Pub Date : 2024-07-02DOI: 10.1109/TMRB.2024.3421596
Sukrit Prasarnkleo;Jeroen Meulemans;Mouloud Ourak;Leonardo S. Mattos;Vincent Vander Poorten;Emmanuel Vander Poorten
Transoral laser microsurgery (TLM) is a vocal cord cancer treatment where surgical tools reach the targeted region through the mouth. A robot-assisted system could aid in such operation yet there is limited understanding of the precision that is reachable at the level of the vocal folds. Therefore, this paper analyzed the baseline of human tool positioning capability during simulated TLM. In a simulated TLM environment, 31 participants navigated a probe to reach the target region of variable diameter ranging from 2.0 mm to 0.1 mm. The total execution time and the number of incorrect contacts were recorded. To assess the positioning potential under robotic assistance, 5 volunteers conducted the same tasks with the help of a co-manipulation robot. The minimum target diameter humans can precisely achieve at the vocal fold is 1.5 mm (time: mean ${=} ,, 13$ .92 s, SD ${=} ,, 12$ .30 s, incorrect contact: mean ${=} ,, 2.71$ , SD ${=} ,, 4.53$ ) while with the co-manipulation system, the precision can be improved to 0.2 mm (time: mean ${=} ,, 21$ .20 s, SD ${=} ,, 12$ .31 s, incorrect contact: mean ${=} ,, 3.84$ , SD ${=} ,, 2.95$ ). The experiments successfully established a baseline for free-hand precision reachable at the vocal fold and potential improvement through robot assistance.
{"title":"Experimental Assessment of Positioning Precision During Free-Hand and Robot-Assisted Tool Manipulation in Transoral Microsurgery Model","authors":"Sukrit Prasarnkleo;Jeroen Meulemans;Mouloud Ourak;Leonardo S. Mattos;Vincent Vander Poorten;Emmanuel Vander Poorten","doi":"10.1109/TMRB.2024.3421596","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421596","url":null,"abstract":"Transoral laser microsurgery (TLM) is a vocal cord cancer treatment where surgical tools reach the targeted region through the mouth. A robot-assisted system could aid in such operation yet there is limited understanding of the precision that is reachable at the level of the vocal folds. Therefore, this paper analyzed the baseline of human tool positioning capability during simulated TLM. In a simulated TLM environment, 31 participants navigated a probe to reach the target region of variable diameter ranging from 2.0 mm to 0.1 mm. The total execution time and the number of incorrect contacts were recorded. To assess the positioning potential under robotic assistance, 5 volunteers conducted the same tasks with the help of a co-manipulation robot. The minimum target diameter humans can precisely achieve at the vocal fold is 1.5 mm (time: mean \u0000<inline-formula> <tex-math>${=} ,, 13$ </tex-math></inline-formula>\u0000.92 s, SD \u0000<inline-formula> <tex-math>${=} ,, 12$ </tex-math></inline-formula>\u0000.30 s, incorrect contact: mean \u0000<inline-formula> <tex-math>${=} ,, 2.71$ </tex-math></inline-formula>\u0000, SD \u0000<inline-formula> <tex-math>${=} ,, 4.53$ </tex-math></inline-formula>\u0000) while with the co-manipulation system, the precision can be improved to 0.2 mm (time: mean \u0000<inline-formula> <tex-math>${=} ,, 21$ </tex-math></inline-formula>\u0000.20 s, SD \u0000<inline-formula> <tex-math>${=} ,, 12$ </tex-math></inline-formula>\u0000.31 s, incorrect contact: mean \u0000<inline-formula> <tex-math>${=} ,, 3.84$ </tex-math></inline-formula>\u0000, SD \u0000<inline-formula> <tex-math>${=} ,, 2.95$ </tex-math></inline-formula>\u0000). The experiments successfully established a baseline for free-hand precision reachable at the vocal fold and potential improvement through robot assistance.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"787-795"},"PeriodicalIF":3.4,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965879","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}
Objective: We present a general framework of simultaneous needle shape reconstruction and control input generation for robot-assisted spinal injection procedures, without continuous imaging feedback. Methods: System input-output mapping is generated with a real-time needle-tissue interaction simulation, and single-core FBG sensor readings are used as local needle shape feedback within the same simulation framework. FBG wavelength shifts due to temperature variation is removed by exploiting redundancy in fiber arrangement. Results: Targeting experiments performed on both plastisol lumbar phantoms as well as an ex vivo porcine lumbar section achieved in-plane tip errors of $0.6 pm 0.3$ mm and $1.6 pm 0.9$ mm, and total tip errors of $0.9 pm 0.7$ mm and $2.1 pm 0.8$ mm for the two testing environments. Significance: Our clinically inspired control strategy and workflow is self-contained and not dependent on the modality of imaging guidance. The generalizability of the proposed approach can be applied to other needle-based interventions where medical imaging cannot be reliably utilized as part of a closed-loop control system for needle guidance.
{"title":"Simulation-Based Flexible Needle Control With Single-Core FBG Feedback for Spinal Injections","authors":"Yanzhou Wang;Yangsheng Xu;Jiarong Kang;Jan Fritz;Iulian Iordachita","doi":"10.1109/TMRB.2024.3421630","DOIUrl":"10.1109/TMRB.2024.3421630","url":null,"abstract":"Objective: We present a general framework of simultaneous needle shape reconstruction and control input generation for robot-assisted spinal injection procedures, without continuous imaging feedback. Methods: System input-output mapping is generated with a real-time needle-tissue interaction simulation, and single-core FBG sensor readings are used as local needle shape feedback within the same simulation framework. FBG wavelength shifts due to temperature variation is removed by exploiting redundancy in fiber arrangement. Results: Targeting experiments performed on both plastisol lumbar phantoms as well as an ex vivo porcine lumbar section achieved in-plane tip errors of \u0000<inline-formula> <tex-math>$0.6 pm 0.3$ </tex-math></inline-formula>\u0000 mm and \u0000<inline-formula> <tex-math>$1.6 pm 0.9$ </tex-math></inline-formula>\u0000 mm, and total tip errors of \u0000<inline-formula> <tex-math>$0.9 pm 0.7$ </tex-math></inline-formula>\u0000 mm and \u0000<inline-formula> <tex-math>$2.1 pm 0.8$ </tex-math></inline-formula>\u0000 mm for the two testing environments. Significance: Our clinically inspired control strategy and workflow is self-contained and not dependent on the modality of imaging guidance. The generalizability of the proposed approach can be applied to other needle-based interventions where medical imaging cannot be reliably utilized as part of a closed-loop control system for needle guidance.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1073-1083"},"PeriodicalIF":3.4,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141918242","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 : 2024-07-01DOI: 10.1109/TMRB.2024.3421249
Adam Schonewille;Changyan He;Cameron Forbrigger;Nancy Wu;James Drake;Thomas Looi;Eric Diller
Miniature magnetic tools have the potential to enable minimally invasive surgical techniques to be applied to space-restricted surgical procedures in areas such as neurosurgery. However, typical magnetic navigation systems, which create the magnetic fields to drive such tools, either cannot generate large enough fields, or surround the patient in a way that obstructs surgeon access to the patient. This paper introduces the design of a magnetic navigation system with eight electromagnets arranged completely under the operating table, to endow the system with maximal workspace accessibility, which allows the patient to lie down on the top surface of the system without any constraints. The found geometric layout of the electromagnets maximizes the field strength and uniformity over a reasonable neurosurgical operating volume. The system can generate non-uniform magnetic fields up to 38 mT along the x and y axes and 47 mT along the z axis at a working distance of 120 mm away from the actuation system workbench, deep enough to deploy magnetic microsurgical tools in the brain. The forces which can be exerted on millimeter-scale magnets used in prototype neurosurgical tools are validated experimentally. Due to its large workspace, this system could be used to control milli-robots in a variety of surgical applications.
微型磁性工具有可能使微创外科技术应用于神经外科等空间受限的外科手术领域。然而，用于产生磁场以驱动此类工具的典型磁导航系统要么不能产生足够大的磁场，要么将病人包围起来，阻碍外科医生接近病人。本文介绍了一种磁导航系统的设计，它有八个电磁铁，完全布置在手术台下方，赋予系统最大的工作空间可达性，使病人可以不受任何限制地躺在系统的上表面。所发现的电磁铁几何布局可在合理的神经外科手术空间内最大限度地提高磁场强度和均匀性。该系统可在距离执行系统工作台 120 毫米的工作距离内产生沿 x 轴和 y 轴高达 38 mT、沿 z 轴高达 47 mT 的非均匀磁场，其深度足以在大脑中部署磁性显微外科工具。实验验证了神经外科工具原型中使用的毫米级磁铁所能承受的力。由于工作空间大，该系统可用于控制各种外科应用中的微型机器人。
{"title":"Electromagnets Under the Table: An Unobtrusive Magnetic Navigation System for Microsurgery","authors":"Adam Schonewille;Changyan He;Cameron Forbrigger;Nancy Wu;James Drake;Thomas Looi;Eric Diller","doi":"10.1109/TMRB.2024.3421249","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421249","url":null,"abstract":"Miniature magnetic tools have the potential to enable minimally invasive surgical techniques to be applied to space-restricted surgical procedures in areas such as neurosurgery. However, typical magnetic navigation systems, which create the magnetic fields to drive such tools, either cannot generate large enough fields, or surround the patient in a way that obstructs surgeon access to the patient. This paper introduces the design of a magnetic navigation system with eight electromagnets arranged completely under the operating table, to endow the system with maximal workspace accessibility, which allows the patient to lie down on the top surface of the system without any constraints. The found geometric layout of the electromagnets maximizes the field strength and uniformity over a reasonable neurosurgical operating volume. The system can generate non-uniform magnetic fields up to 38 mT along the x and y axes and 47 mT along the z axis at a working distance of 120 mm away from the actuation system workbench, deep enough to deploy magnetic microsurgical tools in the brain. The forces which can be exerted on millimeter-scale magnets used in prototype neurosurgical tools are validated experimentally. Due to its large workspace, this system could be used to control milli-robots in a variety of surgical applications.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"980-991"},"PeriodicalIF":3.4,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965164","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 : 2024-07-01DOI: 10.1109/TMRB.2024.3421667
Clément Trotobas;Fernanda M. Rodrigues Martins Ferreira;João Paulo Fernandes Bonfim;Maria Rosália de Faria Moraes;Adriana Maria Valladão Novais Van Pette;Henrique Resende Martins;Charles Fattal;Christine Azevedo Coste
We have developed a new approach to assist prehension by combining functional electrical stimulation (FES) and a motorized orthosis: ORTHYB. The aim was to induce movements of fingers, thumb, and wrist joints by activating muscles using surface FES and locking joints in desired positions using electric motors, to reduce muscle fatigue and enable prolonged grasping of objects. Another hypothesis was that the mechanical orthosis would improve grip quality by constraining joint positioning and guiding movements. The functionality and acceptability of this hybrid orthosis were tested on five participants with upper-limb paralysis due to spinal cord injury. The evaluation was carried out by monitoring the quality of grip for 30 seconds on 3 different objects; perceived effort using the Borg RPE (Rating of Perceived Exertion) scale; pain using visual analog scale (VAS); acceptability using QUEST (Quebec User Evaluation of Satisfaction Technology with Assistive Technology) scale and SUS (System Usability Scale). Preliminary results indicate that the hybrid orthosis provides added value compared to FES alone. The scores obtained in terms of functionality were in most of the trials greater than or equal to those obtained with FES alone. Object grasping was possible for 30 seconds without muscular fatigue affecting grip quality.
{"title":"Combining Functional Electrical Stimulation (FES) to Elicit Hand Movements and a Mechanical Orthosis to Passively Maintain Wrist and Fingers Position in Individuals With Tetraplegia: A Feasibility Test","authors":"Clément Trotobas;Fernanda M. Rodrigues Martins Ferreira;João Paulo Fernandes Bonfim;Maria Rosália de Faria Moraes;Adriana Maria Valladão Novais Van Pette;Henrique Resende Martins;Charles Fattal;Christine Azevedo Coste","doi":"10.1109/TMRB.2024.3421667","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421667","url":null,"abstract":"We have developed a new approach to assist prehension by combining functional electrical stimulation (FES) and a motorized orthosis: ORTHYB. The aim was to induce movements of fingers, thumb, and wrist joints by activating muscles using surface FES and locking joints in desired positions using electric motors, to reduce muscle fatigue and enable prolonged grasping of objects. Another hypothesis was that the mechanical orthosis would improve grip quality by constraining joint positioning and guiding movements. The functionality and acceptability of this hybrid orthosis were tested on five participants with upper-limb paralysis due to spinal cord injury. The evaluation was carried out by monitoring the quality of grip for 30 seconds on 3 different objects; perceived effort using the Borg RPE (Rating of Perceived Exertion) scale; pain using visual analog scale (VAS); acceptability using QUEST (Quebec User Evaluation of Satisfaction Technology with Assistive Technology) scale and SUS (System Usability Scale). Preliminary results indicate that the hybrid orthosis provides added value compared to FES alone. The scores obtained in terms of functionality were in most of the trials greater than or equal to those obtained with FES alone. Object grasping was possible for 30 seconds without muscular fatigue affecting grip quality.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1170-1179"},"PeriodicalIF":3.4,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965573","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 : 2024-07-01DOI: 10.1109/TMRB.2024.3421547
Luka Mišković;Enrica Tricomi;Xiaohui Zhang;Francesco Missiroli;Kristina Krstanović;Tadej Petrič;Lorenzo Masia
Human augmentation typically employs either rigid exoskeletons or soft exosuits. Rigid exoskeletons enhance stability and weight support through load-bearing frames and direct joint torque. Conversely, soft exosuits, devoid of rigid frames, utilize proximally positioned actuators and tendons to transmit forces to textile parts affixed to limbs, thereby enhancing adaptability and simplifying mechanics. To exploit the benefits of both, this study introduces a multi-joint hybrid-assisted device that combines a soft tendon-driven hip exosuit with a rigid pneumatic knee exoskeleton. The hip joint, featuring three active degrees of freedom, is assisted during the swing by the exosuit to minimize kinematic restrictions, mechanical complexity, and weight. The knee joint, with its single active degree of freedom, receives assistance during the stance from the rigid knee exoskeleton, pneumatically actuated, ensuring inherent knee compliance during load response. The study investigates the hybrid system’s impact on metabolic cost, muscle activity, and kinematics in four conditions (unassisted, hip-assisted, knee-assisted, and hybrid-assisted) with seven healthy subjects on an inclined treadmill (15° at 3 km/h). Findings indicate that hybrid assistance yields the greatest significant metabolic reductions, followed by hip assistance and knee-only assistance, with assisted muscles exhibiting significantly reduced activity and minimal impact on kinematics.
{"title":"Hybrid Rigid-Soft and Pneumatic-Electromechanical Exoskeleton for Multi-Joint Lower Limb Assistance","authors":"Luka Mišković;Enrica Tricomi;Xiaohui Zhang;Francesco Missiroli;Kristina Krstanović;Tadej Petrič;Lorenzo Masia","doi":"10.1109/TMRB.2024.3421547","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421547","url":null,"abstract":"Human augmentation typically employs either rigid exoskeletons or soft exosuits. Rigid exoskeletons enhance stability and weight support through load-bearing frames and direct joint torque. Conversely, soft exosuits, devoid of rigid frames, utilize proximally positioned actuators and tendons to transmit forces to textile parts affixed to limbs, thereby enhancing adaptability and simplifying mechanics. To exploit the benefits of both, this study introduces a multi-joint hybrid-assisted device that combines a soft tendon-driven hip exosuit with a rigid pneumatic knee exoskeleton. The hip joint, featuring three active degrees of freedom, is assisted during the swing by the exosuit to minimize kinematic restrictions, mechanical complexity, and weight. The knee joint, with its single active degree of freedom, receives assistance during the stance from the rigid knee exoskeleton, pneumatically actuated, ensuring inherent knee compliance during load response. The study investigates the hybrid system’s impact on metabolic cost, muscle activity, and kinematics in four conditions (unassisted, hip-assisted, knee-assisted, and hybrid-assisted) with seven healthy subjects on an inclined treadmill (15° at 3 km/h). Findings indicate that hybrid assistance yields the greatest significant metabolic reductions, followed by hip assistance and knee-only assistance, with assisted muscles exhibiting significantly reduced activity and minimal impact on kinematics.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1180-1189"},"PeriodicalIF":3.4,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965574","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}
The fourth revolution of healthcare technologies, i.e., Healthcare 4.0, is putting robotics into human-dominated environments. In such a context, one of the main challenges is to develop human-centered robotics technologies that enable safe and reliable human-robot interaction toward human-robot symbiosis. Herein, robot skin is developed to endow healthcare robots with on-body proximity perception so as to fulfill the promise of safe and reliable robotic systems alongside humans. The sensing performance of the robot skin is evaluated by extensive experiments, providing important guidance on its effective implementation into a specific robot platform. Results show that the developed robot skin has a detection range of 0–50 mm, a maximum sensitivity of 0.7 pF/mm, a minimum resolution of 0.05 mm, a repeatability error of 6.6%, a hysteresis error of 7.1%, and bending durability of 2000 cycles. The robot skin is further customized and scaled up to form a large-area sensing system on the exterior of robot arms to support functional safety, which is experimentally validated by approaching distance monitoring and reactive collision avoidance. During the validation, the sensing feedback of the robot skin and the motion of the host robot are visualized remotely in the robot digital twin in a real-time manner via a cloud server. The cloud-based monitoring interface bridges the gap between local healthcare robots and remote professionals, illustrating promising applications where professionals monitor the robot state and intervene in challenging situations to provide instant support for emergent safety issues in human-robot interaction.
{"title":"A Digital Twin-Based Large-Area Robot Skin System for Safer Human-Centered Healthcare Robots Toward Healthcare 4.0","authors":"Geng Yang;Zhiqiu Ye;Haiteng Wu;Chen Li;Ruohan Wang;Depeng Kong;Zeyang Hou;Huafen Wang;Xiaoyan Huang;Zhibo Pang;Na Dong;Gaoyang Pang","doi":"10.1109/TMRB.2024.3421635","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421635","url":null,"abstract":"The fourth revolution of healthcare technologies, i.e., Healthcare 4.0, is putting robotics into human-dominated environments. In such a context, one of the main challenges is to develop human-centered robotics technologies that enable safe and reliable human-robot interaction toward human-robot symbiosis. Herein, robot skin is developed to endow healthcare robots with on-body proximity perception so as to fulfill the promise of safe and reliable robotic systems alongside humans. The sensing performance of the robot skin is evaluated by extensive experiments, providing important guidance on its effective implementation into a specific robot platform. Results show that the developed robot skin has a detection range of 0–50 mm, a maximum sensitivity of 0.7 pF/mm, a minimum resolution of 0.05 mm, a repeatability error of 6.6%, a hysteresis error of 7.1%, and bending durability of 2000 cycles. The robot skin is further customized and scaled up to form a large-area sensing system on the exterior of robot arms to support functional safety, which is experimentally validated by approaching distance monitoring and reactive collision avoidance. During the validation, the sensing feedback of the robot skin and the motion of the host robot are visualized remotely in the robot digital twin in a real-time manner via a cloud server. The cloud-based monitoring interface bridges the gap between local healthcare robots and remote professionals, illustrating promising applications where professionals monitor the robot state and intervene in challenging situations to provide instant support for emergent safety issues in human-robot interaction.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1104-1115"},"PeriodicalIF":3.4,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965578","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}
One of the primary roles of an anatomic pathology laboratory (APL) is the identification of tissue abnormalities, which is crucial for diagnosing diseases and defining a suitable therapy. To date, a considerable number of human errors and artifacts affect the APL test cycle in all its phases (pre-analytical, intra-analytical, analytical, and post-analytical), mainly due to manual and non-standardized procedures. An extensive use of technologies (among which robotic ones) aimed at favoring laboratory automation procedures, would be key in decreasing these errors and their clinical consequences. However, several improvements in workflow, technology and standardization still need to occur. In this review, we discuss the current level of automation currently available in the APL histopathologic production workflow in all phases of the test cycle, highlighting the legal and ethical issues related to their adoption.
{"title":"Technologies for the Automation of Anatomic Pathology Processes: A Review","authors":"Sabrina Ciancia;Lorenzo Vannozzi;Aliria Poliziani;Lorena Guachi-Guachi;Denise Amram;Dario Lunni;Alessandra Zucca;Marco Bellini;Luigi Spagnoli;Gian Andrea Pedrazzini;Andrea Cavazzana;Leonardo Ricotti","doi":"10.1109/TMRB.2024.3421611","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421611","url":null,"abstract":"One of the primary roles of an anatomic pathology laboratory (APL) is the identification of tissue abnormalities, which is crucial for diagnosing diseases and defining a suitable therapy. To date, a considerable number of human errors and artifacts affect the APL test cycle in all its phases (pre-analytical, intra-analytical, analytical, and post-analytical), mainly due to manual and non-standardized procedures. An extensive use of technologies (among which robotic ones) aimed at favoring laboratory automation procedures, would be key in decreasing these errors and their clinical consequences. However, several improvements in workflow, technology and standardization still need to occur. In this review, we discuss the current level of automation currently available in the APL histopathologic production workflow in all phases of the test cycle, highlighting the legal and ethical issues related to their adoption.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"888-902"},"PeriodicalIF":3.4,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965170","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 : 2024-07-01DOI: 10.1109/TMRB.2024.3421593
Kaushik Halder;M. Felix Orlando
In Minimal Invasive Surgery (MIS), steerable flexible needles are commonly utilized as surgical tools to improve target-reaching accuracy. Nevertheless, challenges like tissue deformation, tissue inhomogeneity, and noisy sensory measurements can lead to inaccuracies in needle-tip positioning within the tissue domain. Therefore, to ensure precise needle placement in tissue region, designing a robust non-linear closed-loop needle steering control becomes a crucial aspect in percutaneous intervention procedures. Consequently, in pursuit of accurate and precise needle placement within tissue, various controller methodologies are evident in current literature. However, to address the complexity associated with the design of existing control strategies, this study introduces a robust non-linear needle steering controller within the tissue environment, with the goal of stabilizing the needle within a designated plane. Our proposed needle steering technique incorporates the backstepping based controller that involves the splitting of entire needle kinematic model into several smaller designs while ensuring closed-loop stability through Lyapunov stability analyses. Efficacy of the devised needle steering approach is validated by comparing it with existing control techniques through extensive simulation studies, specifically focusing on needle placement in both 2D and 3D planes. Furthermore, experimental validation is performed involving brachytherapy needle with both artificial tissue phantom and biological tissue.
{"title":"Needle Steering Controller Design for Flexible Steerable Needle Utilizing Robust Backstepping Control Strategy","authors":"Kaushik Halder;M. Felix Orlando","doi":"10.1109/TMRB.2024.3421593","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3421593","url":null,"abstract":"In Minimal Invasive Surgery (MIS), steerable flexible needles are commonly utilized as surgical tools to improve target-reaching accuracy. Nevertheless, challenges like tissue deformation, tissue inhomogeneity, and noisy sensory measurements can lead to inaccuracies in needle-tip positioning within the tissue domain. Therefore, to ensure precise needle placement in tissue region, designing a robust non-linear closed-loop needle steering control becomes a crucial aspect in percutaneous intervention procedures. Consequently, in pursuit of accurate and precise needle placement within tissue, various controller methodologies are evident in current literature. However, to address the complexity associated with the design of existing control strategies, this study introduces a robust non-linear needle steering controller within the tissue environment, with the goal of stabilizing the needle within a designated plane. Our proposed needle steering technique incorporates the backstepping based controller that involves the splitting of entire needle kinematic model into several smaller designs while ensuring closed-loop stability through Lyapunov stability analyses. Efficacy of the devised needle steering approach is validated by comparing it with existing control techniques through extensive simulation studies, specifically focusing on needle placement in both 2D and 3D planes. Furthermore, experimental validation is performed involving brachytherapy needle with both artificial tissue phantom and biological tissue.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1256-1269"},"PeriodicalIF":3.4,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965686","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}
Human hands can execute intricate and dexterous control of diverse objects. Decoding hand motions, especially estimating the force of each individual finger via surface electromyography (sEMG), is an essential step in intuitive and dexterous control of prosthetics, exoskeletons and more various human-machine systems. Previous sEMG decoders lack explainability and show degraded performances in decoding finger forces with multiple degrees-of-freedom (DoFs). When developing a multi-DoF EMG decoder, the combinations of various forces levels exerted by different fingers are too numerous to be exhaustively enumerate. In our work, we utilized the data of 1-DoF finger activation to generate synthetic N-DoF sEMG data with a straightforward additive mixup data augmentation approach, which overlays 1-DoF sEMG signals and finger force labels. The basic assumption of our method is the additive property of sEMG associated with different DoFs. With the synthetic N-DoF sEMG data, we then developed N-DoF EMG-force models via the highly explainable deep forest built on simple and transparent decision trees. With data augmentation using only 1-DoF sEMG data, the regression error reduced by ~20% of the baseline level (without data augmentation). More significantly, the explainability of the deep forest suggested that, the crucial electrodes in the decision making process of the 2-DoF deep forest are essentially a linear superposition of the counterparts in the 1-DoF deep forest.
{"title":"Training Explainable and Effective Multi-DoF EMG Decoder Using Additive 1-DoF EMG","authors":"Yangyang Yuan;Chenyun Dai;Jiahao Fan;Chihhong Chou;Jionghui Liu;Xinyu Jiang","doi":"10.1109/TMRB.2024.3408312","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3408312","url":null,"abstract":"Human hands can execute intricate and dexterous control of diverse objects. Decoding hand motions, especially estimating the force of each individual finger via surface electromyography (sEMG), is an essential step in intuitive and dexterous control of prosthetics, exoskeletons and more various human-machine systems. Previous sEMG decoders lack explainability and show degraded performances in decoding finger forces with multiple degrees-of-freedom (DoFs). When developing a multi-DoF EMG decoder, the combinations of various forces levels exerted by different fingers are too numerous to be exhaustively enumerate. In our work, we utilized the data of 1-DoF finger activation to generate synthetic N-DoF sEMG data with a straightforward additive mixup data augmentation approach, which overlays 1-DoF sEMG signals and finger force labels. The basic assumption of our method is the additive property of sEMG associated with different DoFs. With the synthetic N-DoF sEMG data, we then developed N-DoF EMG-force models via the highly explainable deep forest built on simple and transparent decision trees. With data augmentation using only 1-DoF sEMG data, the regression error reduced by ~20% of the baseline level (without data augmentation). More significantly, the explainability of the deep forest suggested that, the crucial electrodes in the decision making process of the 2-DoF deep forest are essentially a linear superposition of the counterparts in the 1-DoF deep forest.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"1212-1219"},"PeriodicalIF":3.4,"publicationDate":"2024-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965577","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}
Digital dentistry and afterwards intelligent dentistry have been considered a trend in the development of both dental research and clinical practice. Robotics enhances precision and efficiency in medicine. In particular, robotics in dentistry is revolutionizing patient care with advanced technological integration, minimally invasive procedures, and improved outcomes and patient experiences. This review presents an in-depth concept of robots in digital dentistry, highlighting major contributions and impact in clinical scenarios. We first present the motivation behind dental robots and then will discuss the limitations and gaps between the research and applications of dental robots in different fields of dentistry. These robots are clinically involved in oral and maxillofacial surgery, dental implants, prosthodontics, orthognathic surgery, endodontics, and dental education treatments. The literature suggest that these robots are efficient, making quick decision, and maximize the benefit of digital dentistry. It fully automate the surgical procedure for diagnostic and treatment system. By integrating Artificial Intelligence (AI) to these robots eliminates the clinical decision making approach for predictive analysis for early detection and prevention. Finally, the key technologies and potential developments in robotics across various fields of dentistry were demonstrated. It is also discussed carefully how aspects such as mechanical design, recognition sensors, manipulation planning, and state monitoring can significantly influence the future impact of dental robots. These components play a crucial role in enhancing the functionality and efficiency of dental robotics, paving the way for advanced dental care. This review paper will enable researchers to gain better understanding of current status, challenges and future directions of dental robots.
{"title":"Robotics Application in Dentistry: A Review","authors":"Zeyang Xia;Faizan Ahmad;Hao Deng;Lin Jiang;Wenlong Qin;Qunfei Zhao;Jing Xiong","doi":"10.1109/TMRB.2024.3408321","DOIUrl":"https://doi.org/10.1109/TMRB.2024.3408321","url":null,"abstract":"Digital dentistry and afterwards intelligent dentistry have been considered a trend in the development of both dental research and clinical practice. Robotics enhances precision and efficiency in medicine. In particular, robotics in dentistry is revolutionizing patient care with advanced technological integration, minimally invasive procedures, and improved outcomes and patient experiences. This review presents an in-depth concept of robots in digital dentistry, highlighting major contributions and impact in clinical scenarios. We first present the motivation behind dental robots and then will discuss the limitations and gaps between the research and applications of dental robots in different fields of dentistry. These robots are clinically involved in oral and maxillofacial surgery, dental implants, prosthodontics, orthognathic surgery, endodontics, and dental education treatments. The literature suggest that these robots are efficient, making quick decision, and maximize the benefit of digital dentistry. It fully automate the surgical procedure for diagnostic and treatment system. By integrating Artificial Intelligence (AI) to these robots eliminates the clinical decision making approach for predictive analysis for early detection and prevention. Finally, the key technologies and potential developments in robotics across various fields of dentistry were demonstrated. It is also discussed carefully how aspects such as mechanical design, recognition sensors, manipulation planning, and state monitoring can significantly influence the future impact of dental robots. These components play a crucial role in enhancing the functionality and efficiency of dental robotics, paving the way for advanced dental care. This review paper will enable researchers to gain better understanding of current status, challenges and future directions of dental robots.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"851-867"},"PeriodicalIF":3.4,"publicationDate":"2024-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141965142","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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