coupling between pitch and yaw degrees of freedom. The system is modeled using a multi-input multi-output (MIMO) mass-spring-damping (MSD) formulation, with parameters and states jointly estimated through a dual-extended Kalman filter (dual-EKF) approach. Unlike analytical methods such as Cosserat-based models, the proposed approach is computationally efficient, requires minimal training data, and enables real-time control. The coupled MSD model captures the interdependence between pitch and yaw dynamics using experimentally optimized parameters. An optimal stochastic controller, the Model Predictive Path Integral (MPPI), is then designed and compared with a Linear Quadratic Regulator (LQR) in a trajectory-tracking control problem. Experimental results demonstrate that MPPI achieves superior performance and robustness in controlling the coupled dynamics of the I2RIS robot, offering a promising solution for efficient real-time control of snake-like robotic systems.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13374721/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148474553","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

A Modular Synthetic Data Generation Toolkit for Vision-Based Localization Models in Intraocular Robotic Microsurgery. 眼内机器人显微手术中基于视觉的定位模型的模块化合成数据生成工具包。

Journal of medical robotics research Pub Date : 2026-06-22 DOI: 10.1142/s2424905x26500066

Siying Zhu, Yub Heo, Mojtaba Esfandiari, Hisashi Ishida, Lalithkumar Seenivasan, Peter Kazanzides, Peter Gehlbach, Iulian Iordachita, Adnan Munawar

{"title":"A Modular Synthetic Data Generation Toolkit for Vision-Based Localization Models in Intraocular Robotic Microsurgery.","authors":"Siying Zhu, Yub Heo, Mojtaba Esfandiari, Hisashi Ishida, Lalithkumar Seenivasan, Peter Kazanzides, Peter Gehlbach, Iulian Iordachita, Adnan Munawar","doi":"10.1142/s2424905x26500066","DOIUrl":"10.1142/s2424905x26500066","url":null,"abstract":"Intraocular microsurgery requires submillimeter precision within an extremely confined and delicate anatomical workspace. Cable-driven continuum robots such as Improved Integrated Robotic Intraocular Snake (I2RIS) offer the necessary dexterity but exhibit nonlinear hysteresis, complicating accurate control and localization. To enhance control precision, vision-based localization methods can be incorporated to provide external feedback and to compensate for modeling uncertainties. To support the development and quantitative evaluation of such vision-based approaches, modular, and open-source simulation framework is established, replicating an ophthalmic surgical scene that includes the eyeball model, the I2RIS continuum robot, and a calibrated surgical microscope. This environment enables automated and scalable acquisition of data that includes synchronized RGB-D images and corresponding ground-truth 6D pose data under diverse lighting, texture, and background conditions. Using the generated dataset, we conduct representative experiments on geometry-driven 6D pose tracking and appearance-based sim-to-real detection to evaluate its applicability for vision-based localization tasks. In addition, a preliminary domain gap analysis is performed using structure-based image similarity metrics, including Canny edge statistics and structural similarity (SSIM), to quantitatively assess visual alignment between simulated and real microscope images. The resulting dataset serves as a consistent evaluation resource for debugging, training, and assessing localization algorithms in intraocular continuum robotics, supporting reproducible research and sim-to-real generalization studies.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13374722/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148474581","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

A Framework to Optimize Channel and Active Area Usage in Multicore Fibers for Needle Shape Sensing. 一种优化多芯光纤中用于针形传感的通道和有效面积使用的框架。

Journal of medical robotics research Pub Date : 2026-05-27 DOI: 10.1142/s2424905x26500108

Kayleigh Huk, Jacynthe Francoeur, Yinsong Ma, Jin Seob Kim, Iulian Iordachita

{"title":"A Framework to Optimize Channel and Active Area Usage in Multicore Fibers for Needle Shape Sensing.","authors":"Kayleigh Huk, Jacynthe Francoeur, Yinsong Ma, Jin Seob Kim, Iulian Iordachita","doi":"10.1142/s2424905x26500108","DOIUrl":"10.1142/s2424905x26500108","url":null,"abstract":"This study develops a process for evaluating the impact of hardware design parameters on the performance of a stylet embedded with a multicore fiber (MCF) for shape sensing, to be used to guide the insertion of an interstitial brachytherapy needle. The MCF consists of seven cores (one central and six outer), with each core inscribed with fourteen fiber Bragg gratings (FBGs), called active areas (AAs). Hardware performance was evaluated using two datasets from distinct constant-curvature jigs. First, the influence of the number and spacing of AAs along the fiber on reconstruction accuracy was evaluated, which identified the AA configuration that yielded the lowest reconstruction errors. Channel configurations of seven-core and four-core fibers were analyzed similarly. Finally, recognizing that AA and channel performance are not entirely independent, a joint analysis was conducted to determine the globally optimal configuration of the stylet. Reconstruction with the optimized stylet achieved a reduction in tip error of 34% relative to the full-sensor configuration, a difference that is statistically significant <math><mo>(</mo> <mi>α</mi> <mo>=</mo> <mn>0.05</mn> <mo>,</mo> <mi>p</mi> <mo>=</mo> <mn>0.00005</mn> <mo>)</mo></math> for the designated calibration and validation dataset. This work provides practical guidance for MCF selection and establishes a new framework for post-fabrication optimization of multicore fibers.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13267874/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148267298","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

Clinical validation of a Novel Robotic Device for MR-Guided Prostate Biopsy: Initial Patient Experience. 一种新型磁共振引导前列腺活检机器人设备的临床验证：初步患者经验。

Journal of medical robotics research Pub Date : 2026-03-23 DOI: 10.1142/s2424905x26500042

Pedro Moreira, Mariana C Bernardes, John Grimble, Nicusor Iftimia, Kemal Tuncali, Jesung Park, Junichi Tokuda

{"title":"Clinical validation of a Novel Robotic Device for MR-Guided Prostate Biopsy: Initial Patient Experience.","authors":"Pedro Moreira, Mariana C Bernardes, John Grimble, Nicusor Iftimia, Kemal Tuncali, Jesung Park, Junichi Tokuda","doi":"10.1142/s2424905x26500042","DOIUrl":"10.1142/s2424905x26500042","url":null,"abstract":"Magnetic resonance imaging (MRI)-guided transperineal targeted prostate biopsy has potential to provide precise cancer diagnosis. However, it is challenged by targeting errors and needle deflection. The main issue is that the traditional needle guides have limited degrees of freedom (DoF) and therefore restrict insertion path options. Thus, the targeting error can be larger than 5 mm. This study evaluates the performance of a custom-built 4-DoF needle guiding device designed to enable alternative insertion paths. The 4-DoF Smart Template was designed to improve image quality and stability, including redesigned fiducials and titanium positioning frames. Four MRI-guided biopsy cases were conducted. Targets were identified on T2-weighted images, and insertion paths were planned and adjusted to avoid critical structures. The targeting error was measured as the in-plane distance between the target and the actual needle position. The average targeting error of the best insertion attempt was 3.7mm±2.6mm (mean ± standard deviation). When discarding the case where the device had to be removed due to patient anatomy, the average targeting error was reduced to 2.7mm±1.1mm. No adverse events were reported. The new 4-DoF Smart Template device has demonstrated improved accuracy as compared to the traditional needle guide device, successfully reaching the target location with just one insertion in four out of six targets.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13082751/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147701112","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

A Semi-Automated Robotic Platform for Curvilinear Catheter Implantation in HDR Prostate and GYN Brachytherapy. HDR前列腺和妇科近距离放疗中曲线导管植入的半自动机器人平台。

Journal of medical robotics research Pub Date : 2026-02-05 DOI: 10.1142/s2424905x26400040

Joshua Kinder, Blayton Padasdao, Rex Imanaka, Mitchell Kamrava, Bardia Konh

{"title":"A Semi-Automated Robotic Platform for Curvilinear Catheter Implantation in HDR Prostate and GYN Brachytherapy.","authors":"Joshua Kinder, Blayton Padasdao, Rex Imanaka, Mitchell Kamrava, Bardia Konh","doi":"10.1142/s2424905x26400040","DOIUrl":"10.1142/s2424905x26400040","url":null,"abstract":"High-dose-rate (HDR) brachytherapy is an effective treatment for prostate and gynecologic cancers, yet current rigid catheter systems constrain trajectories to straight paths, limiting conformity to patient-specific anatomy and compromising dose distribution. To address this, we developed and preliminarily evaluated a semi-automated robotic platform for curvilinear catheter implantation. The system integrates (i) a handheld tendon-driven active needle manipulator with joystick-based control, (ii) an innovative template for initial angulation, and (iii) a novel gynecologic applicator incorporating concentric tube robotics for steerable tandem delivery. Patient-specific curvilinear trajectories were preplanned from anonymized MRI/CT datasets, and experimental evaluations were conducted in air and tissue-mimicking phantoms. The handheld manipulator achieved tip displacement errors below 2.89 mm in air and 2.22 mm in phantom, while the combined device-template system reproduced prostate curvilinear trajectories with root mean squared deviations (RMSDs) under 3.67 mm. Integration of the concentric tube robot with the gynecologic applicator achieved uterine trajectories with RMSDs below 1.17 mm. These results demonstrate, for the first time, the feasibility of semi-automated active needle manipulation and concentric tube-assisted applicator design for anatomically conformal HDR brachytherapy. This approach has the potential to improve catheter placement accuracy, enable patient-specific dose escalation, and reduce toxicity to organs at risk in both prostate and cervical cancer treatment.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13008369/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147517276","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

Toward Image-Guided, Robot-Assisted Focal Prostate Resection: Do Enhanced Dexterity and Visualization Improve Performance? 图像引导、机器人辅助的局灶性前列腺切除术：增强的灵活性和可视化能改善手术效果吗？

Journal of medical robotics research Pub Date : 2026-01-22 DOI: 10.1142/s2424905x26500017

Jesse F d'Almeida, Jason A Shrand, Sarah Garrow, Christopher E Vaughn, Nicholas L Kavoussi, Shaan Setia, Amy Reed, Susheela Sharma Stern, Tayfun Efe Ertop, Ahmed E Ghazi, S Duke Herrell, William A Grissom, Robert J Webster

{"title":"Toward Image-Guided, Robot-Assisted Focal Prostate Resection: Do Enhanced Dexterity and Visualization Improve Performance?","authors":"Jesse F d'Almeida, Jason A Shrand, Sarah Garrow, Christopher E Vaughn, Nicholas L Kavoussi, Shaan Setia, Amy Reed, Susheela Sharma Stern, Tayfun Efe Ertop, Ahmed E Ghazi, S Duke Herrell, William A Grissom, Robert J Webster","doi":"10.1142/s2424905x26500017","DOIUrl":"10.1142/s2424905x26500017","url":null,"abstract":"Focal prostate treatment (aka \"male lumpectomy\") has the potential to reduce invasiveness for prostate cancer patients. However, clinical deployment has been impeded by the difficulty of performing surgery through the urethra, which we hypothesize relates to both instrument dexterity and visualization limitations. To evaluate this hypothesis, in this paper we propose a system consisting of an endoscopic robot to enhance dexterity and an image-guidance display updated periodically during surgery based on MRI images. To evaluate the system, in this paper we compare four conditions: unaided manual resection using an endoscope, robot-aided surgery without image guidance, image guidance without the robot, and both robot and image guidance together. We find that while the robot and image guidance improve performance individually, the combination of the two provides the greatest improvement.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2026-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12889886/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146168310","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

Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. 刚性但弯曲：管传动驱动手术机器人通过柔性内窥镜。

Journal of medical robotics research Pub Date : 2025-03-01 Epub Date: 2025-04-25 DOI: 10.1142/s2424905x24500053

Khoa T Dang, Carter Hatch, Peter Connor, Stephen Qiu, Tony Qin, Ron Alterovitz, Robert J Webster, Caleb Rucker

{"title":"Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes.","authors":"Khoa T Dang, Carter Hatch, Peter Connor, Stephen Qiu, Tony Qin, Ron Alterovitz, Robert J Webster, Caleb Rucker","doi":"10.1142/s2424905x24500053","DOIUrl":"10.1142/s2424905x24500053","url":null,"abstract":"Concentric push-pull robots delivered through flexible endoscopes work best if their laser-cut transmission tubes have high axial stiffness, high torsional stiffness, and low bending stiffness. This paper simultaneously addresses all three output stiffness values in the transmission design problem, explicitly considering axial stiffness, whereas prior work on laser-cut tube design has focused on the bending/torsional stiffness ratio. We demonstrate an inherent trade-off present in existing laser-cut patterns: it is difficult to simultaneously achieve high axial stiffness and low bending stiffness because these properties are very tightly correlated. To break this correlation and design all three stiffness independently, we propose a new type of laser material removal pattern that leverages local stiffness asymmetry ( <math><mi>E</mi> <msub><mrow><mi>I</mi></mrow> <mrow><mi>x</mi></mrow> </msub> <mo>≠</mo> <mi>E</mi> <msub><mrow><mi>I</mi></mrow> <mrow><mi>y</mi></mrow> </msub> </math> ) in discrete bending segments separated by segments of solid tube. These discrete asymmetric segments are then rifled down the tube to achieve global stiffness symmetry. We parameterize the design and provide a study of the properties through finite-element analysis. We also consider the effect of interference between the tubes when the discrete segments are not aligned. Results show that our discrete asymmetric segment concept can achieve high axial stiffness and torsional stiffness better than previously suggested laser patterns while maintaining equally low bending stiffness. We also experimentally validated the proposed design's properties and actuation performance with professionally manufactured prototype Nitinol tubes for use in an endoscopic robot system.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"10 1-2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12376780/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144981412","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

Cross-Modality Registration using Bone Surface Pointcloud for Robotic Ultrasound-Guided Spine Surgery. 利用骨表面点云进行机器人超声引导脊柱手术的交叉模态配准。

Journal of medical robotics research Pub Date : 2025-03-01 Epub Date: 2025-01-17 DOI: 10.1142/s2424905x25400045

Xihan Ma, Xiao Zhang, Yang Wang, Christopher J Nycz, Arno Sungarian, Songbai Ji, Xinming Huang, Haichong K Zhang

引用次数: 0

Robotic Assistance and Haptic Feedback in Arthroscopic Procedures: Design and Preliminary Evaluation of a Two-Arm System 关节镜手术中的机器人辅助和触觉反馈：双臂系统的设计与初步评估

Journal of medical robotics research Pub Date : 2024-05-17 DOI: 10.1142/s2424905x24500041

Teng Li, Armin Badre, Mahdi Tavakoli

引用次数: 0

Closed-form kinematics solutions for redundant medical robots with joint limits and singularity avoidance 具有关节限制和奇异性规避功能的冗余医疗机器人闭式运动学解决方案

Journal of medical robotics research Pub Date : 2024-05-17 DOI: 10.1142/s2424905x2450003x

L. Prokhorenko, Denis Mishchenkov, Daniil Klimov, Yuri Poduraev

引用次数: 0