Pub Date : 2016-10-26DOI: 10.1080/24699322.2016.1240302
Ziyi Zhang, Peiguo Liu, Dongming Zhou, L. Ding
Abstract Magnetic induction measurement (MIM) is a promising technique for biomedical applications in craniocerebral disease detection and monitoring. For the purposes of the MIM simulation, a human head model with real anatomic structure is required. However, nearly anatomically realistic models used in the MIM simulations are discretized using tetrahedral elements of subsequent finite elements method computation. The head model supplied by the Third Military Medical University (TMMU) is currently the only model suitable for hexahedral discretization and finite difference/integral computation. This model has nonetheless number of defects. In order to deal with these, we construct an improved 10-tissue human head model with real anatomical structures and hexahedral discretization features. In this paper, the operation and optimization methods used to construct for the new head model are presented and discussed in detail. We use the 10-tissue head model to conduct the time sensitivity simulation of the magnetic induction sensor which was described in our previous publication and compare the simulation data with those based on the TMMU’s head model. The result shows that the new head model has a higher time sensitivity, meaning better performance in the MIM simulation.
{"title":"An improved 10-tissue human head model with real anatomical structure and hexahedral discretization feature in magnetic induction measurement simulation","authors":"Ziyi Zhang, Peiguo Liu, Dongming Zhou, L. Ding","doi":"10.1080/24699322.2016.1240302","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240302","url":null,"abstract":"Abstract Magnetic induction measurement (MIM) is a promising technique for biomedical applications in craniocerebral disease detection and monitoring. For the purposes of the MIM simulation, a human head model with real anatomic structure is required. However, nearly anatomically realistic models used in the MIM simulations are discretized using tetrahedral elements of subsequent finite elements method computation. The head model supplied by the Third Military Medical University (TMMU) is currently the only model suitable for hexahedral discretization and finite difference/integral computation. This model has nonetheless number of defects. In order to deal with these, we construct an improved 10-tissue human head model with real anatomical structures and hexahedral discretization features. In this paper, the operation and optimization methods used to construct for the new head model are presented and discussed in detail. We use the 10-tissue head model to conduct the time sensitivity simulation of the magnetic induction sensor which was described in our previous publication and compare the simulation data with those based on the TMMU’s head model. The result shows that the new head model has a higher time sensitivity, meaning better performance in the MIM simulation.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"148 - 153"},"PeriodicalIF":2.1,"publicationDate":"2016-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240302","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-25DOI: 10.1080/24699322.2016.1240299
Ho Chang, C. Chen, Minghanbo Liu, Li-Ke Chien, Tung-Sun Huang, Bo-Hsiang Tu
Abstract A wireless electronic endoscope that transmits signals by Wi-Fi is developed for use in single-hole endoscopic surgery and future application to natural orifice surgery. The innovative electronic endoscope developed in this study has a disposable design, completely preventing patents from taking risks of cross infection. The main components of the endoscope are a disposable component of the front tip and the hand-held part of the rear tip. The front tip consists of a lens, metallic tube, and electronic joint whereas the rear tip consists of a power switch, image converter, wireless transceiver chip, and antenna. Experimental applications of the wireless electronic endoscope show that after 3 hours and 30 minutes of normal use, the temperature of metallic tube at the front tip averages 45 °C. Regarding the measured luminance result, when the focal distance is 5 cm, luminance reaches 1410 lux. In an indoor environment, when the measured distance is 3 m and there is no disruptor, the Wi-Fi transmitted signal of the endoscope is at strength −51 dBm. If the disruptor is established between the sending and receiving ends, signal strength is −53 dBm. Increasing the measured distance to 8 m obtains a signal strength of −74 dBm. Test practical applications indicate that the wireless Wi-Fi electronic endoscope fully meets the needs of surgery room.
{"title":"Fabrication and characterization of disposable wireless electronic endoscope","authors":"Ho Chang, C. Chen, Minghanbo Liu, Li-Ke Chien, Tung-Sun Huang, Bo-Hsiang Tu","doi":"10.1080/24699322.2016.1240299","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240299","url":null,"abstract":"Abstract A wireless electronic endoscope that transmits signals by Wi-Fi is developed for use in single-hole endoscopic surgery and future application to natural orifice surgery. The innovative electronic endoscope developed in this study has a disposable design, completely preventing patents from taking risks of cross infection. The main components of the endoscope are a disposable component of the front tip and the hand-held part of the rear tip. The front tip consists of a lens, metallic tube, and electronic joint whereas the rear tip consists of a power switch, image converter, wireless transceiver chip, and antenna. Experimental applications of the wireless electronic endoscope show that after 3 hours and 30 minutes of normal use, the temperature of metallic tube at the front tip averages 45 °C. Regarding the measured luminance result, when the focal distance is 5 cm, luminance reaches 1410 lux. In an indoor environment, when the measured distance is 3 m and there is no disruptor, the Wi-Fi transmitted signal of the endoscope is at strength −51 dBm. If the disruptor is established between the sending and receiving ends, signal strength is −53 dBm. Increasing the measured distance to 8 m obtains a signal strength of −74 dBm. Test practical applications indicate that the wireless Wi-Fi electronic endoscope fully meets the needs of surgery room.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"124 - 131"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240299","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125981","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-25DOI: 10.1080/24699322.2016.1240304
Changsheng Li, Tianmiao Wang, Lei Hu, P. Tang, Li-feng Wang, Lihai Zhang, Na Guo, Yiming Tan
Abstract We developed a novel master–slave teleoperation robot system for diaphyseal fracture reduction. This paper details the mechanical design and the control system as a preliminary study. The fracture reduction accuracy and the performance of the control system are experimentally tested. The mean error in the axial and lateral displacements was below 3 mm; the mean side angle and inward turn errors were below 4°. As a preliminary study, the feasibility of the novel master–slave teleoperation robot system for diaphyseal fracture reduction is verified. The robot system fulfills the reduction requirements in accuracy and operating performance.
{"title":"A novel master–slave teleoperation robot system for diaphyseal fracture reduction: a preliminary study","authors":"Changsheng Li, Tianmiao Wang, Lei Hu, P. Tang, Li-feng Wang, Lihai Zhang, Na Guo, Yiming Tan","doi":"10.1080/24699322.2016.1240304","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240304","url":null,"abstract":"Abstract We developed a novel master–slave teleoperation robot system for diaphyseal fracture reduction. This paper details the mechanical design and the control system as a preliminary study. The fracture reduction accuracy and the performance of the control system are experimentally tested. The mean error in the axial and lateral displacements was below 3 mm; the mean side angle and inward turn errors were below 4°. As a preliminary study, the feasibility of the novel master–slave teleoperation robot system for diaphyseal fracture reduction is verified. The robot system fulfills the reduction requirements in accuracy and operating performance.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"162 - 167"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240304","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126094","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Background: Minimally invasive surgeries rely on laparoscopic camera views to guide the procedure. Traditionally, an expert surgical assistant operates laparoscopic camera. This process is distracting, and the camera is not always placed in an ideal location. To mitigate these problems, we have developed a laparoscopic automatic navigation method. Methods: In this article, a way to determining surgery status based on the distance of surgical instruments is presented. Combining with the surgery status, the region of interest (ROI) in laparoscopic image is defined, and related parameters are given in detail. Comprehensive the above content, the method of laparoscopic automatic navigation based on the ROI is proposed. Results: Finally, introducing the method into a kind of typical minimally invasive laparoscopic surgery robot system (MLSRS), and the method is simulated by using some typical surgical tasks. Conclusion: The results show that this method is feasible.
{"title":"Automatic guidance of laparoscope based on the region of interest for robot assisted laparoscopic surgery","authors":"Lingtao Yu, Hongwei Li, Lingyan Zhao, Sixu Ren, Qing Gu","doi":"10.1080/24699322.2016.1240309","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240309","url":null,"abstract":"Abstract Background: Minimally invasive surgeries rely on laparoscopic camera views to guide the procedure. Traditionally, an expert surgical assistant operates laparoscopic camera. This process is distracting, and the camera is not always placed in an ideal location. To mitigate these problems, we have developed a laparoscopic automatic navigation method. Methods: In this article, a way to determining surgery status based on the distance of surgical instruments is presented. Combining with the surgery status, the region of interest (ROI) in laparoscopic image is defined, and related parameters are given in detail. Comprehensive the above content, the method of laparoscopic automatic navigation based on the ROI is proposed. Results: Finally, introducing the method into a kind of typical minimally invasive laparoscopic surgery robot system (MLSRS), and the method is simulated by using some typical surgical tasks. Conclusion: The results show that this method is feasible.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"17 - 21"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240309","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-25DOI: 10.1080/24699322.2016.1240295
Wen-Jui Wu, Lin Yang, Song Zhang, Dongmei Hao, Yimin Yang, Xuwen Li, Guanghui Wu, Lei Zhang, Z. Luo
Abstract Background: Finger blood volume pulse (F-BVP) contains abundant human cardiovascular system information, including information regarding circulation in the heart, blood vessel function, and the microcirculation system. Pulse waveform analysis is a method for analyzing F-BVP. Methods and results: A new parameter of F-BVP, called waveform index (WI), was extracted, defined, subsequently compared between groups of different cardiovascular function, and compared with age and systolic blood pressure. WI values of the negative and positive groups were 0.209 ± 0.066 (p < .001) and 0.305 ± 0.066 (p < .001), respectively. The classification threshold value of WI was 0.24, revealing a sensitivity of 77%, a specificity of 68% and a classification accuracy of 73%. The odds ratio (OR) was 7.164, indicating that subjects with WI >0.24 had a 7.164 times greater risk of suffering from cardiovascular disease than of not suffering from cardiovascular disease. Age and systolic blood pressure had consistent correlation with WI, in addition, WI had the same trend with age and systolic blood pressure. Conclusion: Because WI of F-BVP was determined according to only F-BVP waveform and increases in age and systolic blood pressure, different values of WI represent different cardiovascular physiological conditions. To a certain extent, the changes of WI reflect the changes of human cardiovascular function. Therefore, WI has the potential to be widely used in disease screening and clinical practice.
{"title":"Development of a new characteristic parameter – waveform index of finger blood volume pulse","authors":"Wen-Jui Wu, Lin Yang, Song Zhang, Dongmei Hao, Yimin Yang, Xuwen Li, Guanghui Wu, Lei Zhang, Z. Luo","doi":"10.1080/24699322.2016.1240295","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240295","url":null,"abstract":"Abstract Background: Finger blood volume pulse (F-BVP) contains abundant human cardiovascular system information, including information regarding circulation in the heart, blood vessel function, and the microcirculation system. Pulse waveform analysis is a method for analyzing F-BVP. Methods and results: A new parameter of F-BVP, called waveform index (WI), was extracted, defined, subsequently compared between groups of different cardiovascular function, and compared with age and systolic blood pressure. WI values of the negative and positive groups were 0.209 ± 0.066 (p < .001) and 0.305 ± 0.066 (p < .001), respectively. The classification threshold value of WI was 0.24, revealing a sensitivity of 77%, a specificity of 68% and a classification accuracy of 73%. The odds ratio (OR) was 7.164, indicating that subjects with WI >0.24 had a 7.164 times greater risk of suffering from cardiovascular disease than of not suffering from cardiovascular disease. Age and systolic blood pressure had consistent correlation with WI, in addition, WI had the same trend with age and systolic blood pressure. Conclusion: Because WI of F-BVP was determined according to only F-BVP waveform and increases in age and systolic blood pressure, different values of WI represent different cardiovascular physiological conditions. To a certain extent, the changes of WI reflect the changes of human cardiovascular function. Therefore, WI has the potential to be widely used in disease screening and clinical practice.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"10 - 6"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240295","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-25DOI: 10.1080/24699322.2016.1240300
Mi Li, Xiaofeng Lu, Xiaodong Wang, Shengfu Lu, Ning Zhong
Abstract The types of kernel function and relevant parameters’ selection in support vector machine (SVM) have a major impact on the performance of the classifier. In order to improve the accuracy and generalization ability of the model, we used mixed kernel function SVM classification algorithm based on the information entropy particle swarm optimization (PSO): on the one hand, the generalization ability of classifier is effectively enhanced by constructing a mixed kernel function with global kernel function and local kernel function; on the other hand, the accuracy of classification is improved through optimization for related kernel parameters based on information entropy PSO. Compared with PSO-RBF kernel and PSO-mixed kernel, the improved PSO-mixed kernel SVM can effectively improve the classification accuracy through the classification experiment on biomedical datasets, which would not only prove the efficiency of this algorithm, but also show that the algorithm has good practical application value in biomedicine prediction.
{"title":"Biomedical classification application and parameters optimization of mixed kernel SVM based on the information entropy particle swarm optimization","authors":"Mi Li, Xiaofeng Lu, Xiaodong Wang, Shengfu Lu, Ning Zhong","doi":"10.1080/24699322.2016.1240300","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240300","url":null,"abstract":"Abstract The types of kernel function and relevant parameters’ selection in support vector machine (SVM) have a major impact on the performance of the classifier. In order to improve the accuracy and generalization ability of the model, we used mixed kernel function SVM classification algorithm based on the information entropy particle swarm optimization (PSO): on the one hand, the generalization ability of classifier is effectively enhanced by constructing a mixed kernel function with global kernel function and local kernel function; on the other hand, the accuracy of classification is improved through optimization for related kernel parameters based on information entropy PSO. Compared with PSO-RBF kernel and PSO-mixed kernel, the improved PSO-mixed kernel SVM can effectively improve the classification accuracy through the classification experiment on biomedical datasets, which would not only prove the efficiency of this algorithm, but also show that the algorithm has good practical application value in biomedicine prediction.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"7 1","pages":"132 - 141"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240300","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-25DOI: 10.1080/24699322.2016.1240307
Hong Zhang, Rui-juan Li, Xinxin Huang, Zhao Yang
Abstract Numerous studies implicated the relationship between the sinus node dysfunction (SND) and atrial arrhythmias, but the pacemaker activities of sinoatrial node (SAN) during the atrial reentry before the formation of structural and electrophysiological remodeling in SAN were not well investigated. In the present study, a gradient two-dimensional model including SAN and atrium was built to reflect heterogeneities of the SAN. The reentrant wave was induced by the cross field method in the atrium. The simulation demonstrated a suppressed SAN spontaneous firing by the invading reentry and a 4:1 entrance block into the SAN at a reentrant cycle length of 80 ms. When the retrograde electrical excitation from atrium captured the SAN cell, the maximum diastolic potential of its action potential was found to become more negative with increased upstroke velocity. At the same time, the amplitudes of If, ICaL and IKs were enlarged. Besides, the interactions of the atrium and SAN presented a block of the sinus firing from exiting to the atrium while protecting the central SAN from the effects of the invading reentry. These findings suggested a link between SND and atrial reentry, and therefore were helpful in explaining the role of atrial arrhythmias in SND.
{"title":"Activities of the sinus node pacemaking during the simulated atrial reentry","authors":"Hong Zhang, Rui-juan Li, Xinxin Huang, Zhao Yang","doi":"10.1080/24699322.2016.1240307","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240307","url":null,"abstract":"Abstract Numerous studies implicated the relationship between the sinus node dysfunction (SND) and atrial arrhythmias, but the pacemaker activities of sinoatrial node (SAN) during the atrial reentry before the formation of structural and electrophysiological remodeling in SAN were not well investigated. In the present study, a gradient two-dimensional model including SAN and atrium was built to reflect heterogeneities of the SAN. The reentrant wave was induced by the cross field method in the atrium. The simulation demonstrated a suppressed SAN spontaneous firing by the invading reentry and a 4:1 entrance block into the SAN at a reentrant cycle length of 80 ms. When the retrograde electrical excitation from atrium captured the SAN cell, the maximum diastolic potential of its action potential was found to become more negative with increased upstroke velocity. At the same time, the amplitudes of If, ICaL and IKs were enlarged. Besides, the interactions of the atrium and SAN presented a block of the sinus firing from exiting to the atrium while protecting the central SAN from the effects of the invading reentry. These findings suggested a link between SND and atrial reentry, and therefore were helpful in explaining the role of atrial arrhythmias in SND.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"25 1","pages":"11 - 16"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240307","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126218","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-25DOI: 10.1080/24699322.2016.1240305
Taeyoung Choi, S. Chin
Abstract Recently, people have paid more attention to skin that seems determine age, beauty and appearance. In particular, acne scar that tends to grow in young generation. Synthetic model can help to prevent them to care beforehand. This study proposes a representation for acne scars and general scars using a height map and an improved subsurface scattering color model. In consideration of the geometric properties of acne scars classified into ice pick, rolling and boxcar, a height map is used. Where the improved subsurface scattering color model and shading are applied, convenient system interfaces are provided to represent wounds and scars conveniently. An automation function is added for the user to control the height map, as well as four shading functions comparable with the shading function proposed in this study. In addition, a user study is performed to validate the proposed method.
{"title":"Acne scar and scar synthesis system using height map and improved subsurface scattering color model","authors":"Taeyoung Choi, S. Chin","doi":"10.1080/24699322.2016.1240305","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240305","url":null,"abstract":"Abstract Recently, people have paid more attention to skin that seems determine age, beauty and appearance. In particular, acne scar that tends to grow in young generation. Synthetic model can help to prevent them to care beforehand. This study proposes a representation for acne scars and general scars using a height map and an improved subsurface scattering color model. In consideration of the geometric properties of acne scars classified into ice pick, rolling and boxcar, a height map is used. Where the improved subsurface scattering color model and shading are applied, convenient system interfaces are provided to represent wounds and scars conveniently. An automation function is added for the user to control the height map, as well as four shading functions comparable with the shading function proposed in this study. In addition, a user study is performed to validate the proposed method.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"175 - 182"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240305","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60126151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-25DOI: 10.1080/24699322.2016.1240296
Guojun Niu, Bo Pan, Yue Ai, Yili Fu
Abstract Background: Minimally invasive surgery (MIS) based on computer and robot-assisted technology is becoming more and more popular. Methods: Intuitive motion control implemented by kinematic algorithm of the slave manipulator based on the 3D Display (DD) is proposed to eliminate absonant hand-eye coordination, kinematic dissimilarity and workspace mismatch of the master-slave manipulator and is applied in the novel minimally invasive surgical (MIS) robot developed in our lab. Forward and inverse kinematics of MIS robot are analyzed based on the screw theory. The kinematic algorithm of MIS robot based on the DD is achieved. Results: The trajectory tracking results that the movement trends between the master and slave manipulators consistently validate the effectiveness of forward and inverse kinematics. The simulation results of the kinematic algorithm by virtue of Simulink and SimMechanics sub-modules of the MATLAB and intuitive control experiment that the root mean square error of cumulative position increments is less than 0.5 mm validate effectiveness of intuitive control algorithm. Conclusion: Successful animal experiments furthermore validate the effectiveness of intuitive control algorithm.
{"title":"Intuitive control algorithm of a novel minimally invasive surgical robot","authors":"Guojun Niu, Bo Pan, Yue Ai, Yili Fu","doi":"10.1080/24699322.2016.1240296","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240296","url":null,"abstract":"Abstract Background: Minimally invasive surgery (MIS) based on computer and robot-assisted technology is becoming more and more popular. Methods: Intuitive motion control implemented by kinematic algorithm of the slave manipulator based on the 3D Display (DD) is proposed to eliminate absonant hand-eye coordination, kinematic dissimilarity and workspace mismatch of the master-slave manipulator and is applied in the novel minimally invasive surgical (MIS) robot developed in our lab. Forward and inverse kinematics of MIS robot are analyzed based on the screw theory. The kinematic algorithm of MIS robot based on the DD is achieved. Results: The trajectory tracking results that the movement trends between the master and slave manipulators consistently validate the effectiveness of forward and inverse kinematics. The simulation results of the kinematic algorithm by virtue of Simulink and SimMechanics sub-modules of the MATLAB and intuitive control experiment that the root mean square error of cumulative position increments is less than 0.5 mm validate effectiveness of intuitive control algorithm. Conclusion: Successful animal experiments furthermore validate the effectiveness of intuitive control algorithm.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"101 - 92"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240296","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-25DOI: 10.1080/24699322.2016.1240297
Youngjoo Cha, Megan Stanley, T. Shurtleff, J. H. You
Abstract Background: Dynamic postural instability is a common neuromuscular impairment in cerebral palsy (CP), which often includes balance dysfunction and an associated risk of serious falls. Robotic hippotherapy has recently become a widespread clinical application to facilitate postural core stabilization, strength, and endurance through repetitive vestibular and proprioceptive stimulation to the spine via the sensorimotor system pathways. However, the long-term effects of robotic hippotherapy on dynamic postural instability in CP remain unclear. Objective: To examine the long-term effects of robotic hippotherapy on dynamic postural stability in CP. Methods: An advanced three-dimensional biomechanical eight-camera video motion capture (VMC) system was used to compute the center of mass (COM) pathway, which represents intervention-related spinal core instability. The robotic hippotherapy system was used to improve dynamic postural stability and associated balance performance. Robotic hippotherapy exercise was provided for 45 minutes/session, 2–3 times a week over the 12-week period. Results: Abnormal mean COM pathway length, standard deviation, and range substantially decreased after 12 weeks of robotic hippotherapy. The initial x-axis COM was greater than that of the y-axis. However, the amount of abnormal anterior–posterior and medio-lateral postural sway substantially decreased after robotic hippotherapy. Conclusions: This study provides the first compelling evidence that the robotic hippotherapy is safe and effective for postural instability control and sitting balance dysfunction that mitigates the risk of falls in CP.
{"title":"Long-term effects of robotic hippotherapy on dynamic postural stability in cerebral palsy","authors":"Youngjoo Cha, Megan Stanley, T. Shurtleff, J. H. You","doi":"10.1080/24699322.2016.1240297","DOIUrl":"https://doi.org/10.1080/24699322.2016.1240297","url":null,"abstract":"Abstract Background: Dynamic postural instability is a common neuromuscular impairment in cerebral palsy (CP), which often includes balance dysfunction and an associated risk of serious falls. Robotic hippotherapy has recently become a widespread clinical application to facilitate postural core stabilization, strength, and endurance through repetitive vestibular and proprioceptive stimulation to the spine via the sensorimotor system pathways. However, the long-term effects of robotic hippotherapy on dynamic postural instability in CP remain unclear. Objective: To examine the long-term effects of robotic hippotherapy on dynamic postural stability in CP. Methods: An advanced three-dimensional biomechanical eight-camera video motion capture (VMC) system was used to compute the center of mass (COM) pathway, which represents intervention-related spinal core instability. The robotic hippotherapy system was used to improve dynamic postural stability and associated balance performance. Robotic hippotherapy exercise was provided for 45 minutes/session, 2–3 times a week over the 12-week period. Results: Abnormal mean COM pathway length, standard deviation, and range substantially decreased after 12 weeks of robotic hippotherapy. The initial x-axis COM was greater than that of the y-axis. However, the amount of abnormal anterior–posterior and medio-lateral postural sway substantially decreased after robotic hippotherapy. Conclusions: This study provides the first compelling evidence that the robotic hippotherapy is safe and effective for postural instability control and sitting balance dysfunction that mitigates the risk of falls in CP.","PeriodicalId":56051,"journal":{"name":"Computer Assisted Surgery","volume":"21 1","pages":"111 - 115"},"PeriodicalIF":2.1,"publicationDate":"2016-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1080/24699322.2016.1240297","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"60125960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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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