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Journal of medical robotics research最新文献

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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":"https://doi.org/10.1142/s2424905x24500053","url":null,"abstract":"<p><p>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.</p>","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
{"title":"Cross-Modality Registration using Bone Surface Pointcloud for Robotic Ultrasound-Guided Spine Surgery.","authors":"Xihan Ma, Xiao Zhang, Yang Wang, Christopher J Nycz, Arno Sungarian, Songbai Ji, Xinming Huang, Haichong K Zhang","doi":"10.1142/s2424905x25400045","DOIUrl":"10.1142/s2424905x25400045","url":null,"abstract":"<p><p>Image guidance using preoperative magnetic resonance imaging (MRI) and intraoperative ultrasound (US) can improve the outcome of spine surgery. Employing a robotic US system (RUSS) allows the automated acquisition of large 3D US volumes, facilitating accurate registration. However, such registration remains challenging due to the cross-modality discrepancy. To address this issue, we present a pipeline that extracts spine pointclouds from MRI and 3D US to perform per-vertebra registration. Experiments showed a registration accuracy of 1.82 mm in terms of residual root mean square error and 7.02 mm in terms of Chamfer distance. The pipeline exhibits superior robustness to suboptimal initial conditions compared with the two baseline methods. It also demonstrated good time efficiency under real-time conditions, demonstrating the potential applicability in RUSS-guided spine surgeries.</p>","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/PMC12273864/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144676756","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
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
{"title":"Robotic Assistance and Haptic Feedback in Arthroscopic Procedures: Design and Preliminary Evaluation of a Two-Arm System","authors":"Teng Li, Armin Badre, Mahdi Tavakoli","doi":"10.1142/s2424905x24500041","DOIUrl":"https://doi.org/10.1142/s2424905x24500041","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"24 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140965195","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
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
{"title":"Closed-form kinematics solutions for redundant medical robots with joint limits and singularity avoidance","authors":"L. Prokhorenko, Denis Mishchenkov, Daniil Klimov, Yuri Poduraev","doi":"10.1142/s2424905x2450003x","DOIUrl":"https://doi.org/10.1142/s2424905x2450003x","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"52 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140965796","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
Comparative Analysis of Peltier Devices and Flexible Heater Strips for Enhancing Bandwidth in Thermo-Active Soft Actuators 用于提高热动软致动器带宽的珀尔帖器件和柔性加热器带的比较分析
Journal of medical robotics research Pub Date : 2024-05-17 DOI: 10.1142/s2424905x24500028
Trevor Exley, Daniel Johnson, Amir Jafari
{"title":"Comparative Analysis of Peltier Devices and Flexible Heater Strips for Enhancing Bandwidth in Thermo-Active Soft Actuators","authors":"Trevor Exley, Daniel Johnson, Amir Jafari","doi":"10.1142/s2424905x24500028","DOIUrl":"https://doi.org/10.1142/s2424905x24500028","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"2 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140961955","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
Development and preliminary evaluation of a robotic device for MRI-guided needle breast biopsy 开发并初步评估用于核磁共振成像引导针式乳腺活检的机器人设备
Journal of medical robotics research Pub Date : 2024-04-11 DOI: 10.1142/s2424905x24500016
C. Ioannides, A. Antoniou, Vasiliki Zinonos, C. Damianou
{"title":"Development and preliminary evaluation of a robotic device for MRI-guided needle breast biopsy","authors":"C. Ioannides, A. Antoniou, Vasiliki Zinonos, C. Damianou","doi":"10.1142/s2424905x24500016","DOIUrl":"https://doi.org/10.1142/s2424905x24500016","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"15 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140716202","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
An MRI-Conditional Flexible Endoscopic Robot with a Hydraulic Tendon-Driven Actuation System 带液压肌腱驱动执行系统的核磁共振成像条件下柔性内窥镜机器人
Journal of medical robotics research Pub Date : 2024-02-16 DOI: 10.1142/s2424905x24400038
Boshen Qi, Hengjie Chen, J. Langley, Behnam Badie, Xiaoping Hu, Jun Sheng
{"title":"An MRI-Conditional Flexible Endoscopic Robot with a Hydraulic Tendon-Driven Actuation System","authors":"Boshen Qi, Hengjie Chen, J. Langley, Behnam Badie, Xiaoping Hu, Jun Sheng","doi":"10.1142/s2424905x24400038","DOIUrl":"https://doi.org/10.1142/s2424905x24400038","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"30 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139960491","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
Reducing gait asymmetry in transfemoral amputees - A neural network based approach 减少经股截肢者步态不对称--基于神经网络的方法
Journal of medical robotics research Pub Date : 2024-02-16 DOI: 10.1142/s2424905x24400026
Zunaed Kibria, Bhanu Prasad Kotamraju, S. Commuri
{"title":"Reducing gait asymmetry in transfemoral amputees - A neural network based approach","authors":"Zunaed Kibria, Bhanu Prasad Kotamraju, S. Commuri","doi":"10.1142/s2424905x24400026","DOIUrl":"https://doi.org/10.1142/s2424905x24400026","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"32 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139962115","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
Comprehensive review of non-invasive brain-computer interfaces for controlling robotic arms 控制机械臂的非侵入式脑机接口综述
Journal of medical robotics research Pub Date : 2024-02-16 DOI: 10.1142/s2424905x24300012
Soukaina Hamou, Mustapha Moufassih, Ousama Tarahi, Said Agounad, Hafida Idrissi Azami, Anas Mazid
{"title":"Comprehensive review of non-invasive brain-computer interfaces for controlling robotic arms","authors":"Soukaina Hamou, Mustapha Moufassih, Ousama Tarahi, Said Agounad, Hafida Idrissi Azami, Anas Mazid","doi":"10.1142/s2424905x24300012","DOIUrl":"https://doi.org/10.1142/s2424905x24300012","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"38 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139961699","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
Improving the Temporal Accuracy of Eye Gaze Tracking for the da Vinci Surgical System Through Automatic Detection of Decalibration Events and Recalibration 通过自动检测去校准事件和重新校准提高达芬奇手术系统眼球注视跟踪的时间精度
Journal of medical robotics research Pub Date : 2024-01-26 DOI: 10.1142/s2424905x24400014
Regine Buter, John J. Han, Ayberk Acar, Yizhou Li, Paola Ruiz Puentes, R. Soberanis-Mukul, Iris Gupta, Joyraj Bhowmick, Ahmed Ghazi, Andreas Maier, Mathias Unberath, Jie Ying Wu
{"title":"Improving the Temporal Accuracy of Eye Gaze Tracking for the da Vinci Surgical System Through Automatic Detection of Decalibration Events and Recalibration","authors":"Regine Buter, John J. Han, Ayberk Acar, Yizhou Li, Paola Ruiz Puentes, R. Soberanis-Mukul, Iris Gupta, Joyraj Bhowmick, Ahmed Ghazi, Andreas Maier, Mathias Unberath, Jie Ying Wu","doi":"10.1142/s2424905x24400014","DOIUrl":"https://doi.org/10.1142/s2424905x24400014","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"83 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139593590","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
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