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Ex-vivo Prostate Evaluation of Fused-data TREIT using only Biopsy-probe electrodes. 仅使用活检探针电极对融合数据TREIT的离体前列腺评估。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-20 DOI: 10.1109/TBME.2025.3634989
Ethan K Murphy, Xiaotian Wu, Alicia Everitt, Lawrence M Dagrosa, Jason R Pettus, Ryan J Halter

This study evaluates a fused-data transrectal electrical impedance tomography (TREIT) method for prostate cancer imaging on a set of 22 ex vivo prostates. A previously optimized TREIT algorithm is utilized, and novel validation and fusion approaches leveraging pathology information are considered. Overall, the aim was to increase the sensed volume of a standard 12-core prostate biopsy by adding TREIT imaging. Two TREIT approaches were considered: 1. including prostate boundary information (EIT-P) and 2. including prostate and tumor boundary information (EIT-P+T). Both simple electrical impedance spectroscopy (EIS) metrics and the two imaging approaches (EIT-P and EIT-P+T) were evaluated with respect to biopsy core, 3D (EIT-P) image, and tumor-grade data. Best AUCs of 0.85, 0.84, and 0.83 were found when considering increasing volumes of tissue (0.8%, 2.7%, and 15% of the prostate). The largest measurement volume (15%), which utilized EIT-P, sensed significantly more prostate tissue than the standard biopsy only approach (<1%). These represent large improvement compared to prior clinical EIS biopsy and TREIT studies. Tumor-grade analysis (via EIT-P+T) appears to show promise but more data is required to confirm this. Overall, the study made important strides in developing the TREIT technique and further investigation, likely in an in vivo study, appears merited.

本研究评估了融合数据经直肠电阻抗断层扫描(TREIT)对22例离体前列腺癌的成像。利用先前优化的TREIT算法,并考虑利用病理信息的新型验证和融合方法。总的来说,目的是通过增加TREIT成像来增加标准12核前列腺活检的感测体积。考虑了两种TREIT方法:包括前列腺边界信息(EIT-P);包括前列腺和肿瘤边界信息(EIT-P+T)。简单的电阻抗谱(EIS)指标和两种成像方法(EIT-P和EIT-P+T)就活检核心、3D (EIT-P)图像和肿瘤分级数据进行评估。考虑到组织体积的增加(前列腺的0.8%、2.7%和15%),最佳auc分别为0.85、0.84和0.83。使用EIT-P的最大测量体积(15%)比仅使用标准活检方法检测到更多的前列腺组织(
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引用次数: 0
2025 Index IEEE Transactions on Biomedical Engineering 2025索引IEEE生物医学工程学报
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-20 DOI: 10.1109/TBME.2025.3635062
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引用次数: 0
A Pulsed Tumor Treating Fields Protocol to Improve Glioblastoma Therapy. 脉冲肿瘤治疗野方案改善胶质母细胞瘤治疗。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-19 DOI: 10.1109/TBME.2025.3634604
Yanpeng Lv, Shihan Lu, Haodong Wang, Jianhua Zhang, Chuanliang Chen

Tumor Treating Fields (TTFields) utilize alternating fields (AC fields) within 100-300 kHz and electric field strengths above 1 V/cm for glioblastoma (GBM) treatment. However, the electric field is often reduced to a relatively low value (below 1 V/cm) due to the unavoidable thermal effects induced by Joule heating on the patient's skin.

Objective: This study proposes a pulsed TTFields to enhance therapy effect, while reducing thermal effects.

Methods: This work designed a TTFields generator to output 200 kHz AC fields. Cell experiments were conducted to compare cell viability between pulsed and conventional TTFields. A gel platform was used to measure temperature rises under clinical parameters of TTFields. A realistic head model with a tumor was simulated to analyze electric field and thermal distributions.

Results: The designed generator can output two separate TTFields signals with 100 V voltage amplitude and 2000 mA current amplitude, meeting clinical trial requirements. Pulsed TTFields (10% duty cycle, 3.37 V/cm) achieved significantly lower cell viability (53.07%) than continuous TTFields (1.07 V/cm, 84.76%) while maintaining similar temperature rises. Gel experiments confirmed comparable temperature rises for both protocols. Simulations on a realistic head model demonstrated that pulsed TTFields achieved broader tumor coverage (electric field >1 V/cm) compared to continuous TTFields under equivalent thermal conditions.

Conclusion: Pulsed TTFields can generate higher electric fields in targeted regions, significantly inhibiting cell proliferation while reducing thermal risks compared to continuous TTFields.

Significance: The proposed pulsed TTFields may provide an optimized treatment method to enhance GBM therapy efficacy.

肿瘤治疗场(TTFields)利用100- 300khz的交变电场(AC Fields)和1v /cm以上的电场强度来治疗胶质母细胞瘤(GBM)。然而,由于焦耳加热对患者皮肤产生不可避免的热效应,电场往往会降低到一个相对较低的值(低于1 V/cm)。目的:本研究提出了一种脉冲TTFields,以提高治疗效果,同时减少热效应。方法:设计一种TTFields发电机,输出200khz交流磁场。细胞实验比较脉冲和常规TTFields之间的细胞活力。采用凝胶平台测量TTFields临床参数下的温升。模拟了一个真实的头部肿瘤模型,分析了电场和热分布。结果:所设计的发生器可分别输出100v电压幅值和2000ma电流幅值的TTFields信号,满足临床试验要求。在保持相同温升的情况下,脉冲TTFields(10%占空比,3.37 V/cm)的细胞存活率(53.07%)明显低于连续TTFields (1.07 V/cm, 84.76%)。凝胶实验证实,两种方案的温度升高幅度相当。在真实头部模型上的模拟表明,与等效热条件下的连续TTFields相比,脉冲TTFields实现了更广泛的肿瘤覆盖(电场bbb1v /cm)。结论:与连续TTFields相比,脉冲TTFields可以在靶区产生更高的电场,显著抑制细胞增殖,同时降低热风险。意义:提出的脉冲TTFields可能为提高GBM治疗效果提供一种优化的治疗方法。
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引用次数: 0
A Dynamic Local-Global Spatiotemporal Transformer Network for Pain Intensity Estimation in Patients With Disorders of Consciousness. 意识障碍患者疼痛强度估计的动态局域-全局时空变形网络。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-17 DOI: 10.1109/TBME.2025.3633663
Yan Liang, Jie Liu, Xiongbin Li, Yulong Yan, Qiuyou Xie, Haili Zhong, Jiahui Pan

Clinical diagnosis of disorders of conscious ness (DOC) suffers from a high misdiagnosis rate, particularly in differentiating the minimally conscious state (MCS) from the vegetative state/unresponsive wakefulness syndrome (VS/UWS). Recent studies have linked pain perception to the level of consciousness. This study proposes a dynamic local-global spatiotemporal transformer (DLGSTT) network for estimating pain intensity from facial expressions. The DLGSTT network integrates a global multi-scale feature extraction module with a local attention feature ex traction module to efficiently capture diverse features in facial expressions and enhance the perception of expression changes. Additionally, a discrete cosine transform (DCT) enhanced temporal transformer module is incorporated to extract temporal features from the dynamic changes in facial expressions, with pain intensity scores used to quantify pain perception. Experimental results demonstrate that the DLGSTT network outperforms state-of-the-art algorithms on public datasets. Furthermore, when applied to a self-collected dataset of 33 DOC patients, the results show a significant correlation between pain intensity and levels of consciousness, and reveal gender-based differences in pain perception thresholds. Our method is validated as a feasible clinical tool for the auxiliary diagnosis of DOC patients, serving as a valuable complement to behavioral scales and potentially improving diagnostic accuracy.

意识障碍(DOC)的临床诊断存在较高的误诊率,特别是在区分最低意识状态(MCS)与植物人状态/无反应性清醒综合征(VS/UWS)时。最近的研究将疼痛感知与意识水平联系起来。本研究提出了一种动态局部-全局时空转换(DLGSTT)网络,用于从面部表情中估计疼痛强度。DLGSTT网络集成了全局多尺度特征提取模块和局部注意特征提取模块,有效捕获面部表情中的多种特征,增强对表情变化的感知。此外,采用离散余弦变换(DCT)增强的时间转换器模块从面部表情的动态变化中提取时间特征,并使用疼痛强度评分来量化疼痛感知。实验结果表明,DLGSTT网络在公共数据集上优于最先进的算法。此外,当应用于33名DOC患者的自我收集数据集时,结果显示疼痛强度与意识水平之间存在显著相关性,并揭示了疼痛感知阈值的性别差异。我们的方法被证实是一种可行的临床辅助诊断DOC患者的工具,作为行为量表的有价值的补充,并有可能提高诊断的准确性。
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引用次数: 0
Smartphone-Based Blood Pressure Monitoring via the Oscillometric Finger Pressing Method: Investigation of the DC Component of PPG. 基于智能手机的指压振荡法血压监测:PPG直流分量的研究。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-17 DOI: 10.1109/TBME.2025.3633555
Mark Freithaler, Hadi Daher, Cederick Landry, Vishaal Dhamotharan, Shipeng Wang, Anand Chandrasekhar, Sanjeev G Shroff, Ramakrishna Mukkamala

Objective: Oscillometric finger pressing is a potential method for smartphone-based blood pressure (BP) monitoring. A photoplethysmography (PPG)-force sensor unit measures the slowly increasing finger pressure applied by the user under visual guidance and the resulting variable blood volume oscillations ("AC PPG"). BP can then be estimated from the oscillation height versus finger pressure function. The non-oscillating component of PPG ("DC PPG") during oscillometric finger pressing was investigated.

Methods: The total (AC+DC) PPG waveform, finger pressure, and ECG waveform during finger pressing were measured with a modified custom system along with arm cuff BP in volunteers. A mathematical model accounting for the arterial compliance curve and tissue compression was developed to explain the measured total PPG waveform versus finger pressure function. The model predicted that DC PPG (average of the total PPG over each heartbeat) versus finger pressure function will show a fiducial marker (bend) near finger systolic BP (SP). An algorithm was developed to detect this bend and estimate arm SP from the finger pressing measurements.

Results: The model explained the measured total PPG waveform versus finger pressure function over the finger pressure range that is relevant to BP estimation. The model-based algorithm yielded a correlation coefficient of 0.90 and a precision error of 9.2 mmHg against cuff SP (N = 18).

Conclusion: An easy-to-understand model can explain the total PPG waveform during finger pressing, and SP can be estimated from the DC (non-oscillating) PPG versus finger pressure function.

Significance: These findings may prove useful in converting ubiquitous smartphones into BP sensors.

目的:指压振荡测量法是一种潜在的智能手机血压监测方法。光电体积脉搏描记(PPG)力传感器单元测量用户在视觉引导下缓慢增加的手指压力和由此产生的可变血容量振荡(“AC PPG”)。然后可以从振荡高度与手指压力的函数中估计BP。研究了指压振荡过程中PPG的非振荡成分(DC PPG)。方法:采用改进的定制系统测量手指按压过程中PPG总波形(AC+DC)、指压、心电波形及臂袖血压。建立了考虑动脉顺应性曲线和组织压缩的数学模型,以解释测量的总PPG波形与手指压力函数的关系。该模型预测,DC PPG(每次心跳时总PPG的平均值)与手指压力函数将在手指收缩压(SP)附近显示基准标记(弯曲)。开发了一种算法来检测这种弯曲,并从手指按压测量中估计手臂的SP。结果:该模型解释了在与BP估计相关的手指压力范围内测量的总PPG波形与手指压力函数的关系。基于模型的算法对袖带SP的相关系数为0.90,精度误差为9.2 mmHg (N = 18)。结论:一个简单易懂的模型可以解释手指按压过程中PPG的总波形,并且可以通过DC(非振荡)PPG与手指按压函数来估计SP。意义:这些发现可能有助于将无处不在的智能手机转化为BP传感器。
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引用次数: 0
Fast 3D Partial Boundary Data EIT Reconstructions using Direct Inversion CGO-based Methods. 基于直接反演cgo方法的快速三维部分边界数据EIT重建。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-17 DOI: 10.1109/TBME.2025.3633560
S J Hamilton, P A Muller, V Kolehmainen, J Toivanen

 Objective: To develop, and test, a fast image 3D reconstruction method for partial boundary data electrical impedance tomographic absolute and time-difference imaging.

Methods: Two complex geometrical optics based methods are presented: Calerón's method which employs a linear Fourier transform, and the texp method which makes use of a tailor-made nonlinear Fourier transform. The methods are tested on simulated and experimental data, and their reconstructions compared to reference reconstructions from standard linear difference imaging and total variation regularization.

Results: The proposed methods provide good localization of targets, for both absolute and time-difference imaging, when large portions of the domain are inaccessible for measurement, e.g., stroke monitoring.

Conclusion: The proposed algorithms require no iteration and provide informative absolute or time-difference images exceptionally quickly in under 2 seconds for complicated domain shapes. The algorithms perform well under high levels of noise and incorrect domain modeling.

Significance: As most medical applications of electrical impedance tomography are limited to partial boundary data, the development of partial boundary algorithms is highly desirable. While iterative schemes have been used traditionally, their high computational cost can make them cost-prohibitive for applications that need fast imaging.

目的:开发并测试一种局部边界数据电阻抗层析绝对和时差成像的快速三维图像重建方法。方法:提出了两种基于复杂几何光学的方法:Calerón方法采用线性傅里叶变换,文本方法采用定制的非线性傅里叶变换。在模拟和实验数据上对该方法进行了测试,并将其重建结果与标准线性差分成像和全变差正则化的参考重建结果进行了比较。结果:所提出的方法为绝对成像和时差成像提供了良好的目标定位,当大部分区域无法测量时,例如脑卒中监测。结论:本文提出的算法无需迭代,可在2秒内快速获得具有信息量的绝对或时差图像。该算法在高噪声水平和不正确的域建模下表现良好。意义:由于电阻抗断层扫描的大多数医学应用仅限于部分边界数据,因此开发部分边界算法是非常必要的。虽然传统上使用迭代方案,但其高计算成本使得需要快速成像的应用成本过高。
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引用次数: 0
Stability strategy restrictions do not elicit compensatory mechanisms during mediolaterally perturbed slow walking. 稳定性策略限制不引起代偿机制在中侧扰动缓慢行走。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-14 DOI: 10.1109/TBME.2025.3630549
Aaron N Best, Mark Vlutters, Amy R Wu

Objective: Healthy individuals have the ability to overcome perturbations when walking without falling. They have multiple stability strategies at their disposal, but it remains unclear how these different strategies compensate for one another when one may be limited due to external factors. The objective of the current study was to determine how the different stability strategies compensate for one another when mediolateral perturbations were applied.

Methods: We performed both human experiments and computational modelling. The human experiments involved imposed restrictions on the different stability strategies while perturbations were applied and measuring the response of the other strategies. The stepping strategy was limited using visual feedback of step width projected onto the ground, the ankle strategy was restricted using narrow strips of rubber under the foot, and the trunk strategy was restricted using a brace. Similarly, in the computational model, we observed changes in the remaining strategies once one of the balance strategies was removed.

Results: In our gait study, we found that the limitation of one strategy did not result in compensatory behaviour in the remaining strategies. However, our computational model did exhibit compensatory behaviour when strategies were removed.

Conclusion: These conflicting results suggest that compensatory behaviour has the potential to be beneficial for overcoming perturbations but is not utilized by healthy individuals.

Significance: The mismatch of experimental and modelling results suggests that human responses are not purely motivated by the continuation of forward motion but instead by a combination of objectives.

目的:健康人在行走时具有克服干扰而不摔倒的能力。他们有多种稳定策略可供选择,但目前尚不清楚,当一种策略可能受到外部因素的限制时,这些不同的策略如何相互补偿。当前研究的目的是确定当施加中外侧扰动时,不同的稳定性策略如何相互补偿。方法:我们进行了人体实验和计算模型。人体实验对不同的稳定性策略施加了限制,同时应用了扰动并测量了其他策略的响应。采用投影到地面上的步幅视觉反馈限制踏步策略,采用脚底狭窄的橡胶条限制踝关节策略,采用支具限制躯干策略。同样,在计算模型中,我们观察到一旦其中一个平衡策略被删除,其余策略的变化。结果:在我们的步态研究中,我们发现一种策略的局限性不会导致其他策略的补偿行为。然而,当策略被移除时,我们的计算模型确实表现出补偿行为。结论:这些相互矛盾的结果表明,代偿行为有可能有利于克服扰动,但不被健康个体利用。意义:实验和模型结果的不匹配表明,人类的反应不是纯粹由向前运动的延续所驱动的,而是由目标的组合所驱动的。
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引用次数: 0
Joint-Shrinkage Pattern Matching for Small-Sample and Imbalanced ERP Decoding in Brain-Computer Interfaces. 脑机接口中小样本不平衡ERP解码的关节收缩模式匹配。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-12 DOI: 10.1109/TBME.2025.3632096
Jinsong Sun, Jiayuan Meng, Hao Wang, Feng He, Tzyy-Ping Jung, Minpeng Xu, Haiqing Yu, Dong Ming

Event-related potential (ERP)-based brain-computer interface (BCI) systems are approaching sub-microvolt-level resolution, enabling detailed decoding of sophisticated cognitive processes. This progress has increased the demand for robust classifiers. Current algorithms encounter two fundamental challenges when decoding ERPs: data scarcity and class imbalance. To address these challenges, we propose a joint-shrinkage pattern matching (JSPM) algorithm consisting of two modules. First, a novel joint-shrinkage spatial filter is constructed by integrating shrinkage-based regularization with the ℓℓ22,pp norm. This regularization approach effectively bridges the gap between complex structured regularization and implementation simplicity, which introduces automated regularization to enhance module robustness under data-scarce conditions. The ℓℓ22,pp-norm provides a flexible feature distance measurement, enabling adaptation to data quality variability. Second, a weighted template matching module mitigates decision boundary shift caused by class imbalance. Using error-related potentials (ErrPs) as representative signals, we validated the algorithm through comprehensive comparisons. JSPM significantly outperformed 14 state-of-the-art classifiers on one self-collected and two public ErrP datasets. With only 40 imbalanced training samples, it achieved up to 14.84% higher average balanced accuracy (bAcc) than competing methods, maintaining a 4.88% average bAcc advantage over its nearest competitor. Notably, JSPM significantly enhanced inter-class discriminability for ErrP features with approximately 1 μV amplitude, achieving a maximum bAcc enhancement of 8.80%compared to deep learning methods. Overall, JSPM effectively addresses small-sample and imbalanced ERP decoding in BCI systems, facilitating the transition from laboratory research to real-world applications.

基于事件相关电位(ERP)的脑机接口(BCI)系统正在接近亚微伏级别的分辨率,能够对复杂的认知过程进行详细解码。这一进展增加了对鲁棒分类器的需求。当前的算法在解码erp时遇到两个基本的挑战:数据稀缺和类不平衡。为了解决这些挑战,我们提出了一种由两个模块组成的联合收缩模式匹配(JSPM)算法。首先,将基于收缩的正则化与l_l_22,pp范数相结合,构造了一种新型的联合收缩空间滤波器;这种正则化方法有效地弥合了复杂的结构化正则化与实现简单性之间的差距,引入了自动正则化,以增强数据稀缺条件下模块的鲁棒性。22,pp-范数提供了灵活的特征距离测量,能够适应数据质量的变化。其次,利用加权模板匹配模块缓解类不平衡导致的决策边界偏移。以误差相关电位(ErrPs)作为代表性信号,通过综合比较验证了算法。在一个自行收集的ErrP数据集和两个公共ErrP数据集上,JSPM的表现明显优于14个最先进的分类器。仅使用40个不平衡训练样本,该方法的平均平衡精度(bAcc)比竞争方法高出14.84%,比最接近的竞争对手保持4.88%的平均bAcc优势。值得注意的是,JSPM显著增强了幅度约为1 μV的ErrP特征的类间可分辨性,与深度学习方法相比,bAcc的最大增强幅度为8.80%。总体而言,JSPM有效地解决了BCI系统中小样本和不平衡的ERP解码问题,促进了从实验室研究到现实应用的过渡。
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引用次数: 0
SDDA: Spatial Distillation based Distribution Alignment for Cross-Headset EEG Classification. SDDA:基于空间蒸馏的跨头戴式脑电分类分布对齐。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-11 DOI: 10.1109/TBME.2025.3631604
Dingkun Liu, Siyang Li, Ziwei Wang, Wei Li, Dongrui Wu

Objective: A non-invasive brain-computer interface (BCI) enables direct interaction between the user and external devices, typically via electroencephalogram (EEG) signals. This paper tackles the problem of decoding EEG signals across different headsets, which is challenging due to differences in the number and locations of the electrodes.

Methods: We propose a spatial distillation based distribution alignment (SDDA) approach for heterogeneous cross-headset transfer in non-invasive BCIs. SDDA uses first spatial distillation to make use of the full set of electrodes, and then input/feature/output space distribution alignments to cope with the significant differences between the source and target domains.

Results: Extensive experiments on six EEG datasets from two BCI paradigms demonstrated that SDDA achieved superior performance in both offline unsupervised domain adaptation and online supervised domain adaptation scenarios, consistently outperforming 10 classical and state-of-the-art transfer learning algorithms.

Significance: Our approach enables effective transfer between heterogenous EEG headsets, improving and expediting BCI calibration.

目的:一种非侵入性脑机接口(BCI)可以使用户和外部设备之间直接交互,通常通过脑电图(EEG)信号。本文解决了在不同耳机上解码脑电图信号的问题,由于电极的数量和位置的差异,这一问题具有挑战性。方法:我们提出了一种基于空间蒸馏的分布对齐(SDDA)方法,用于非侵入性脑机接口的异质跨耳麦转移。SDDA首先使用空间蒸馏来利用完整的电极集,然后使用输入/特征/输出空间分布对齐来处理源域和目标域之间的显著差异。结果:在两种脑机接口范式的6个脑电数据集上进行的大量实验表明,SDDA在离线无监督域自适应和在线有监督域自适应场景下都取得了优异的性能,始终优于10种经典和最新的迁移学习算法。意义:我们的方法能够在异构脑电图耳机之间进行有效的传输,改善和加快脑机接口校准。
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引用次数: 0
Prostate Targeting: Compact Robot with Harmonic Stepper Motors for MRI-Guided Needle Therapy. 前列腺靶向:用于核磁共振引导针治疗的谐波步进电机紧凑型机器人。
IF 4.5 2区 医学 Q2 ENGINEERING, BIOMEDICAL Pub Date : 2025-11-10 DOI: 10.1109/TBME.2025.3623237
Haipeng Liang, Tristan Barrett, Yanbo Feng, Christopher Shepherd, Wellington Chishaya, Zion Tsz Ho Tse

The superior image quality and excellent contrast offered by Magnetic Resonance Imaging (MRI) make it an ideal tool for guiding interventional procedures, particularly in targeting tumors within soft tissues. This paper presents an innovative robotic system, tailored for Magnetic Resonance (MR) environments, leveraging the benefits of MRI's high-resolution imaging capabilities for precise tumor targeting. The robot, designed with four degrees of freedom (DOFs), is driven by four novel Harmonic Pneumatic Motors, ensuring Magnetic Resonance (MR) compatibility. This motor utilizes a harmonic gearbox mechanism, incorporating a pair of flex and circular splines, with torque generated through the deformation of the flex spline. It achieves a step size of 0.9° and delivers a maximum measured output torque of 825 mN·m. The robot's design includes a dual-stage needle guide, each stage is supported by two arms, enhancing its targeting accuracy. Experimental tests have demonstrated the robot's high positioning accuracy of 1.56 mm. Furthermore, MR testing confirms that the robot's presence results in a negligible signal-to-noise ratio (SNR) reduction, well within acceptable limits. The introduction of the Harmonic Pneumatic Motor-Driven Robot presents an improvement of compact MRI robots in the field, providing a potent combination of precision, safety, and compatibility in MRI-guided interventional procedures.

磁共振成像(MRI)提供的卓越图像质量和出色的对比度使其成为指导介入手术的理想工具,特别是针对软组织内的肿瘤。本文介绍了一种创新的机器人系统,为磁共振(MR)环境量身定制,利用MRI的高分辨率成像能力来精确定位肿瘤。该机器人设计为四个自由度(dof),由四个新型谐波气动马达驱动,确保磁共振(MR)兼容性。该电机采用谐波齿轮箱机构,结合一对弯曲和圆形花键,通过弯曲花键的变形产生扭矩。它实现了0.9°的步长,并提供了825 mN·m的最大测量输出扭矩。机器人的设计包括一个双级导针器,每一级由两个手臂支撑,提高了它的瞄准精度。实验测试表明,该机器人的定位精度高达1.56 mm。此外,MR测试证实,机器人的存在导致可忽略不计的信噪比(SNR)降低,完全在可接受的范围内。谐波气动马达驱动机器人的引入是对该领域紧凑型MRI机器人的改进,在MRI引导的介入程序中提供了精度,安全性和兼容性的有效组合。
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引用次数: 0
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