Journal of medical robotics research最新文献

{"title":"Robot-Assisted Vascular Shunt Insertion with the dVRK Surgical Robot","authors":"Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Masoud Moghani, Qinxi Yu, Kush Hari, Thomas Low, Danyal Fer, Animesh Garg, Ken Goldberg","doi":"10.1142/s2424905x23400068","DOIUrl":"https://doi.org/10.1142/s2424905x23400068","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"89 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135868971","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}

{"title":"Robot Learning Incorporating Human Interventions in the Real World for Autonomous Surgical Endoscopic Camera Control","authors":"Yafei Ou, Sadra Zargarzadeh, Mahdi Tavakoli","doi":"10.1142/s2424905x23400044","DOIUrl":"https://doi.org/10.1142/s2424905x23400044","url":null,"abstract":"Recent studies in surgical robotics have focused on automating common surgical subtasks such as grasping and manipulation using deep reinforcement learning (DRL). In this work, we consider surgical endoscopic camera control for object tracking – e.g., using the endoscopic camera manipulator (ECM) from the da Vinci Research Kit (dVRK) (Intuitive Inc., Sunnyvale, CA, USA) – as a typical surgical robot learning task. A DRL policy for controlling the robot joint space movements is first trained in a simulation environment and then continues the learning in the real world. To speed up training and avoid significant failures (in this case, losing view of the object), human interventions are incorporated into the training process and regular DRL is combined with generative adversarial imitation learning (GAIL) to encourage imitating human behaviors. Experiments show that an average reward of 159.8 can be achieved within 1,000 steps compared to only 121.8 without human interventions, and the view of the moving object is lost only twice during the training process out of 3 trials. These results show that human interventions can improve learning speed and significantly reduce failures during the training process.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135918007","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}

{"title":"Automatic Detection of Out-of-body Frames in Surgical Videos for Privacy Protection Using Self-supervised Learning and Minimal Labels","authors":"Ziheng Wang, Xi Liu, Conor Perreault, Anthony Jarc","doi":"10.1142/s2424905x23500022","DOIUrl":"https://doi.org/10.1142/s2424905x23500022","url":null,"abstract":"Endoscopic video recordings are widely used in minimally invasive robot-assisted surgery, but when the endoscope is outside the patient’s body, it can capture irrelevant segments that may contain sensitive information. To address this, we propose a framework that accurately detects out-of-body frames in surgical videos by leveraging self-supervision with minimal data labels. We use a massive amount of unlabeled endoscopic images to learn meaningful representations in a self-supervised manner. Our approach, which involves pre-training on an auxiliary task and fine-tuning with limited supervision, outperforms previous methods for detecting out-of-body frames in surgical videos captured from da Vinci X and Xi surgical systems. The average F1 scores range from [Formula: see text] to [Formula: see text]. Remarkably, using only [Formula: see text] of the training labels, our approach still maintains an average F1 score performance above 97, outperforming fully-supervised methods with [Formula: see text] fewer labels. These results demonstrate the potential of our framework to facilitate the safe handling of surgical video recordings and enhance data privacy protection in minimally invasive surgery.","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"330 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136265518","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}

{"title":"Teleoperated and Automated Control of a Robotic Tool for Targeted Prostate Biopsy.","authors":"Blayton Padasdao,&nbsp;Samuel Lafreniere,&nbsp;Mahsa Rabiei,&nbsp;Zolboo Batsaikhan,&nbsp;Bardia Konh","doi":"10.1142/s2424905x23400020","DOIUrl":"10.1142/s2424905x23400020","url":null,"abstract":"<p><p>This work presents a robotic tool with bidirectional manipulation and control capabilities for targeted prostate biopsy interventions. Targeted prostate biopsy is an effective image-guided technique that results in detection of significant cancer with fewer cores and lower number of unnecessary biopsies compared to systematic biopsy. The robotic tool comprises of a compliant flexure section fabricated on a nitinol tube that enables bidirectional bending via actuation of two internal tendons, and a biopsy mechanism for extraction of tissue samples. The kinematic and static models of the compliant flexure section, as well as teleoperated and automated control of the robotic tool are presented and validated with experiments. It was shown that the controller can force the tip of the robotic tool to follow sinusoidal set-point positions with reasonable accuracy in air and inside a phantom tissue. Finally, the capability of the robotic tool to bend, reach targeted positions inside a phantom tissue, and extract a biopsy sample is evaluated.</p>","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"8 1-amp 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10513146/pdf/nihms-1878856.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41164457","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}

{"title":"Author Index Volume 7 (2022)","authors":"","doi":"10.1142/s2424905x2299001x","DOIUrl":"https://doi.org/10.1142/s2424905x2299001x","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48445321","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}

{"title":"Determining the Significant Kinematic Features for Characterizing Stress during Surgical Tasks Using Spatial Attention.","authors":"Yi Zheng, Grey Leonard, Herbert Zeh, Ann Majewicz Fey","doi":"10.1142/s2424905x22410069","DOIUrl":"10.1142/s2424905x22410069","url":null,"abstract":"<p><p>It has been shown that intraoperative stress can have a negative effect on surgeon surgical skills during laparoscopic procedures. For novice surgeons, stressful conditions can lead to significantly higher velocity, acceleration, and jerk of the surgical instrument tips, resulting in faster but less smooth movements. However, it is still not clear which of these kinematic features (velocity, acceleration, or jerk) is the best marker for identifying the normal and stressed conditions. Therefore, in order to find the most significant kinematic feature that is affected by intraoperative stress, we implemented a spatial attention-based Long-Short-Term-Memory (LSTM) classifier. In a prior IRB approved experiment, we collected data from medical students performing an extended peg transfer task who were randomized into a control group and a group performing the task under external psychological stresses. In our prior work, we obtained \"representative\" normal or stressed movements from this dataset using kinematic data as the input. In this study, a spatial attention mechanism is used to describe the contribution of each kinematic feature to the classification of normal/stressed movements. We tested our classifier under Leave-One-User-Out (LOUO) cross-validation, and the classifier reached an overall accuracy of 77.11% for classifying \"representative\" normal and stressed movements using kinematic features as the input. More importantly, we also studied the spatial attention extracted from the proposed classifier. Velocity and acceleration on both sides had significantly higher attention for classifying a normal movement (<i>p</i> <= 0.0001); Velocity (<i>p</i> <= 0.015) and jerk (<i>p</i> <= 0.001) on non-dominant hand had significant higher attention for classifying a stressed movement, and it is worthy noting that the attention of jerk on non-dominant hand side had the largest increment when moving from describing normal movements to stressed movements (<i>p</i> = 0.0000). In general, we found that the jerk on non-dominant hand side can be used for characterizing the stressed movements for novice surgeons more effectively.</p>","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"7 2-3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10289589/pdf/nihms-1903565.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9706151","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}

{"title":"Design of a 6-DoF Parallel Robotic Platform for MRI Applications.","authors":"Mishek Musa, Saikat Sengupta, Yue Chen","doi":"10.1142/s2424905x22410057","DOIUrl":"10.1142/s2424905x22410057","url":null,"abstract":"<p><p>In this work, the design, analysis, and characterization of a parallel robotic motion generation platform with 6-degrees of freedom (DoF) for magnetic resonance imaging (MRI) applications are presented. The motivation for the development of this robot is the need for a robotic platform able to produce accurate 6-DoF motion inside the MRI bore to serve as the ground truth for motion modeling; other applications include manipulation of interventional tools such as biopsy and ablation needles and ultrasound probes for therapy and neuromodulation under MRI guidance. The robot is comprised of six pneumatic cylinder actuators controlled via a robust sliding mode controller. Tracking experiments of the pneumatic actuator indicates that the system is able to achieve an average error of 0.69 ± 0.14 mm and 0.67 ± 0.40 mm for step signal tracking and sinusoidal signal tracking, respectively. To demonstrate the feasibility and potential of using the proposed robot for minimally invasive procedures, a phantom experiment was performed in the benchtop environment, which showed a mean positional error of 1.20 ± 0.43 mm and a mean orientational error of 1.09 ± 0.57°, respectively. Experiments conducted in a 3T whole body human MRI scanner indicate that the robot is MRI compatible and capable of achieving positional error of 1.68 ± 0.31 mm and orientational error of 1.51 ± 0.32° inside the scanner, respectively. This study demonstrates the potential of this device to enable accurate 6-DoF motions in the MRI environment.</p>","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"7 2-3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10445425/pdf/nihms-1918436.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10104453","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}

{"title":"Author Index Volume 6 (2021)","authors":"","doi":"10.1142/s2424905x21990014","DOIUrl":"https://doi.org/10.1142/s2424905x21990014","url":null,"abstract":"","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42268753","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}

{"title":"Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists.","authors":"Nicholas E Pacheco, Joshua B Gafford, Mostafa A Atalla, Robert J Webster, Loris Fichera","doi":"10.1142/s2424905x21400043","DOIUrl":"10.1142/s2424905x21400043","url":null,"abstract":"<p><p>This paper presents a new mechanics model for unidirectional notched-tube continuum wrists, a class of mechanisms frequently used to implement distal steering in needle-sized surgical robotic instruments. Existing kinematic models available for these devices are based on the simplifying assumption that, during actuation, all the notches undergo the same amount of deflection, so that the shape of a wrist can be approximated by an arc of constant curvature. This approach is analytically attractive, but, as we show in this paper, it can sometimes fail to provide good tracking accuracy. In this article, we provide a new model that relaxes the assumption above, and we report experimental evidence showing its superior accuracy. We model wrist deflection using Castigliano's second theorem, with the addition of a capstan friction term that accounts for frictional losses on the actuation tendon. Because notched-tube wrists are typically made of Nickel-Titanium (Nitinol), which has nonlinear stress-strain characteristics, we use a technique to obtain a local linearized approximation of the material modulus, suitable for use in the deflection model. The result of our modeling is a system of nonlinear equations that can be solved numerically to predict the wrist configuration based on the applied actuation force. Experimental results on physical specimens show that this improved model provides a more accurate estimate of wrist kinematics than prior models assuming constant curvature bending.</p>","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"6 1-2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9400950/pdf/nihms-1815286.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"33437889","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}

{"title":"Improved Integrated Robotic Intraocular Snake: Analyses of the Kinematics and Drive Mechanism of the Dexterous Distal Unit.","authors":"Makoto Jinno, Iulian Iordachita","doi":"10.1142/s2424905x21400018","DOIUrl":"10.1142/s2424905x21400018","url":null,"abstract":"<p><p>Retinal surgery can be performed only by surgeons possessing advanced surgical skills because of the small, confined intraocular space, and the restricted free motion of the instruments in contact with the sclera. Snake-like robots may be essential for use in retinal surgery to overcome this problem. Such robots can approach the target site from suitable directions and operate on delicate tissues during retinal vein cannulation, epiretinal membrane peeling, and so on. We propose an improved integrated robotic intraocular snake (I²RIS), which is a new version of our previous IRIS. This study focused on the analyses of the kinematics and drive mechanism of the dexterous distal unit. This unit consists of small elements with reduced contact stress achieved by changing wire-hole positions. The kinematic analysis of the dexterous distal unit shows that it is possible to control the bending angle and direction of the unit by using two pairs of drive wires. The proposed drive mechanism includes a new pull-and-release wire mechanism in which the drive pulley is mounted at a right angle relative to the actuation direction (also, relative to the conventional direction). Analysis of the drive mechanism shows that compared to the previous drive mechanism, the proposed mechanism is simpler and easier to assemble and yields higher accuracy and resolution. Furthermore, considering clinical use, the instrument of the I²RIS is detachable from the motor unit easily for cleaning, sterilization, and attachment of various surgical tools. Analyses of the kinematics and drive mechanism and the basic functions of the proposed mechanism were verified experimentally on actual-size prototypes of the instrument and motor units.</p>","PeriodicalId":73821,"journal":{"name":"Journal of medical robotics research","volume":"6 1-2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8553217/pdf/nihms-1696650.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39669134","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}