Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130184
Junyan Yan, Peng Chen, Jibiao Chen, Jiaqi Xue, Chao Xu, Yufu Qiu, Haiyang Fang, Yiang Lu, G. Wong, Yun-hui Liu, W. Yuan, S. Cheng
Endoscopic optical coherence tomography (OCT) has demonstrated its capability to visualize the fine microstructures and subtle lesions inside human organs in vivo. However, the limited imaging depth and the lack of distal dexterity of the current rigid OCT endoscope prohibits its proactive assessment and clinical utilities in the confined, sensitive, and yet relatively large (a few centimeters) surgical space, such as the lesion in deep brain. In this work, we developed a flexible sensorized robotic OCT neuroendoscope, which combines a 2-degree-of-freedom (DOF) cable-driven continuum manipulator (CM) with an ultrahigh-resolution 800-nm OCT probe and a multi-core fiber Bragg grating (MCFBG) fiber sensor. The MCFBG measurements of the bending posture of the endoscope was validated through experiments. By leveraging the OCT A-line signals, axial distance was precisely measured between the OCT probe tip and the surrounding tissue boundary. The feasibility of OCT neuroendoscope was further demonstrated to navigate and steer inside a porcine brain-simulated lesion phantom in an ex-vivo experiment. Our OCT neuroendoscope offers distal maneuverability and ultrahigh-resolution imaging capability at an axial resolution of about 2.4 μm (in air), suggesting its clinical potential for minimally-invasive imaging-guided diagnosis and treatment in deep brain in vivo.
{"title":"Design and Evaluation of a Flexible Sensorized Robotic OCT Neuroendoscope","authors":"Junyan Yan, Peng Chen, Jibiao Chen, Jiaqi Xue, Chao Xu, Yufu Qiu, Haiyang Fang, Yiang Lu, G. Wong, Yun-hui Liu, W. Yuan, S. Cheng","doi":"10.1109/ISMR57123.2023.10130184","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130184","url":null,"abstract":"Endoscopic optical coherence tomography (OCT) has demonstrated its capability to visualize the fine microstructures and subtle lesions inside human organs in vivo. However, the limited imaging depth and the lack of distal dexterity of the current rigid OCT endoscope prohibits its proactive assessment and clinical utilities in the confined, sensitive, and yet relatively large (a few centimeters) surgical space, such as the lesion in deep brain. In this work, we developed a flexible sensorized robotic OCT neuroendoscope, which combines a 2-degree-of-freedom (DOF) cable-driven continuum manipulator (CM) with an ultrahigh-resolution 800-nm OCT probe and a multi-core fiber Bragg grating (MCFBG) fiber sensor. The MCFBG measurements of the bending posture of the endoscope was validated through experiments. By leveraging the OCT A-line signals, axial distance was precisely measured between the OCT probe tip and the surrounding tissue boundary. The feasibility of OCT neuroendoscope was further demonstrated to navigate and steer inside a porcine brain-simulated lesion phantom in an ex-vivo experiment. Our OCT neuroendoscope offers distal maneuverability and ultrahigh-resolution imaging capability at an axial resolution of about 2.4 μm (in air), suggesting its clinical potential for minimally-invasive imaging-guided diagnosis and treatment in deep brain in vivo.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130869943","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130222
Madeline M. Blankenship, C. Bodine
Use cases are tools designed to capture functional requirements of a system according to user goals by incorporating a description of the user's characteristics, their goals, additional actors' imperative to the environment, and the specific story of the user using the system. Socially Assistive Robots (SARs) attempt to create close and affective human robot interactions designed to motivate, train, supervise, educate, or facilitate communication in the rehabilitation process. The purpose of this study was to develop a specific use case for SAR-augmented early intervention in collaboration with clinical stakeholders. The clinical stakeholders participated in qualitative semi-structured interviews designed to elicit a preliminary use case to guide the design of the robot. While the results represent a single implementation of a SAR for the rehabilitation of children with neuromotor dysfunction, the primary contribution of this paper is to present a repeatable methodology to create use cases for SARs for a multitude of different demographics, including both children and adults with and without disabilities.
{"title":"Development of a Preliminary Use Case for Socially Assistive Robot-Augmented Early Intervention with Clinical Stakeholders","authors":"Madeline M. Blankenship, C. Bodine","doi":"10.1109/ISMR57123.2023.10130222","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130222","url":null,"abstract":"Use cases are tools designed to capture functional requirements of a system according to user goals by incorporating a description of the user's characteristics, their goals, additional actors' imperative to the environment, and the specific story of the user using the system. Socially Assistive Robots (SARs) attempt to create close and affective human robot interactions designed to motivate, train, supervise, educate, or facilitate communication in the rehabilitation process. The purpose of this study was to develop a specific use case for SAR-augmented early intervention in collaboration with clinical stakeholders. The clinical stakeholders participated in qualitative semi-structured interviews designed to elicit a preliminary use case to guide the design of the robot. While the results represent a single implementation of a SAR for the rehabilitation of children with neuromotor dysfunction, the primary contribution of this paper is to present a repeatable methodology to create use cases for SARs for a multitude of different demographics, including both children and adults with and without disabilities.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"100 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114045546","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130255
D. Demaree, Haohan Zhang
This paper presents the design of a neck exoskeleton to assist with head-neck motion for patients with amyotrophic lateral sclerosis (ALS). Motor neuron degeneration caused by ALS can lead to neck muscle weakness, resulting in head drop (chin-on-chest posture). Current treatment using static neck collars is inadequate because these collars completely immobilize the head. A powered neck exoskeleton (Columbia exoskeleton) was previously developed to assist with head-neck movements but its structural limitations hindered its usability for patients with severe head drop. In this paper, we introduce the Utah neck exoskeleton which improved the structural stability of the previous Columbia design by (1) optimizing the transmission efficiency and range of motion, and (2) using more precise mechanical components. We quantified the structural stability of the Utah neck exoskeleton and demonstrated its usability with a healthy volunteer. The results show that the Utah neck exoskeleton has a suitable structure to potentially assist with head-neck movements for patients with severe ALS head drop.
{"title":"A Structurally Enhanced Neck Exoskeleton to Assist with Head-Neck Motion","authors":"D. Demaree, Haohan Zhang","doi":"10.1109/ISMR57123.2023.10130255","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130255","url":null,"abstract":"This paper presents the design of a neck exoskeleton to assist with head-neck motion for patients with amyotrophic lateral sclerosis (ALS). Motor neuron degeneration caused by ALS can lead to neck muscle weakness, resulting in head drop (chin-on-chest posture). Current treatment using static neck collars is inadequate because these collars completely immobilize the head. A powered neck exoskeleton (Columbia exoskeleton) was previously developed to assist with head-neck movements but its structural limitations hindered its usability for patients with severe head drop. In this paper, we introduce the Utah neck exoskeleton which improved the structural stability of the previous Columbia design by (1) optimizing the transmission efficiency and range of motion, and (2) using more precise mechanical components. We quantified the structural stability of the Utah neck exoskeleton and demonstrated its usability with a healthy volunteer. The results show that the Utah neck exoskeleton has a suitable structure to potentially assist with head-neck movements for patients with severe ALS head drop.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"39 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117316208","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130260
Dawit Lee, Inseung Kang, G. Kogler, Frank L. Hammond, Aaron J. Young
Proportional myoelectric controller (PMC) has been one of the most common assistance strategies for robotic exoskeletons due to its ability to modulate assistance level directly based on the user's muscle activation. However, existing PMC strategies (static or user-adaptive) scale torque linearly with muscle activation level and fail to address complex and non-linear mapping between muscle activation and joint torque. Furthermore, previously presented adaptive PMC strategies do not allow for environmental changes (such as changes in ground slopes) and modulate the system's assistance level over many steps. In this work, we designed a novel user- and environment-adaptive PMC for a knee exoskeleton that modulates the peak assistance level based on the slope level during locomotion. We recruited nine able-bodied adults to test and compare the effects of three different PMC strategies (static, user-adaptive, and user- and environment-adaptive) on the user's metabolic cost and the knee extensor muscle activation level during load-carriage walking (6.8 kg) in three inclination settings (0°, 4.5°, and 8.5°). The results showed that only the user- and environment-adaptive PMC was effective in significantly reducing user's metabolic cost (5.8% reduction) and the knee extensor muscle activation (19% reduction) during 8.5° incline walking compared to the unpowered condition while other PMCs did not have as large of an effect. This control framework highlights the viability of implementing an assistance paradigm that can dynamically adjust to the user's biological demand, allowing for a more personalized assistance paradigm.
{"title":"User and Environmental Context Adaptive Knee Exoskeleton Assistance using Electromyography","authors":"Dawit Lee, Inseung Kang, G. Kogler, Frank L. Hammond, Aaron J. Young","doi":"10.1109/ISMR57123.2023.10130260","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130260","url":null,"abstract":"Proportional myoelectric controller (PMC) has been one of the most common assistance strategies for robotic exoskeletons due to its ability to modulate assistance level directly based on the user's muscle activation. However, existing PMC strategies (static or user-adaptive) scale torque linearly with muscle activation level and fail to address complex and non-linear mapping between muscle activation and joint torque. Furthermore, previously presented adaptive PMC strategies do not allow for environmental changes (such as changes in ground slopes) and modulate the system's assistance level over many steps. In this work, we designed a novel user- and environment-adaptive PMC for a knee exoskeleton that modulates the peak assistance level based on the slope level during locomotion. We recruited nine able-bodied adults to test and compare the effects of three different PMC strategies (static, user-adaptive, and user- and environment-adaptive) on the user's metabolic cost and the knee extensor muscle activation level during load-carriage walking (6.8 kg) in three inclination settings (0°, 4.5°, and 8.5°). The results showed that only the user- and environment-adaptive PMC was effective in significantly reducing user's metabolic cost (5.8% reduction) and the knee extensor muscle activation (19% reduction) during 8.5° incline walking compared to the unpowered condition while other PMCs did not have as large of an effect. This control framework highlights the viability of implementing an assistance paradigm that can dynamically adjust to the user's biological demand, allowing for a more personalized assistance paradigm.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127073474","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130187
Carl D. Brenner, Kinsey R. Herrin, Alexander B. Ambrose, Brian Emling, M. Schmitz, R. Welling, F. Hammond
Scoliosis is the lateral curvature of the spine in the coronal plane, and kyphosis is the posterior curvature of the spine in the sagittal plane. For pediatric patients, these conditions can occur independently or in conjunction with one another and vary in severity. Most pediatric scoliosis cases are treated through bracing, but severe cases require surgical curvature correction. To reduce the risk of damaging soft tissues as well as strengthen the musculoskeletal tissues of the spine, patients undergo preoperative curvature correction before the procedure. The most common form of preoperative correction is Halo Gravity Traction (HGT), in which weights apply upward vertical forces to a patient's halo ring via a system of ropes, pulleys, and a gantry. HGT is effective, and responsible for up to half of all curvature corrections, but its bulky form factor often requires costly inpatient implementation, restricts age-appropriate play, and limits transportation for the patient and their family during treatment times of 4–6 weeks to multiple months. Furthermore, the inpatient requirement makes it less accessible to the most severely impacted portion of the patient population as they require more time in HGT. This paper describes the Halo Intrinsic Traction (HIT) system, designed to modernize halo traction by making treatment more affordable and available, and less disruptive to young patients and their families. HIT has the same traction capabilities and force resolution as the current method but in a significantly smaller and wearable form factor. The HIT system is designed to interface with the currently available braces and only be adjusted by qualified clinicians on-site. The safety and efficacy of the HIT force application system were established through benchtop testing evaluating consistent, controlled force output with minimal unintended torques on the patient's halo. The HIT system holds promise to improve current medical treatment options for severe pediatric kyphoscoliosis patients.
{"title":"The Modernization of Preoperative Scoliosis Curvature Correction Methods for Pediatric Patients","authors":"Carl D. Brenner, Kinsey R. Herrin, Alexander B. Ambrose, Brian Emling, M. Schmitz, R. Welling, F. Hammond","doi":"10.1109/ISMR57123.2023.10130187","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130187","url":null,"abstract":"Scoliosis is the lateral curvature of the spine in the coronal plane, and kyphosis is the posterior curvature of the spine in the sagittal plane. For pediatric patients, these conditions can occur independently or in conjunction with one another and vary in severity. Most pediatric scoliosis cases are treated through bracing, but severe cases require surgical curvature correction. To reduce the risk of damaging soft tissues as well as strengthen the musculoskeletal tissues of the spine, patients undergo preoperative curvature correction before the procedure. The most common form of preoperative correction is Halo Gravity Traction (HGT), in which weights apply upward vertical forces to a patient's halo ring via a system of ropes, pulleys, and a gantry. HGT is effective, and responsible for up to half of all curvature corrections, but its bulky form factor often requires costly inpatient implementation, restricts age-appropriate play, and limits transportation for the patient and their family during treatment times of 4–6 weeks to multiple months. Furthermore, the inpatient requirement makes it less accessible to the most severely impacted portion of the patient population as they require more time in HGT. This paper describes the Halo Intrinsic Traction (HIT) system, designed to modernize halo traction by making treatment more affordable and available, and less disruptive to young patients and their families. HIT has the same traction capabilities and force resolution as the current method but in a significantly smaller and wearable form factor. The HIT system is designed to interface with the currently available braces and only be adjusted by qualified clinicians on-site. The safety and efficacy of the HIT force application system were established through benchtop testing evaluating consistent, controlled force output with minimal unintended torques on the patient's halo. The HIT system holds promise to improve current medical treatment options for severe pediatric kyphoscoliosis patients.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127500680","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130276
Mariana E. Smith, Daniel E. Esser, Margaret Rox, A. Kuntz, R. Webster
Tendon driven continuum robots promise tentacle-like dexterity in minimally invasive surgical applications. These robots are subject to conflicting design goals. It is desirable for the robot to fit through the smallest port possible, yet it is also desirable for the robot's diameter to be large, so that for a given tension, tendons can apply larger actuation moments to the robot. To satisfy both goals simultaneously, we propose a new radial folding mechanism that facilitates a 2.5x diameter change along the robot. We show that our folding tendon manipulator can be modeled by existing mechanics-based models. Comparing at consistent tendon tensions, the robot has a larger range of motion and larger stiffness than a non-folding continuum robot that fits through the same sized entry port.
{"title":"A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports","authors":"Mariana E. Smith, Daniel E. Esser, Margaret Rox, A. Kuntz, R. Webster","doi":"10.1109/ISMR57123.2023.10130276","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130276","url":null,"abstract":"Tendon driven continuum robots promise tentacle-like dexterity in minimally invasive surgical applications. These robots are subject to conflicting design goals. It is desirable for the robot to fit through the smallest port possible, yet it is also desirable for the robot's diameter to be large, so that for a given tension, tendons can apply larger actuation moments to the robot. To satisfy both goals simultaneously, we propose a new radial folding mechanism that facilitates a 2.5x diameter change along the robot. We show that our folding tendon manipulator can be modeled by existing mechanics-based models. Comparing at consistent tendon tensions, the robot has a larger range of motion and larger stiffness than a non-folding continuum robot that fits through the same sized entry port.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130359563","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130205
M. Ahmad, M. Ourak, Tom Kamiel Magda Vercauteren, J. Deprest, E. V. Poorten
Fetoscopic laser coagulation (FLC) is the most prevalent therapy for treating twin-to-twin transfusion syndrome (TTTS). A rigid or flexible fetoscope is inserted into the uterine cavity through a small incision in this minimally invasive technique. The procedure consists of surveying the placental surface, identifying anastomosing vessels, and coagulation. This paper presents a multi-task neural network model to segment the vasculature from the fetoscopic images and estimate the relative orientation and distance of the placental surface to assist the surgeons. This work also presents a method to use virtual reality (VR) to generate datasets for training and testing. A silicon-based placenta phantom was created in a planar form of 29 × 29 cm with realistic vasculature. A scanned image of this phantom was manually segmented as the ground truth. Both the color image of the placenta and segmented ground truth were placed in the VR simulator. The virtual camera is moved by pre-defined camera motions, which then renders fetoscopic placenta images and their corresponding segmented ground truth without the need for manual segmentation. The network achieved a dice coefficient of 0.8 on the segmentation task and 87% accuracy on the regression task. The network's capacity to identify vessels was also evaluated using actual images from a flexible fetoscope's chip-on-tip camera.
{"title":"Towards in-utero Navigational Assistance: A Multi Task Neural Network for Segmentation and Pose Estimation in Fetoscopy","authors":"M. Ahmad, M. Ourak, Tom Kamiel Magda Vercauteren, J. Deprest, E. V. Poorten","doi":"10.1109/ISMR57123.2023.10130205","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130205","url":null,"abstract":"Fetoscopic laser coagulation (FLC) is the most prevalent therapy for treating twin-to-twin transfusion syndrome (TTTS). A rigid or flexible fetoscope is inserted into the uterine cavity through a small incision in this minimally invasive technique. The procedure consists of surveying the placental surface, identifying anastomosing vessels, and coagulation. This paper presents a multi-task neural network model to segment the vasculature from the fetoscopic images and estimate the relative orientation and distance of the placental surface to assist the surgeons. This work also presents a method to use virtual reality (VR) to generate datasets for training and testing. A silicon-based placenta phantom was created in a planar form of 29 × 29 cm with realistic vasculature. A scanned image of this phantom was manually segmented as the ground truth. Both the color image of the placenta and segmented ground truth were placed in the VR simulator. The virtual camera is moved by pre-defined camera motions, which then renders fetoscopic placenta images and their corresponding segmented ground truth without the need for manual segmentation. The network achieved a dice coefficient of 0.8 on the segmentation task and 87% accuracy on the regression task. The network's capacity to identify vessels was also evaluated using actual images from a flexible fetoscope's chip-on-tip camera.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"173 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115131986","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130217
Farid Tavakkolmoghaddam, Yang Wang, Charles Bales, Yiwei Jiang, C. Nycz, Zhanyue Zhao, G. Fischer
The interaction between the asymmetric (bevel) tip needle and the surrounding tissue results in the deflection of the needle and causes a significant targeting error in prostate biopsy. Several works have been proposed to mitigate this issue. While some have shown promising results, they require complex software and hardware which makes them difficult to deploy for clinical use. In this paper, we present a predictive model-based approach for passive compensation of the bevel tip needles in phantom tissues. We predict the needle deflection by approximating the initial deflection angle and simulating the needle path before insertion. The entry point is then modified based on the predicted deflection. To achieve this, we collected a set of needle insertion data into a gelatin phantom in an MRI study and used the data to find the parameters for the predictive model. The model was then tested in another MRI insertion study, which demonstrated promising results with an average of 75.2% targeting accuracy improvement compared with the uncompensated insertions.
{"title":"Passive Model-based Error Compensation For Beveled-tip Needle Deflection","authors":"Farid Tavakkolmoghaddam, Yang Wang, Charles Bales, Yiwei Jiang, C. Nycz, Zhanyue Zhao, G. Fischer","doi":"10.1109/ISMR57123.2023.10130217","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130217","url":null,"abstract":"The interaction between the asymmetric (bevel) tip needle and the surrounding tissue results in the deflection of the needle and causes a significant targeting error in prostate biopsy. Several works have been proposed to mitigate this issue. While some have shown promising results, they require complex software and hardware which makes them difficult to deploy for clinical use. In this paper, we present a predictive model-based approach for passive compensation of the bevel tip needles in phantom tissues. We predict the needle deflection by approximating the initial deflection angle and simulating the needle path before insertion. The entry point is then modified based on the predicted deflection. To achieve this, we collected a set of needle insertion data into a gelatin phantom in an MRI study and used the data to find the parameters for the predictive model. The model was then tested in another MRI insertion study, which demonstrated promising results with an average of 75.2% targeting accuracy improvement compared with the uncompensated insertions.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133872791","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130204
Zunaed Kibria, Bhanu Prasad Kotamraju, S. Commuri
Traumatic injuries, vascular deficiencies, or complications from diabetes can lead to amputation of the lower extremities of an individual. Depending on the severity, amputation can be performed by removing a portion of the limb below the knee (Transtibial Amputation), or the entire limb below the hip (above knee or Transfemoral Amputation). After amputation, individuals seldom regain complete mobility even with the assistance of prosthetic limb. Further, the individual usually suffers from complications such as pain in the residual limb, infections, muscular atrophy, fatigue, and emotional trauma. One of the factors that has significant impact on the long-term health of the amputee is the asymmetry in the gait of the intact and prosthetic limbs. In this paper, we present a case study to demonstrate how gait asymmetry can lead to reduced stance time on the prosthetic limb. Reduced stance time implies that the individual depends more on the intact limb for support and mobility. Over the long term, such asymmetry can lead to musculo-skeletal and cardiac problems and result in additional surgeries. While active prosthesis can improve mobility of the individual, the devices in use today have limitations that prevent gait symmetry. The main challenge in designing a controller for an active prosthesis is that the intent of the user is unknown. Therefore, it is not possible to design trajectories for the prosthetic joints to follow. In the second half of the paper, an intelligent control approach is developed that adapts to the gait of the individual and reduces the asymmetry between the healthy and prosthetic limb.
{"title":"An Intelligent Control Approach for Reduction of Gait Asymmetry in Transfemoral Amputees","authors":"Zunaed Kibria, Bhanu Prasad Kotamraju, S. Commuri","doi":"10.1109/ISMR57123.2023.10130204","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130204","url":null,"abstract":"Traumatic injuries, vascular deficiencies, or complications from diabetes can lead to amputation of the lower extremities of an individual. Depending on the severity, amputation can be performed by removing a portion of the limb below the knee (Transtibial Amputation), or the entire limb below the hip (above knee or Transfemoral Amputation). After amputation, individuals seldom regain complete mobility even with the assistance of prosthetic limb. Further, the individual usually suffers from complications such as pain in the residual limb, infections, muscular atrophy, fatigue, and emotional trauma. One of the factors that has significant impact on the long-term health of the amputee is the asymmetry in the gait of the intact and prosthetic limbs. In this paper, we present a case study to demonstrate how gait asymmetry can lead to reduced stance time on the prosthetic limb. Reduced stance time implies that the individual depends more on the intact limb for support and mobility. Over the long term, such asymmetry can lead to musculo-skeletal and cardiac problems and result in additional surgeries. While active prosthesis can improve mobility of the individual, the devices in use today have limitations that prevent gait symmetry. The main challenge in designing a controller for an active prosthesis is that the intent of the user is unknown. Therefore, it is not possible to design trajectories for the prosthetic joints to follow. In the second half of the paper, an intelligent control approach is developed that adapts to the gait of the individual and reduces the asymmetry between the healthy and prosthetic limb.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123419446","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}
Pub Date : 2023-04-19DOI: 10.1109/ISMR57123.2023.10130175
Yilin Cai, A. Orekhov, H. Choset
Minimally-invasive surgical (MIS) robots can reduce post-operative pain and complications but must be able to follow tortuous paths to reach deep into the body. Our prior work on an MIS robot called the highly articulated robot probe (HARP) achieved follow-the-leader motion using two concentrically driven segmented tubes that alternate between locking and advancing each segment. This paper presents a 3D statics model for the HARP that includes link-to-link friction effects and external loading conditions and enables the maximum admissible external load to be determined for any given robot shape. We investigate how the payload capacity is influenced by both the robot's shape and the actuation tendon forces and validate the statics model experimentally on a prototype HARP platform. Our results across a set of four configurations demonstrate that the proposed model can predict the payload capacity with a mean and max error below 6.1% and 15.8% of the configuration's payload, respectively. The model presented in this paper will enable future design, control, and planning methods with HARP robots to optimize their payload capacity for MIS tasks.
{"title":"Statics Modeling of Discrete Joint Surgical Probes with Tendon-based Stiffening","authors":"Yilin Cai, A. Orekhov, H. Choset","doi":"10.1109/ISMR57123.2023.10130175","DOIUrl":"https://doi.org/10.1109/ISMR57123.2023.10130175","url":null,"abstract":"Minimally-invasive surgical (MIS) robots can reduce post-operative pain and complications but must be able to follow tortuous paths to reach deep into the body. Our prior work on an MIS robot called the highly articulated robot probe (HARP) achieved follow-the-leader motion using two concentrically driven segmented tubes that alternate between locking and advancing each segment. This paper presents a 3D statics model for the HARP that includes link-to-link friction effects and external loading conditions and enables the maximum admissible external load to be determined for any given robot shape. We investigate how the payload capacity is influenced by both the robot's shape and the actuation tendon forces and validate the statics model experimentally on a prototype HARP platform. Our results across a set of four configurations demonstrate that the proposed model can predict the payload capacity with a mean and max error below 6.1% and 15.8% of the configuration's payload, respectively. The model presented in this paper will enable future design, control, and planning methods with HARP robots to optimize their payload capacity for MIS tasks.","PeriodicalId":276757,"journal":{"name":"2023 International Symposium on Medical Robotics (ISMR)","volume":"366 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120877697","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}
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