Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第2页

Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains. 在不同速度、坡度和不平整地形下进行自适应行走的膝关节和踝关节假体动力控制。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10342504

Liam M Sullivan, Suzi Creveling, Marissa Cowan, Lukas Gabert, Tommaso Lenzi

{"title":"Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains.","authors":"Liam M Sullivan, Suzi Creveling, Marissa Cowan, Lukas Gabert, Tommaso Lenzi","doi":"10.1109/iros55552.2023.10342504","DOIUrl":"10.1109/iros55552.2023.10342504","url":null,"abstract":"Ambulation in everyday life requires walking at variable speeds, variable inclines, and variable terrains. Powered prostheses aim to provide this adaptability through control of the actuated joints. Some powered prosthesis controllers can adapt to discrete changes in speed and incline but require manual tuning to determine the control parameters, leading to poor clinical viability. Other data-driven controllers can continuously adapt to changes in speed and incline but do so by imposing the same non-amputee gait patterns for all amputee subjects, which does not consider subjective preferences and differing clinical needs of users. Here, we present a controller for powered knee and ankle prostheses that can continuously adapt to different walking speeds, inclines, and uneven terrains without enforcing a specific prosthesis position, impedance, or torque. A virtual biarticular muscle connection determines the knee flexion torque, which changes with both speed and slope. Adaptation to inclines and uneven terrains is based solely on the global shank orientation. Continuously variable damping allows for speed adaptation. Minimum-jerk programming defines the prosthesis swing trajectory at variable cadences. Experiments with one individual with an above-knee amputation suggest that the proposed controller can effectively adapt to different walking speeds, inclines, and rough terrains.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"2128-2133"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10958618/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140208467","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

Controlling Powered Prosthesis Kinematics over Continuous Transitions Between Walk and Stair Ascent. 在步行和爬楼梯之间的连续转换中控制动力假肢运动学

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI: 10.1109/iros55552.2023.10341457

Shihao Cheng, Curt A Laubscher, Robert D Gregg

{"title":"Controlling Powered Prosthesis Kinematics over Continuous Transitions Between Walk and Stair Ascent.","authors":"Shihao Cheng, Curt A Laubscher, Robert D Gregg","doi":"10.1109/iros55552.2023.10341457","DOIUrl":"10.1109/iros55552.2023.10341457","url":null,"abstract":"One of the primary benefits of emerging powered prosthetic legs is their ability to facilitate step-over-step stair ascent by providing positive mechanical work. Existing control methods typically have distinct steady-state activity modes for walking and stair ascent, where activity transitions involve discretely switching between controllers and often must be initiated with a particular leg. However, these discrete transitions do not necessarily replicate able-bodied joint biomechanics, which have been shown to continuously adjust over a transition stride. This paper presents a phase-based kinematic controller for a powered knee-ankle prosthesis that enables continuous, biomimetic transitions between walking and stair ascent. The controller tracks joint angles from a data-driven kinematic model that continuously interpolates between the steady-state kinematic models, and it allows both the prosthetic and intact leg to lead the transitions. Results from experiments with two transfemoral amputee participants indicate that knee and ankle kinematics smoothly transition between walking and stair ascent, with comparable or lower root mean square errors compared to variations from able-bodied data.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2023 ","pages":"2108-2115"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10732262/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833406","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

Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery. 在机器人辅助手术中使用变压器模型识别和预测手术手势和轨迹。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2022-10-01 Epub Date: 2022-12-26 DOI: 10.1109/IROS47612.2022.9981611

Chang Shi, Yi Zheng, Ann Majewicz Fey

{"title":"Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery.","authors":"Chang Shi, Yi Zheng, Ann Majewicz Fey","doi":"10.1109/IROS47612.2022.9981611","DOIUrl":"10.1109/IROS47612.2022.9981611","url":null,"abstract":"Surgical activity recognition and prediction can help provide important context in many Robot-Assisted Surgery (RAS) applications, for example, surgical progress monitoring and estimation, surgical skill evaluation, and shared control strategies during teleoperation. Transformer models were first developed for Natural Language Processing (NLP) to model word sequences and soon the method gained popularity for general sequence modeling tasks. In this paper, we propose the novel use of a Transformer model for three tasks: gesture recognition, gesture prediction, and trajectory prediction during RAS. We modify the original Transformer architecture to be able to generate the current gesture sequence, future gesture sequence, and future trajectory sequence estimations using only the current kinematic data of the surgical robot end-effectors. We evaluate our proposed models on the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS) and use Leave-One-User-Out (LOUO) cross validation to ensure generalizability of our results. Our models achieve up to 89.3% gesture recognition accuracy, 84.6% gesture prediction accuracy (1 second ahead) and 2.71mm trajectory prediction error (1 second ahead). Our models are comparable to and able to outperform state-of-the-art methods while using only the kinematic data channel. This approach can enabling near-real time surgical activity recognition and prediction.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2022 ","pages":"8017-8024"},"PeriodicalIF":0.0,"publicationDate":"2022-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10288529/pdf/nihms-1903542.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9772669","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

Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries. 臂丛神经损伤患者新型便携式触觉机器人外骨骼手套系统的研制与实验评估。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2022-10-01 DOI: 10.1109/iros47612.2022.9981468

Wenda Xu, Yunfei Guo, Cesar Bravo, Pinhas Ben-Tzvi

{"title":"Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries.","authors":"Wenda Xu, Yunfei Guo, Cesar Bravo, Pinhas Ben-Tzvi","doi":"10.1109/iros47612.2022.9981468","DOIUrl":"https://doi.org/10.1109/iros47612.2022.9981468","url":null,"abstract":"This paper presents the development and experimental evaluation of a portable haptic exoskeleton glove system designed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The proposed glove system involves force perception, linkage-driven finger mechanism, and personalized voice control to achieve various grasping functionality requirements. The fully integrated system provides our wearable device with lightweight, portable, and comfortable characterization for grasping objects used in daily activities. Rigid articulated linkages powered by Series Elastic Actuators (SEAs) with slip detection on the fingertips provide stable and robust grasp for multiple objects. The passive abduction-adduction motion of each finger is also considered to provide better grasping flexibility for the user. The continuous voice control with bio-authentication also provides a hands-free user interface. The experiments with different objects verify the functionalities and capabilities of the proposed exoskeleton glove system in grasping objects with various shapes and weights used in activities of daily living (ADLs).","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2022 ","pages":"11115-11120"},"PeriodicalIF":0.0,"publicationDate":"2022-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10256117/pdf/nihms-1854355.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9998665","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: 2

Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning. 数据驱动的可变阻抗控制电动膝踝假肢，实现坐、站、走三位一体，只需极少的调整。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2022-10-01 Epub Date: 2022-12-26 DOI: 10.1109/iros47612.2022.9982037

Cara G Welker, T Kevin Best, Robert D Gregg

{"title":"Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning.","authors":"Cara G Welker, T Kevin Best, Robert D Gregg","doi":"10.1109/iros47612.2022.9982037","DOIUrl":"10.1109/iros47612.2022.9982037","url":null,"abstract":"Although the average healthy adult transitions from sit to stand over 60 times per day, most research on powered prosthesis control has only focused on walking. In this paper, we present a data-driven controller that enables sitting, standing, and walking with minimal tuning. Our controller comprises two high level modes of sit/stand and walking, and we develop heuristic biomechanical rules to control transitions. We use a phase variable based on the user's thigh angle to parameterize both walking and sit/stand motions, and use variable impedance control during ground contact and position control during swing. We extend previous work on data-driven optimization of continuous impedance parameter functions to design the sit/stand control mode using able-bodied data. Experiments with a powered knee-ankle prosthesis used by a participant with above-knee amputation demonstrate promise in clinical outcomes, as well as trade-offs between our minimal-tuning approach and accommodation of user preferences. Specifically, our controller enabled the participant to complete the sit/stand task 20% faster and reduced average asymmetry by half compared to his everyday passive prosthesis. The controller also facilitated a timed up and go test involving sitting, standing, walking, and turning, with only a mild (10%) decrease in speed compared to the everyday prosthesis. Our sit/stand/walk controller enables multiple activities of daily life with minimal tuning and mode switching.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2022 ","pages":"9660-9667"},"PeriodicalIF":0.0,"publicationDate":"2022-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9850431/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9166299","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

Light in the Larynx: a Miniaturized Robotic Optical Fiber for In-office Laser Surgery of the Vocal Folds. 喉部之光：用于声带激光手术的微型机器人光纤

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2022-10-01 Epub Date: 2022-12-26 DOI: 10.1109/iros47612.2022.9981202

Alex J Chiluisa, Nicholas E Pacheco, Hoang S Do, Ryan M Tougas, Emily V Minch, Rositsa Mihaleva, Yao Shen, Yuxiang Liu, Thomas L Carroll, Loris Fichera

{"title":"Light in the Larynx: a Miniaturized Robotic Optical Fiber for In-office Laser Surgery of the Vocal Folds.","authors":"Alex J Chiluisa, Nicholas E Pacheco, Hoang S Do, Ryan M Tougas, Emily V Minch, Rositsa Mihaleva, Yao Shen, Yuxiang Liu, Thomas L Carroll, Loris Fichera","doi":"10.1109/iros47612.2022.9981202","DOIUrl":"10.1109/iros47612.2022.9981202","url":null,"abstract":"This paper reports the design, construction, and experimental validation of a novel hand-held robot for in-office laser surgery of the vocal folds. In-office endoscopic laser surgery is an emerging trend in Laryngology: It promises to deliver the same patient outcomes of traditional surgical treatment (i.e., in the operating room), at a fraction of the cost. Unfortunately, office procedures can be challenging to perform; the optical fibers used for laser delivery can only emit light forward in a line-of-sight fashion, which severely limits anatomical access. The robot we present in this paper aims to overcome these challenges. The end effector of the robot is a steerable laser fiber, created through the combination of a thin optical fiber (ϕ 0.225 mm) with a tendon-actuated Nickel-Titanium notched sheath that provides bending. This device can be seamlessly used with most commercially available endoscopes, as it is sufficiently small (ϕ 1.1 mm) to pass through a working channel. To control the fiber, we propose a compact actuation unit that can be mounted on top of the endoscope handle, so that, during a procedure, the operating physician can operate both the endoscope and the steerable fiber with a single hand. We report simulation and phantom experiments demonstrating that the proposed device substantially enhances surgical access compared to current clinical fibers.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2022 ","pages":"427-434"},"PeriodicalIF":0.0,"publicationDate":"2022-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9875830/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9142915","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

Development of a Novel Low-profile Robotic Exoskeleton Glove for Patients with Brachial Plexus Injuries. 臂丛神经损伤患者新型低轮廓机器人外骨骼手套的研制。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2022-10-01 DOI: 10.1109/iros47612.2022.9981124

Wenda Xu, Yujiong Liu, Pinhas Ben-Tzvi

{"title":"Development of a Novel Low-profile Robotic Exoskeleton Glove for Patients with Brachial Plexus Injuries.","authors":"Wenda Xu, Yujiong Liu, Pinhas Ben-Tzvi","doi":"10.1109/iros47612.2022.9981124","DOIUrl":"https://doi.org/10.1109/iros47612.2022.9981124","url":null,"abstract":"This paper presents the design and development of a novel, low-profile, exoskeleton robotic glove aimed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The key idea of this new glove lies in its new finger mechanism that takes advantage of the rigid coupling hybrid mechanism (RCHM) concept. This mechanism concept couples the motions of the adjacent human finger links using rigid coupling mechanisms so that the overall mechanism motion (e.g., bending, extension, etc.) could be achieved using fewer actuators. The finger mechanism utilizes the single degree of freedom case of the RCHM that uses a rack-and-pinion mechanism as the rigid coupling mechanism. This special arrangement enables to design each finger mechanism of the glove as thin as possible while maintaining mechanical robustness simultaneously. Based on this novel finger mechanism, a two-finger low-profile robotic glove was developed. Remote center of motion mechanisms were used for the metacarpophalangeal (MCP) joints. Kinematic analysis and optimization-based kinematic synthesis were conducted to determine the design parameters of the new glove. Passive abduction/adduction joints were considered to improve the grasping flexibility. A proof-of-concept prototype was built and pinch grasping experiments of various objects were conducted. The results validated the mechanism and the mechanical design of the new robotic glove and demonstrated its functionalities and capabilities in grasping objects with various shapes and weights that are used in activities of daily living (ADLs).","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2022 ","pages":"11121-11126"},"PeriodicalIF":0.0,"publicationDate":"2022-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10250018/pdf/nihms-1854353.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9619789","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 Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. 为医用可控针自动化寻找稳健起始位置的度量标准

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2022-10-01 Epub Date: 2022-12-26 DOI: 10.1109/iros47612.2022.9982227

Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason Akulian, Robert J Webster, Ron Alterovitz

{"title":"A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation.","authors":"Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason Akulian, Robert J Webster, Ron Alterovitz","doi":"10.1109/iros47612.2022.9982227","DOIUrl":"10.1109/iros47612.2022.9982227","url":null,"abstract":"Steerable needles are medical devices with the ability to follow curvilinear paths to reach targets while circumventing obstacles. In the deployment process, a human operator typically places the steerable needle at its start position on a tissue surface and then hands off control to the automation that steers the needle to the target. Due to uncertainty in the placement of the needle by the human operator, choosing a start position that is robust to deviations is crucial since some start positions may make it impossible for the steerable needle to safely reach the target. We introduce a method to efficiently evaluate steerable needle motion plans such that they are safe to variation in the start position. This method can be applied to many steerable needle planners and requires that the needle's orientation angle at insertion can be robotically controlled. Specifically, we introduce a method that builds a funnel around a given plan to determine a safe insertion surface corresponding to insertion points from which it is guaranteed that a collision-free motion plan to the goal can be computed. We use this technique to evaluate multiple feasible plans and select the one that maximizes the size of the safe insertion surface. We evaluate our method through simulation in a lung biopsy scenario and show that the method is able to quickly find needle plans with a large safe insertion surface.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2022 ","pages":"9526-9533"},"PeriodicalIF":0.0,"publicationDate":"2022-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10162587/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9790993","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 FBG-Sensorized Needle Shape Prediction in Tissue Insertions. fbg传感器在组织插入中的针形预测研究。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2022-10-01 DOI: 10.1109/iros47612.2022.9981856

Dimitri A Lezcano, Min Jung Kim, Iulian I Iordachita, Jin Seob Kim

{"title":"Toward FBG-Sensorized Needle Shape Prediction in Tissue Insertions.","authors":"Dimitri A Lezcano, Min Jung Kim, Iulian I Iordachita, Jin Seob Kim","doi":"10.1109/iros47612.2022.9981856","DOIUrl":"https://doi.org/10.1109/iros47612.2022.9981856","url":null,"abstract":"Complex needle shape prediction remains an issue for planning of surgical interventions of flexible needles. In this paper, we validate a theoretical method for flexible needle shape prediction allowing for non-uniform curvatures, extending upon a previous sensor-based model which combines curvature measurements from fiber Bragg grating (FBG) sensors and the mechanics of an inextensible elastic rod to determine and predict the 3D needle shape during insertion. We evaluate the model's effectiveness in single-layer isotropic tissue for shape sensing and shape prediction capabilities. Experiments on a four-active area, FBG-sensorized needle were performed in varying single-layer isotropic tissues under stereo vision to provide 3D ground truth of the needle shape. The results validate a viable 3D needle shape prediction model accounting for non-uniform curvatures in flexible needles with mean needle shape sensing and prediction root-mean-square errors of 0.479 mm and 0.892 mm, respectively.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2022 ","pages":"3505-3511"},"PeriodicalIF":0.0,"publicationDate":"2022-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9832576/pdf/nihms-1861312.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10534888","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: 1

Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue. 磁性缝线针在血液和组织杂乱手术部位的定位与控制。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2021-09-01 DOI: 10.1109/iros51168.2021.9636441

Will Pryor, Yotam Barnoy, Suraj Raval, Xiaolong Liu, Lamar Mair, Daniel Lerner, Onder Erin, Gregory D Hager, Yancy Diaz-Mercado, Axel Krieger

{"title":"Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue.","authors":"Will Pryor, Yotam Barnoy, Suraj Raval, Xiaolong Liu, Lamar Mair, Daniel Lerner, Onder Erin, Gregory D Hager, Yancy Diaz-Mercado, Axel Krieger","doi":"10.1109/iros51168.2021.9636441","DOIUrl":"https://doi.org/10.1109/iros51168.2021.9636441","url":null,"abstract":"Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context of our magneto-suturing system. Our system holds the potential for surgical manipulation with the benefit of minimal invasiveness and reduced patient side effects. However, the nonlinear magnetic fields produce unintuitive forces and demand delicate position-based control that exceeds the capabilities of direct human manipulation. This makes automatic needle localization a necessity. Our localization method combines neural network-based segmentation and classical techniques, and we are able to consistently locate our needle with 0.73 mm RMS error in clean environments and 2.72 mm RMS error in challenging environments with blood and occlusion. The average localization RMS error is 2.16 mm for all environments we used in the experiments. We combine this localization method with our closed-loop feedback control system to demonstrate the further applicability of localization to autonomous control. Our needle is able to follow a running suture path in (1) no blood, no tissue; (2) heavy blood, no tissue; (3) no blood, with tissue; and (4) heavy blood, with tissue environments. The tip position tracking error ranges from 2.6 mm to 3.7 mm RMS, opening the door towards autonomous suturing tasks.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2021 ","pages":"524-531"},"PeriodicalIF":0.0,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8871455/pdf/nihms-1721262.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10363521","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: 3