Pub Date : 2017-11-02DOI: 10.1142/S2424905X17500064
P. Moreira, Gert van de Steeg, Thijs Krabben, Jonathan Zandman, E. Hekman, F. Heijden, Ronald Borra, S. Misra
Early prostate cancer detection and treatment are of major importance to reduce mortality rate. magnetic resonance (MR) imaging provides images of the prostate where an early stage lesion can be visualized. The use of robotic systems for MR-guided interventions in the prostate allows us to improve the clinical outcomes of procedures such as biopsy and brachytherapy. This work presents a novel MR-conditional robot for prostate interventions. The minimally invasive robotics in an magnetic resonance imaging environment (MIRIAM) robot has 9 degrees-of-freedom (DoF) used to steer and fire a biopsy needle. The needle guide is positioned against the perineum by a 5 DoF parallel robot driven by piezoelectric motors. A 4 DoF needle driver inserts, rotates and fires the needle during the procedure. Piezoelectric motors are used to insert and rotate the needle, while pneumatic actuation is used to fire the needle. The MR-conditional design of the robot and the needle insertion controller are presented. MR compatibility tests using T2 imaging protocol are performed showing a SNR reduction of 25% when the robot is operational within the MR scanner. Experiments inserting a biopsy needle toward a physical target resulted in an average targeting error of 1.84mm. Our study presents a novel MR-conditional robot and demonstrated the ability to perform MR-guided needle-based interventions in soft-tissue phantoms. Moreover, the image distortion analysis indicates that no visible image deterioration is induced by the robot.
{"title":"The MIRIAM Robot: A Novel Robotic System for MR-Guided Needle Insertion in the Prostate","authors":"P. Moreira, Gert van de Steeg, Thijs Krabben, Jonathan Zandman, E. Hekman, F. Heijden, Ronald Borra, S. Misra","doi":"10.1142/S2424905X17500064","DOIUrl":"https://doi.org/10.1142/S2424905X17500064","url":null,"abstract":"Early prostate cancer detection and treatment are of major importance to reduce mortality rate. magnetic resonance (MR) imaging provides images of the prostate where an early stage lesion can be visualized. The use of robotic systems for MR-guided interventions in the prostate allows us to improve the clinical outcomes of procedures such as biopsy and brachytherapy. This work presents a novel MR-conditional robot for prostate interventions. The minimally invasive robotics in an magnetic resonance imaging environment (MIRIAM) robot has 9 degrees-of-freedom (DoF) used to steer and fire a biopsy needle. The needle guide is positioned against the perineum by a 5 DoF parallel robot driven by piezoelectric motors. A 4 DoF needle driver inserts, rotates and fires the needle during the procedure. Piezoelectric motors are used to insert and rotate the needle, while pneumatic actuation is used to fire the needle. The MR-conditional design of the robot and the needle insertion controller are presented. MR compatibility tests using T2 imaging protocol are performed showing a SNR reduction of 25% when the robot is operational within the MR scanner. Experiments inserting a biopsy needle toward a physical target resulted in an average targeting error of 1.84mm. Our study presents a novel MR-conditional robot and demonstrated the ability to perform MR-guided needle-based interventions in soft-tissue phantoms. Moreover, the image distortion analysis indicates that no visible image deterioration is induced by the robot.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127517781","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 : 2017-11-01DOI: 10.1142/S2424905X18500010
F. Ullrich, Jonas Lussi, Vasileios Chatzopoulos, S. Michels, A. Petruska, B. Nelson
Background: Cataracts are the leading cause of blindness and are treated surgically. Capsulotomy describes the opening of the lens capsule during this surgery and is most commonly performed by manual tearing, thermal cutting, or laser ablation. This work focuses on the development of a flexible instrument for high precision capsulotomy, whose motion is controlled by a hybrid mechanical-magnetic actuation system. Methods: A flexible instrument with a magnetic tip was directed along a circular path with a hybrid mechanical-magnetic actuation system. The system’s motion control and thermal cutting behavior were tested on ex vivo porcine lenses. Results: Position control of the magnetic tip on a circular path with radius of 2.9mm resulted in a relative positioning error of 3% at a motion period of 60s. The instrument’s accuracy improves with decreasing speed. A fully automated capsulotomy is achieved on an ex vivo porcine lens capsule by continuously coagulating the tissue under controlled conditions. Conclus...
{"title":"A Robotic Diathermy System for Automated Capsulotomy","authors":"F. Ullrich, Jonas Lussi, Vasileios Chatzopoulos, S. Michels, A. Petruska, B. Nelson","doi":"10.1142/S2424905X18500010","DOIUrl":"https://doi.org/10.1142/S2424905X18500010","url":null,"abstract":"Background: Cataracts are the leading cause of blindness and are treated surgically. Capsulotomy describes the opening of the lens capsule during this surgery and is most commonly performed by manual tearing, thermal cutting, or laser ablation. This work focuses on the development of a flexible instrument for high precision capsulotomy, whose motion is controlled by a hybrid mechanical-magnetic actuation system. Methods: A flexible instrument with a magnetic tip was directed along a circular path with a hybrid mechanical-magnetic actuation system. The system’s motion control and thermal cutting behavior were tested on ex vivo porcine lenses. Results: Position control of the magnetic tip on a circular path with radius of 2.9mm resulted in a relative positioning error of 3% at a motion period of 60s. The instrument’s accuracy improves with decreasing speed. A fully automated capsulotomy is achieved on an ex vivo porcine lens capsule by continuously coagulating the tissue under controlled conditions. Conclus...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130701038","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 : 2017-03-27DOI: 10.1142/S2424905X17400086
I. Georgilas, G. Dagnino, S. Dogramadzi
This paper presents a safety analysis of a Robotic Fracture Surgery System using the Systems-Theoretic Process Analysis (STPA). It focuses particularly on hazards caused by the human in the loop. The robotic system and operating staff are modeled including information flow between different components of the system. The analysis has generated a set of requirements for the system design that can ultimately mitigate the identified hazards, as well as a preliminary set of human factors that can improve safety.
{"title":"Safe Human-Robot Interaction in Medical Robotics: A case study on Robotic Fracture Surgery System","authors":"I. Georgilas, G. Dagnino, S. Dogramadzi","doi":"10.1142/S2424905X17400086","DOIUrl":"https://doi.org/10.1142/S2424905X17400086","url":null,"abstract":"This paper presents a safety analysis of a Robotic Fracture Surgery System using the Systems-Theoretic Process Analysis (STPA). It focuses particularly on hazards caused by the human in the loop. The robotic system and operating staff are modeled including information flow between different components of the system. The analysis has generated a set of requirements for the system design that can ultimately mitigate the identified hazards, as well as a preliminary set of human factors that can improve safety.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129950728","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 : 2017-03-27DOI: 10.1142/S2424905X17400062
Alperen Acemoglu, L. Fichera, I. Kepiro, D. Caldwell, L. Mattos
This paper presents the concept of a technology for the automation of laser incisions on soft tissue, especially for application in Transoral Laser Microsurgery (TLM) interventions. The technology aims at automatically controlling laser incisions based on high-level commands from the surgeon, i.e. desired incision shape, length and depth. It is based on a recently developed robotic laser microsurgery platform, which offers the controlled motion of the laser beam on the surgical site. A feed-forward controller provides (i) commands to the robotic laser aiming system and (ii) regulates the parameters of the laser source to achieve the desired results. The controller for the incision depth is extracted from experimental data. The required energy density and the number of passes are calculated to reach the targeted depth. Experimental results demonstrate that targeted depths can be achieved with ±100μm accuracy, which proves the feasibility of this approach. The proposed technology has the potential to facilitate the surgeon’s control over laser incisions.
{"title":"Laser Incision Depth Control in Robot-Assisted Soft Tissue Microsurgery","authors":"Alperen Acemoglu, L. Fichera, I. Kepiro, D. Caldwell, L. Mattos","doi":"10.1142/S2424905X17400062","DOIUrl":"https://doi.org/10.1142/S2424905X17400062","url":null,"abstract":"This paper presents the concept of a technology for the automation of laser incisions on soft tissue, especially for application in Transoral Laser Microsurgery (TLM) interventions. The technology aims at automatically controlling laser incisions based on high-level commands from the surgeon, i.e. desired incision shape, length and depth. It is based on a recently developed robotic laser microsurgery platform, which offers the controlled motion of the laser beam on the surgical site. A feed-forward controller provides (i) commands to the robotic laser aiming system and (ii) regulates the parameters of the laser source to achieve the desired results. The controller for the incision depth is extracted from experimental data. The required energy density and the number of passes are calculated to reach the targeted depth. Experimental results demonstrate that targeted depths can be achieved with ±100μm accuracy, which proves the feasibility of this approach. The proposed technology has the potential to facilitate the surgeon’s control over laser incisions.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128765240","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 : 2017-03-27DOI: 10.1142/S2424905X17400104
S. Tognarelli, G. Ciuti, A. Diodato, A. Cafarelli, A. Menciassi
Focused Ultrasound Therapy Using Robotic Approaches (FUTURA) is a European seventh research framework programme project aimed at creating an innovative platform for Focused Ultrasound Surgery (FUS). Merging robotics together with noninvasive ultrasound monitoring and therapy has the goal to improve flexibility, precision and accuracy of the intervention, thus enabling a large use of FUS for the treatment of different pathologies. The FUTURA platform, based on FUS therapy under US tracking, has been set up with the first clinical target of kidney cancer treatment. Experiments for assessing the accuracy of the FUS delivery with the FUTURA platform have been carried out under in vitro static conditions and presented here as preliminary outcomes of this study.
{"title":"Robotic Platform for High-Intensity Focused Ultrasound Surgery Under Ultrasound Tracking: The FUTURA Platform","authors":"S. Tognarelli, G. Ciuti, A. Diodato, A. Cafarelli, A. Menciassi","doi":"10.1142/S2424905X17400104","DOIUrl":"https://doi.org/10.1142/S2424905X17400104","url":null,"abstract":"Focused Ultrasound Therapy Using Robotic Approaches (FUTURA) is a European seventh research framework programme project aimed at creating an innovative platform for Focused Ultrasound Surgery (FUS). Merging robotics together with noninvasive ultrasound monitoring and therapy has the goal to improve flexibility, precision and accuracy of the intervention, thus enabling a large use of FUS for the treatment of different pathologies. The FUTURA platform, based on FUS therapy under US tracking, has been set up with the first clinical target of kidney cancer treatment. Experiments for assessing the accuracy of the FUS delivery with the FUTURA platform have been carried out under in vitro static conditions and presented here as preliminary outcomes of this study.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133300319","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 : 2017-03-21DOI: 10.1142/S2424905X17400074
H. Nakawala, G. Ferrigno, E. Momi
Complex surgeries complications are increasing, thus making an efficient surgical assistance is a real need. In this work, an ontology-based context-aware system was developed for surgical training...
{"title":"Toward a Knowledge-Driven Context-Aware System for Surgical Assistance","authors":"H. Nakawala, G. Ferrigno, E. Momi","doi":"10.1142/S2424905X17400074","DOIUrl":"https://doi.org/10.1142/S2424905X17400074","url":null,"abstract":"Complex surgeries complications are increasing, thus making an efficient surgical assistance is a real need. In this work, an ontology-based context-aware system was developed for surgical training...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114191625","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 : 2017-03-20DOI: 10.1142/S2424905X17400013
S. F. Atashzar, Nooshin Jafari, M. Shahbazi, Heidi Janz, M. Tavakoli, Rajnikant V. Patel, K. Adams
In this paper, the design and implementation of a new telerobotics-assisted platform is proposed for individuals who have cerebral palsy (CP). The main objective of the proposed assistive system is to modulate capabilities of individuals through the proposed telerobotic medium and to enhance their control over interaction with objects in a real physical environment. The proposed platform is motivated by evidence showing that lack of interaction with real environments can develop further secondary sensorimotor and cognitive issues for people who grow up with CP. The proposed telerobotic system assists individuals by (a) mapping their limited but convenient motion range to a larger workspace needed for task performance in the real environment, (b) transferring only the voluntary components of the hand motion to the task-side robot to perform tasks and (c) kinaesthetically dissipating the energy of their involuntary motions using a viscous force field implemented in high frequency domain. Consequently, using...
{"title":"Telerobotics-Assisted Platform for Enhancing Interaction with Physical Environments for People Living with Cerebral Palsy","authors":"S. F. Atashzar, Nooshin Jafari, M. Shahbazi, Heidi Janz, M. Tavakoli, Rajnikant V. Patel, K. Adams","doi":"10.1142/S2424905X17400013","DOIUrl":"https://doi.org/10.1142/S2424905X17400013","url":null,"abstract":"In this paper, the design and implementation of a new telerobotics-assisted platform is proposed for individuals who have cerebral palsy (CP). The main objective of the proposed assistive system is to modulate capabilities of individuals through the proposed telerobotic medium and to enhance their control over interaction with objects in a real physical environment. The proposed platform is motivated by evidence showing that lack of interaction with real environments can develop further secondary sensorimotor and cognitive issues for people who grow up with CP. The proposed telerobotic system assists individuals by (a) mapping their limited but convenient motion range to a larger workspace needed for task performance in the real environment, (b) transferring only the voluntary components of the hand motion to the task-side robot to perform tasks and (c) kinaesthetically dissipating the energy of their involuntary motions using a viscous force field implemented in high frequency domain. Consequently, using...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125695757","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 : 2017-03-17DOI: 10.1142/S2424905X17400037
G. Gini, L. Mazzon, Simone Pontiggia, Paolo Belluco
Prostheses and exoskeletons need a control system able to rapidly understand user intentions; a noninvasive method is to deploy a myoelectric system, and a pattern recognition method to classify the intended movement to input to the controller. Here we focus on the classification phase. Our first aim is to recognize nine movements of the shoulder, a body part seldom considered in the literature and difficult to treat since the muscles involved are deep. We show that our novel sEMG two-phase classifier, working on a signal window of 500ms with 62ms increment, has a 97.7% accuracy for nine movements and about 100% accuracy on five movements. After developing the classifier using professionally collected sEMG data from eight channels, our second aim is to implement the classifier on a wearable device, composed by the Intel Edison board and a three-channel experimental portable acquisition board. Our final aim is to develop a complete classifier for dynamic situations, considering the transitions between move...
{"title":"A Classifier of Shoulder Movements for a Wearable EMG-Based Device","authors":"G. Gini, L. Mazzon, Simone Pontiggia, Paolo Belluco","doi":"10.1142/S2424905X17400037","DOIUrl":"https://doi.org/10.1142/S2424905X17400037","url":null,"abstract":"Prostheses and exoskeletons need a control system able to rapidly understand user intentions; a noninvasive method is to deploy a myoelectric system, and a pattern recognition method to classify the intended movement to input to the controller. Here we focus on the classification phase. Our first aim is to recognize nine movements of the shoulder, a body part seldom considered in the literature and difficult to treat since the muscles involved are deep. We show that our novel sEMG two-phase classifier, working on a signal window of 500ms with 62ms increment, has a 97.7% accuracy for nine movements and about 100% accuracy on five movements. After developing the classifier using professionally collected sEMG data from eight channels, our second aim is to implement the classifier on a wearable device, composed by the Intel Edison board and a three-channel experimental portable acquisition board. Our final aim is to develop a complete classifier for dynamic situations, considering the transitions between move...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133556901","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 : 2017-03-17DOI: 10.1142/S2424905X17400050
Sang-Joon Kim, Hyosang Lee, Jung Kim
We investigated the effect of the weighting between surface electromyography (sEMG) and interaction force for user intention extraction for the control of an upper-limb assistive device. A point-to...
{"title":"Investigation of the Effect of Weighting between sEMG and Interaction Force in Intention Extraction for the Control of an Upper-Limb Assistive Device","authors":"Sang-Joon Kim, Hyosang Lee, Jung Kim","doi":"10.1142/S2424905X17400050","DOIUrl":"https://doi.org/10.1142/S2424905X17400050","url":null,"abstract":"We investigated the effect of the weighting between surface electromyography (sEMG) and interaction force for user intention extraction for the control of an upper-limb assistive device. A point-to...","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121745187","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 : 2017-03-17DOI: 10.1142/S2424905X17400025
Giuseppe Palestra, Dario Cazzato, F. Adamo, I. Bortone, C. Distante
The main feature of Autism Spectrum Disorders (ASDs) is the difficulty in communicating with others and struggling to maintain a functional contact with the environment. This work presents the implementation of a Graphical User Interface (GUI) for Digital PECS Therapy that will enable ASD population to overcome their impairments. The GUI was integrated with a depth sensor, to recognize hand gestures of autistic subjects, a monitor, where specific tools have been displayed, and a humanoid robot (Aldebaran Robotics NAO), used as a medium that will allow people with ASD to communicate their needs. Subjects can select the displayed pictures they want with hand movements, and the robot pronounces the represented objects. The system has been validated during therapeutic sessions with autistic subjects and the results are here reported and discussed supporting the idea that the presence of the robot helps to elicit triadic interactions in ASD.
{"title":"Assistive Robot, RGB-D Sensor and Graphical User Interface to Encourage Communication Skills in ASD Population","authors":"Giuseppe Palestra, Dario Cazzato, F. Adamo, I. Bortone, C. Distante","doi":"10.1142/S2424905X17400025","DOIUrl":"https://doi.org/10.1142/S2424905X17400025","url":null,"abstract":"The main feature of Autism Spectrum Disorders (ASDs) is the difficulty in communicating with others and struggling to maintain a functional contact with the environment. This work presents the implementation of a Graphical User Interface (GUI) for Digital PECS Therapy that will enable ASD population to overcome their impairments. The GUI was integrated with a depth sensor, to recognize hand gestures of autistic subjects, a monitor, where specific tools have been displayed, and a humanoid robot (Aldebaran Robotics NAO), used as a medium that will allow people with ASD to communicate their needs. Subjects can select the displayed pictures they want with hand movements, and the robot pronounces the represented objects. The system has been validated during therapeutic sessions with autistic subjects and the results are here reported and discussed supporting the idea that the presence of the robot helps to elicit triadic interactions in ASD.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132722260","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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