Chunyuan Shi, Jingdong Zhao, Dapeng Yang, Li Jiang
Background
Controlling a multi-grasp prosthetic hand still remains a challenge. This study explores the influence of merging gaze movements and augmented reality in bionics on improving prosthetic hand control.
Methods
A control system based on gaze movements, augmented reality, and myoelectric signals (i-MYO) was proposed. In the i-MYO, the GazeButton was introduced into the controller to detect the grasp-type intention from the eye-tracking signals, and the proportional velocity scheme based on the i-MYO was used to control hand movement.
Results
The able-bodied subjects with no prior training successfully transferred objects in 91.6% of the cases and switched the optimal grasp types in 97.5%. The patient could successfully trigger the EMG to control the hand holding the objects in 98.7% of trials in around 3.2 s and spend around 1.3 s switching the optimal grasp types in 99.2% of trials.
Conclusions
Merging gaze movements and augmented reality in bionics can widen the control bandwidth of prosthetic hand. With the help of i-MYO, the subjects can control a prosthetic hand using six grasp types if they can manipulate two muscle signals and gaze movement.
控制多抓假手仍然是一项挑战。本研究探讨了在仿生学中融合凝视运动和增强现实技术对改善假手控制的影响。
{"title":"i-MYO: A multi-grasp prosthetic hand control system based on gaze movements, augmented reality, and myoelectric signals","authors":"Chunyuan Shi, Jingdong Zhao, Dapeng Yang, Li Jiang","doi":"10.1002/rcs.2617","DOIUrl":"10.1002/rcs.2617","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Controlling a multi-grasp prosthetic hand still remains a challenge. This study explores the influence of merging gaze movements and augmented reality in bionics on improving prosthetic hand control.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A control system based on gaze movements, augmented reality, and myoelectric signals (i-MYO) was proposed. In the i-MYO, the GazeButton was introduced into the controller to detect the grasp-type intention from the eye-tracking signals, and the proportional velocity scheme based on the i-MYO was used to control hand movement.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The able-bodied subjects with no prior training successfully transferred objects in 91.6% of the cases and switched the optimal grasp types in 97.5%. The patient could successfully trigger the EMG to control the hand holding the objects in 98.7% of trials in around 3.2 s and spend around 1.3 s switching the optimal grasp types in 99.2% of trials.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>Merging gaze movements and augmented reality in bionics can widen the control bandwidth of prosthetic hand. With the help of i-MYO, the subjects can control a prosthetic hand using six grasp types if they can manipulate two muscle signals and gaze movement.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139069788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Depeng Liu, Gang Li, Shuyuan Wang, Zixuan Liu, Yanzhou Wang, Laura Connolly, David E. Usevitch, Guofeng Shen, Kevin Cleary, Iulian Iordachita
Purpose
This work presents the design and preliminary validation of a Magnetic Resonance (MR) conditional robot for lumbar injection for the treatment of lower back pain.
Methods
This is a 4-degree-of-freedom (DOF) robot that is 200 × 230 × 130 mm3 in volume and has a mass of 0.8 kg. Its lightweight and compact features allow it to be directly affixed to patient's back, establishing a rigid connection, thus reducing positional errors caused by patient movements during treatment.
Results
To validate the positioning accuracy of the needle by the robot, an electromagnetic (EM) tracking system and a needle with an EM sensor embedded in the tip were used for the free space evaluation with position accuracy of 0.88 ± 0.46 mm and phantom mock insertions using the Loop-X CBCT scanner with target position accuracy of 3.62 ± 0.92 mm.
Conclusion
Preliminary experiments demonstrated that the proposed robot showed improvements and benefits in its rotation range, flexible needle adjustment, and sensor protection compared with previous and existing systems, offering broader clinical applications.
这项研究介绍了一种磁共振（MR）条件机器人的设计和初步验证，该机器人用于腰部注射治疗下背痛。
{"title":"An magnetic resonance conditional robot for lumbar spinal injection: Development and preliminary validation","authors":"Depeng Liu, Gang Li, Shuyuan Wang, Zixuan Liu, Yanzhou Wang, Laura Connolly, David E. Usevitch, Guofeng Shen, Kevin Cleary, Iulian Iordachita","doi":"10.1002/rcs.2618","DOIUrl":"10.1002/rcs.2618","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Purpose</h3>\u0000 \u0000 <p>This work presents the design and preliminary validation of a Magnetic Resonance (MR) conditional robot for lumbar injection for the treatment of lower back pain.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>This is a 4-degree-of-freedom (DOF) robot that is 200 × 230 × 130 mm3 in volume and has a mass of 0.8 kg. Its lightweight and compact features allow it to be directly affixed to patient's back, establishing a rigid connection, thus reducing positional errors caused by patient movements during treatment.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>To validate the positioning accuracy of the needle by the robot, an electromagnetic (EM) tracking system and a needle with an EM sensor embedded in the tip were used for the free space evaluation with position accuracy of 0.88 ± 0.46 mm and phantom mock insertions using the Loop-X CBCT scanner with target position accuracy of 3.62 ± 0.92 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>Preliminary experiments demonstrated that the proposed robot showed improvements and benefits in its rotation range, flexible needle adjustment, and sensor protection compared with previous and existing systems, offering broader clinical applications.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139069789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Feng Qu, Min Zhang, Weili Shi, Wei He, Zhengang Jiang
Background
2D/3D medical image registration is one of the key technologies for surgical navigation systems to perform pose estimation and achieve accurate positioning, which still remains challenging. The purpose of this study is to introduce a new method for X-ray to CT 2D/3D registration and conduct a feasibility study.
Methods
In this study, a 2D/3D affine registration method based on feature point detection is investigated. It combines the morphological and edge features of spinal images to accurately extract feature points from the images, and uses graph neural networks to aggregate anatomical features of different points to increase the local detail information. Meanwhile, global and positional information are extracted by the Swin Transformer.
Results
The results indicate that the proposed method has shown improvements in both accuracy and success ratio compared with other methods. The mean target registration error value reached up to 0.31 mm; meanwhile, the runtime overhead was much lower, achieving an average runtime of about 0.6 s. This ultimately improves the registration accuracy and efficiency, demonstrating the effectiveness of the proposed method.
Conclusions
The proposed method can provide more comprehensive image information and shows good prospects for pose estimation and achieving accurate positioning in surgical navigation systems.
二维/三维医学影像配准是手术导航系统进行姿态估计和实现精确定位的关键技术之一，但这一技术仍具有挑战性。本研究旨在介绍一种新的 X 射线到 CT 2D/3D 配准方法，并进行可行性研究。
{"title":"Transformer-based 2D/3D medical image registration for X-ray to CT via anatomical features","authors":"Feng Qu, Min Zhang, Weili Shi, Wei He, Zhengang Jiang","doi":"10.1002/rcs.2619","DOIUrl":"10.1002/rcs.2619","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>2D/3D medical image registration is one of the key technologies for surgical navigation systems to perform pose estimation and achieve accurate positioning, which still remains challenging. The purpose of this study is to introduce a new method for X-ray to CT 2D/3D registration and conduct a feasibility study.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In this study, a 2D/3D affine registration method based on feature point detection is investigated. It combines the morphological and edge features of spinal images to accurately extract feature points from the images, and uses graph neural networks to aggregate anatomical features of different points to increase the local detail information. Meanwhile, global and positional information are extracted by the Swin Transformer.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The results indicate that the proposed method has shown improvements in both accuracy and success ratio compared with other methods. The mean target registration error value reached up to 0.31 mm; meanwhile, the runtime overhead was much lower, achieving an average runtime of about 0.6 s. This ultimately improves the registration accuracy and efficiency, demonstrating the effectiveness of the proposed method.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed method can provide more comprehensive image information and shows good prospects for pose estimation and achieving accurate positioning in surgical navigation systems.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139069743","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tiancheng Li, Peter Walker, Richardo Khonasty, Victor A. van de Graaf, Eric Yelf, Liang Zhao, Shoudong Huang
Background
In Total Hip replacement (THR) surgery, a critical step is to cut an accurate hemisphere into the acetabulum so that the component can be fitted accurately and obtain early stability. This study aims to determine whether burring rather than reaming the acetabulum can achieve greater accuracy in the creation of this hemisphere.
Methods
A preliminary robotic system was developed to demonstrate the feasibility of burring the acetabulum using the Universal Robot (UR10). The study will describe mechanical design, robot trajectory optimisation, control algorithm development, and results from phantom experiments compared with both robotic reaming and conventional reaming. The system was also tested in a cadaver experiment.
Results
The proposed robotic burring system can produce a surface in 2 min with an average error of 0.1 and 0.18 mm, when cutting polyurethane bone block #15 and #30, respectively. The performance was better than robotic reaming and conventional hand reaming.
Conclusion
The proposed robotic burring system outperformed robotic and conventional reaming methods to produce an accurate acetabular cavity. The findings show the potential usage of a robotic-assisted burring in THR for acetabular preparation.
{"title":"Robotic-assisted burring in total hip replacement: A new surgical technique to optimise acetabular preparation","authors":"Tiancheng Li, Peter Walker, Richardo Khonasty, Victor A. van de Graaf, Eric Yelf, Liang Zhao, Shoudong Huang","doi":"10.1002/rcs.2615","DOIUrl":"10.1002/rcs.2615","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In Total Hip replacement (THR) surgery, a critical step is to cut an accurate hemisphere into the acetabulum so that the component can be fitted accurately and obtain early stability. This study aims to determine whether burring rather than reaming the acetabulum can achieve greater accuracy in the creation of this hemisphere.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A preliminary robotic system was developed to demonstrate the feasibility of burring the acetabulum using the Universal Robot (UR10). The study will describe mechanical design, robot trajectory optimisation, control algorithm development, and results from phantom experiments compared with both robotic reaming and conventional reaming. The system was also tested in a cadaver experiment.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The proposed robotic burring system can produce a surface in 2 min with an average error of 0.1 and 0.18 mm, when cutting polyurethane bone block #15 and #30, respectively. The performance was better than robotic reaming and conventional hand reaming.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The proposed robotic burring system outperformed robotic and conventional reaming methods to produce an accurate acetabular cavity. The findings show the potential usage of a robotic-assisted burring in THR for acetabular preparation.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rcs.2615","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139069739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Wu Jiayuan, Wei Yi, Duan Fangfang, He Da, Jiang Xieyuan, Tian Wei
Background
To assess the accuracy of robot-assisted Magerl screw placement and explore the factors affecting the accuracy.
Methods
A retrospective analysis of patients who underwent robot-assisted Magerl screw placement was performed. The accuracy of Magerl screw placement was evaluated according to the Gertzbein and Robbins scale.
Results
47 Magerl screws were placed in 24 consecutive patients. 32 Magerl screws were narrower than the C2 isthmus height and 26 of them were grade A. 15 Magerl screws were wider than the C2 isthmus height and all of them were grade B. Temporary fixation after decompression and a smaller difference between the C2 isthmus height and screw diameter were associated with a higher probability of cortical breach.
Conclusion
The accuracy of robot-assisted Magerl screw placement was excellent. Temporary fixation after decompression and a smaller difference between the C2 isthmus height and screw diameter increased the risk of cortical breach.
评估机器人辅助 Magerl 螺钉置入的准确性，并探讨影响准确性的因素。
{"title":"Accuracy and risk factors of Magerl screw placement in robot-assisted atlantoaxial surgery: A case series study","authors":"Wu Jiayuan, Wei Yi, Duan Fangfang, He Da, Jiang Xieyuan, Tian Wei","doi":"10.1002/rcs.2603","DOIUrl":"10.1002/rcs.2603","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>To assess the accuracy of robot-assisted Magerl screw placement and explore the factors affecting the accuracy.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A retrospective analysis of patients who underwent robot-assisted Magerl screw placement was performed. The accuracy of Magerl screw placement was evaluated according to the Gertzbein and Robbins scale.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>47 Magerl screws were placed in 24 consecutive patients. 32 Magerl screws were narrower than the C2 isthmus height and 26 of them were grade A. 15 Magerl screws were wider than the C2 isthmus height and all of them were grade B. Temporary fixation after decompression and a smaller difference between the C2 isthmus height and screw diameter were associated with a higher probability of cortical breach.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The accuracy of robot-assisted Magerl screw placement was excellent. Temporary fixation after decompression and a smaller difference between the C2 isthmus height and screw diameter increased the risk of cortical breach.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139069900","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Remote-controlled robotic vascular interventional surgery can reduce radiation exposure to interventional physicians and improve safety. However, inconvenient operation and lack of force feedback limit its application.
Materials and Methods
A new wearable robotic system for vascular interventional surgery is designed, which is more flexible in operation. It ensures the safety of surgery through haptic force feedback. The system was evaluated by human vascular models and animal experiments.
Results
The average static error of the system is 0.048 mm when the axial motion is 250 mm and 1.259° when the rotational motion is 400°. The average error of the force feedback is 0.021 N. The results of vascular model experiments and animal experiments demonstrate the feasibility and safety of the system.
Conclusions
The proposed robotic system can assist physicians in remotely delivering standard catheters or guidewires. The system is more flexible and uses haptic force feedback to ensure surgical safety.
{"title":"Design and evaluation of a wearable vascular interventional surgical robot system","authors":"Haoyang Yu, Hongbo Wang, Yu Rong, Junyu Fang, Jianye Niu","doi":"10.1002/rcs.2616","DOIUrl":"10.1002/rcs.2616","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Remote-controlled robotic vascular interventional surgery can reduce radiation exposure to interventional physicians and improve safety. However, inconvenient operation and lack of force feedback limit its application.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Materials and Methods</h3>\u0000 \u0000 <p>A new wearable robotic system for vascular interventional surgery is designed, which is more flexible in operation. It ensures the safety of surgery through haptic force feedback. The system was evaluated by human vascular models and animal experiments.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The average static error of the system is 0.048 mm when the axial motion is 250 mm and 1.259° when the rotational motion is 400°. The average error of the force feedback is 0.021 N. The results of vascular model experiments and animal experiments demonstrate the feasibility and safety of the system.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The proposed robotic system can assist physicians in remotely delivering standard catheters or guidewires. The system is more flexible and uses haptic force feedback to ensure surgical safety.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
No consensus has been reached on operative procedures since a limited case series of robot-assisted inferior vena cava thrombectomy (RA-IVCT) and robot-assisted radical nephrectomy (RA-RN) have been described.
Methods
The clinical data of 21 patients who underwent RA-IVCT and RA-RN were retrieved from the database. Preoperative preparation was used for assessment of the tumour. Surgical procedures were recorded, and operative skills were summarised.
Results
The median IVC clamping time was 23 min, and IVC wall invasion was pathologically found in 2 cases. The mean postoperative hospital stay was 8.4 days and most patients recovered to full ambulation and oral feeding on the fourth day. None of the patients had liver or kidney dysfunction at the last follow-up (median, 24 months).
Conclusion
RA-IVCT presents technical challenges to surgeons. IVC control is an important part of the surgical process and different sides require different techniques.
{"title":"Experiences of robot assisted thrombectomy with 2-year follow-up","authors":"Gong Cheng, Xiaoping Zhang","doi":"10.1002/rcs.2611","DOIUrl":"10.1002/rcs.2611","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>No consensus has been reached on operative procedures since a limited case series of robot-assisted inferior vena cava thrombectomy (RA-IVCT) and robot-assisted radical nephrectomy (RA-RN) have been described.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The clinical data of 21 patients who underwent RA-IVCT and RA-RN were retrieved from the database. Preoperative preparation was used for assessment of the tumour. Surgical procedures were recorded, and operative skills were summarised.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The median IVC clamping time was 23 min, and IVC wall invasion was pathologically found in 2 cases. The mean postoperative hospital stay was 8.4 days and most patients recovered to full ambulation and oral feeding on the fourth day. None of the patients had liver or kidney dysfunction at the last follow-up (median, 24 months).</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>RA-IVCT presents technical challenges to surgeons. IVC control is an important part of the surgical process and different sides require different techniques.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138833450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yan Wang, Wei Wang, Yueri Cai, Qiming Zhao, Yuyang Wang
Background
This study aims to develop a new dental implant robotic system (DIRS) to relieve the burden and enhance the quality of dental implant surgery.
Methods
The implanting actuator and system controller are two parts. The implanting actuator is designed on the basis of the RCM mechanism, with its kinematics modelled. Besides, a multi-DOF admittance control strategy and a hybrid position-admittance control strategy were designed, endowing the actuator with environmental compliance.
Results
In force sensing, about 97% of mixed force/torque are eliminated. Then, 30 groups of implantation are done, of which 15 groups are simple implantation, while another 15 groups are force-based implantation. The results show that the average contact force/torque can be reduced by 73.03% and 62.66%, and the peak contact force/torque can be reduced by 68.26% and 50.46%.
Conclusions
The results of preliminary experiments validate the effectiveness of DIRS, which has great potential to assist dentists with higher efficiency, better quality, and lower burden.
本研究旨在开发一种新型牙科植入机器人系统（DIRS），以减轻牙科植入手术的负担并提高其质量。
{"title":"Preliminary study of a new macro-micro robot system for dental implant surgery: Design, development and control","authors":"Yan Wang, Wei Wang, Yueri Cai, Qiming Zhao, Yuyang Wang","doi":"10.1002/rcs.2614","DOIUrl":"10.1002/rcs.2614","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>This study aims to develop a new dental implant robotic system (DIRS) to relieve the burden and enhance the quality of dental implant surgery.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>The implanting actuator and system controller are two parts. The implanting actuator is designed on the basis of the RCM mechanism, with its kinematics modelled. Besides, a multi-DOF admittance control strategy and a hybrid position-admittance control strategy were designed, endowing the actuator with environmental compliance.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In force sensing, about 97% of mixed force/torque are eliminated. Then, 30 groups of implantation are done, of which 15 groups are simple implantation, while another 15 groups are force-based implantation. The results show that the average contact force/torque can be reduced by 73.03% and 62.66%, and the peak contact force/torque can be reduced by 68.26% and 50.46%.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The results of preliminary experiments validate the effectiveness of DIRS, which has great potential to assist dentists with higher efficiency, better quality, and lower burden.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138826589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In order to provide accurate and reliable image guidance for augmented reality (AR) spinal surgery navigation, a spatial registration method has been proposed.
Methods
In the AR spinal surgery navigation system, grayscale-based 2D/3D registration technology has been used to register preoperative computed tomography images with intraoperative X-ray images to complete the spatial registration, and then the fusion of virtual image and real spine has been realised.
Results
In the image registration experiment, the success rate of spine model registration was 90%. In the spinal model verification experiment, the surface registration error of the spinal model ranged from 0.361 to 0.612 mm, and the total average surface registration error was 0.501 mm.
Conclusion
The spatial registration method based on 2D/3D registration technology can be used in AR spinal surgery navigation systems and is highly accurate and minimally invasive.
背景：为了给增强现实（AR）脊柱手术导航提供准确可靠的图像引导，有人提出了一种空间配准方法：方法：在增强现实脊柱手术导航系统中，采用基于灰度的二维/三维配准技术，将术前计算机断层扫描图像与术中X光图像进行配准，完成空间配准，然后实现虚拟图像与真实脊柱的融合：结果：在图像配准实验中，脊柱模型配准的成功率为 90%。在脊柱模型验证实验中，脊柱模型的表面配准误差在 0.361 至 0.612 毫米之间，总平均表面配准误差为 0.501 毫米：结论：基于二维/三维配准技术的空间配准方法可用于 AR 脊柱手术导航系统，具有高精度和微创的特点。
{"title":"A spatial registration method based on 2D–3D registration for an augmented reality spinal surgery navigation system","authors":"Jingqi Zhang, Zhiyong Yang, Shan Jiang, Zeyang Zhou","doi":"10.1002/rcs.2612","DOIUrl":"10.1002/rcs.2612","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>In order to provide accurate and reliable image guidance for augmented reality (AR) spinal surgery navigation, a spatial registration method has been proposed.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>In the AR spinal surgery navigation system, grayscale-based 2D/3D registration technology has been used to register preoperative computed tomography images with intraoperative X-ray images to complete the spatial registration, and then the fusion of virtual image and real spine has been realised.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>In the image registration experiment, the success rate of spine model registration was 90%. In the spinal model verification experiment, the surface registration error of the spinal model ranged from 0.361 to 0.612 mm, and the total average surface registration error was 0.501 mm.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusion</h3>\u0000 \u0000 <p>The spatial registration method based on 2D/3D registration technology can be used in AR spinal surgery navigation systems and is highly accurate and minimally invasive.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138815167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ureteral injury is common during gynaecological laparoscopic surgery. Real-time auto-segmentation can assist gynaecologists in identifying the ureter and reduce intraoperative injury risk.
Methods
A deep learning segmentation model was crafted for ureter recognition in surgical videos, utilising 3368 frames from 11 laparoscopic surgeries. Class activation maps enhanced the model's interpretability, showing its areas. The model's clinical relevance was validated through an End-User Turing test and verified by three gynaecological surgeons.
Results
The model registered a Dice score of 0.86, a Hausdorff 95 distance of 22.60, and processed images in 0.008 s on average. In complex surgeries, it pinpointed the ureter's position in real-time. Fifty five surgeons across eight institutions found the model's accuracy, specificity, and sensitivity comparable to human performance. Yet, artificial intelligence experience influenced some subjective ratings.
Conclusions
The model offers precise real-time ureter segmentation in laparoscopic surgery and can be a significant tool for gynaecologists to mitigate ureteral injuries.
{"title":"Real-time auto-segmentation of the ureter in video sequences of gynaecological laparoscopic surgery","authors":"Zhixiang Wang, Chongdong Liu, Zhen Zhang, Yupeng Deng, Meizhu Xiao, Zhiqiang Zhang, Andre Dekker, Shuzhen Wang, Yujiang Liu, LinXue Qian, Zhenyu Zhang, Alberto Traverso, Ying Feng","doi":"10.1002/rcs.2604","DOIUrl":"10.1002/rcs.2604","url":null,"abstract":"<div>\u0000 \u0000 \u0000 <section>\u0000 \u0000 <h3> Background</h3>\u0000 \u0000 <p>Ureteral injury is common during gynaecological laparoscopic surgery. Real-time auto-segmentation can assist gynaecologists in identifying the ureter and reduce intraoperative injury risk.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Methods</h3>\u0000 \u0000 <p>A deep learning segmentation model was crafted for ureter recognition in surgical videos, utilising 3368 frames from 11 laparoscopic surgeries. Class activation maps enhanced the model's interpretability, showing its areas. The model's clinical relevance was validated through an End-User Turing test and verified by three gynaecological surgeons.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Results</h3>\u0000 \u0000 <p>The model registered a Dice score of 0.86, a Hausdorff 95 distance of 22.60, and processed images in 0.008 s on average. In complex surgeries, it pinpointed the ureter's position in real-time. Fifty five surgeons across eight institutions found the model's accuracy, specificity, and sensitivity comparable to human performance. Yet, artificial intelligence experience influenced some subjective ratings.</p>\u0000 </section>\u0000 \u0000 <section>\u0000 \u0000 <h3> Conclusions</h3>\u0000 \u0000 <p>The model offers precise real-time ureter segmentation in laparoscopic surgery and can be a significant tool for gynaecologists to mitigate ureteral injuries.</p>\u0000 </section>\u0000 </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":null,"pages":null},"PeriodicalIF":2.5,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138815168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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