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Gherardini M, Ianniciello V, Masiero F, Paggetti F, D'Accolti D, La Frazia E, Mani O, Dalise S, Dejanovic K, Fragapane N, Maggiani L, Ipponi E, Controzzi M, Nicastro M, Chisari C, Andreani L, Cipriani C. Restoration of grasping in an upper limb amputee using the myokinetic prosthesis with implanted magnets. Sci Robot 2024; 9:eadp3260. [PMID: 39259781 DOI: 10.1126/scirobotics.adp3260] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2024] [Accepted: 08/15/2024] [Indexed: 09/13/2024]
Abstract
The loss of a hand disrupts the sophisticated neural pathways between the brain and the hand, severely affecting the level of independence of the patient and the ability to carry out daily work and social activities. Recent years have witnessed a rapid evolution of surgical techniques and technologies aimed at restoring dexterous motor functions akin to those of the human hand through bionic solutions, mainly relying on probing of electrical signals from the residual nerves and muscles. Here, we report the clinical implementation of an interface aimed at achieving this goal by exploiting muscle deformation, sensed through passive magnetic implants: the myokinetic interface. One participant with a transradial amputation received an implantation of six permanent magnets in three muscles of the residual limb. A truly self-contained myokinetic prosthetic arm embedding all hardware components and the battery within the prosthetic socket was developed. By retrieving muscle deformation caused by voluntary contraction through magnet localization, we were able to control in real time a dexterous robotic hand following both a direct control strategy and a pattern recognition approach. In just 6 weeks, the participant successfully completed a series of functional tests, achieving scores similar to those achieved when using myoelectric controllers, a standard-of-care solution, with comparable physical and mental workloads. This experience raised conceptual and technical limits of the interface, which nevertheless pave the way for further investigations in a partially unexplored field. This study also demonstrates a viable possibility for intuitively interfacing humans with robotic technologies.
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Affiliation(s)
- Marta Gherardini
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Valerio Ianniciello
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Federico Masiero
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Flavia Paggetti
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Daniele D'Accolti
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Eliana La Frazia
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Olimpia Mani
- Orthopaedics and Traumatology Unit, University Hospital of Pisa, Pisa, Italy
| | - Stefania Dalise
- Neurorehabilitation Unit, University Hospital of Pisa, Pisa, Italy
| | - Katarina Dejanovic
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Noemi Fragapane
- Neurorehabilitation Unit, University Hospital of Pisa, Pisa, Italy
| | - Luca Maggiani
- Neurorehabilitation Unit, University Hospital of Pisa, Pisa, Italy
| | - Edoardo Ipponi
- Orthopaedics and Traumatology Unit, University Hospital of Pisa, Pisa, Italy
| | - Marco Controzzi
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Manuela Nicastro
- Orthopaedic and Burn Centre Anaesthesiology and Reanimation, University Hospital of Pisa, Pisa, Italy
| | - Carmelo Chisari
- Neurorehabilitation Unit, University Hospital of Pisa, Pisa, Italy
| | - Lorenzo Andreani
- Orthopaedics and Traumatology Unit, University Hospital of Pisa, Pisa, Italy
| | - Christian Cipriani
- BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
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Paggetti F, Gherardini M, Lucantonio A, Cipriani C. To What Extent Implanting Single vs Pairs of Magnets Per Muscle Affect the Localization Accuracy of the Myokinetic Control Interface? Evidence From a Simulated Environment. IEEE Trans Biomed Eng 2023; 70:2972-2979. [PMID: 37141061 DOI: 10.1109/tbme.2023.3272977] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/05/2023]
Abstract
OBJECTIVE We recently proposed a new concept of human-machine interface to control hand prostheses which we dubbed the myokinetic control interface. Such interface detects muscle displacement during contraction by localizing permanent magnets implanted in the residual muscles. So far, we evaluated the feasibility of implanting one magnet per muscle and monitoring its displacement relative to its initial position. However, multiple magnets could actually be implanted in each muscle, as using their relative distance as a measure of muscle contraction could improve the system robustness against environmental disturbances. METHODS Here, we simulated the implant of pairs of magnets in each muscle and we compared the localization accuracy of such system with the one magnet per muscle approach, considering first a planar and then an anatomically appropriate configuration. Such comparison was also performed when simulating different grades of mechanical disturbances applied to the system (i.e., shift of the sensor grid). RESULTS We found that implanting one magnet per muscle always led to lower localization errors under ideal conditions (i.e., no external disturbances). Differently, when mechanical disturbances were applied, magnet pairs outperformed the single magnet approach, confirming that differential measurements are able to reject common mode disturbances. CONCLUSION We identified important factors affecting the choice of the number of magnets to implant in a muscle. SIGNIFICANCE Our results provide important guidelines for the design of disturbance rejection strategies and for the development of the myokinetic control interface, as well as for a whole range of biomedical applications involving magnetic tracking.
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Ge L, Han Q, Tong X, Wang Y. Detection, Location, and Classification of Multiple Dipole-like Magnetic Sources Based on L2 Norm of the Vertical Magnetic Gradient Tensor Data. SENSORS (BASEL, SWITZERLAND) 2023; 23:s23094440. [PMID: 37177644 PMCID: PMC10181607 DOI: 10.3390/s23094440] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/28/2023] [Revised: 04/25/2023] [Accepted: 04/29/2023] [Indexed: 05/15/2023]
Abstract
In recent years, there has been a growing interest in the detection, location, and classification (DLC) of multiple dipole-like magnetic sources based on magnetic gradient tensor (MGT) data. In these applications, the tilt angle is usually used to detect the number of sources. We found that the tilt angle is only suitable for the scenario where the positive and negative signs of the magnetic sources' inclination are the same. Therefore, we map the L2 norm of the vertical magnetic gradient tensor on the arctan function, denoted as the VMGT2 angle, to detect the number of sources. Then we use the normalized source strength (NSS) to narrow the parameters' search space and combine the differential evolution (DE) algorithm with the Levenberg-Marquardt (LM) algorithm to solve the sources' locations and magnetic moments. Simulation experiments and a field demonstration show that the VMGT2 angle is insensitive to the sign of inclination and more accurate in detecting the number of magnetic sources than the tilt angle. Meanwhile, our method can quickly locate and classify magnetic sources with high precision.
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Affiliation(s)
- Lin Ge
- School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
| | - Qi Han
- School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
| | - Xiaojun Tong
- School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
| | - Yizhen Wang
- School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
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Moradi A, Rafiei H, Daliri M, Akbarzadeh-T MR, Akbarzadeh A, Naddaf-Sh AM, Naddaf-Sh S. Clinical implementation of a bionic hand controlled with kineticomyographic signals. Sci Rep 2022; 12:14805. [PMID: 36045214 PMCID: PMC9433417 DOI: 10.1038/s41598-022-19128-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2022] [Accepted: 08/24/2022] [Indexed: 11/23/2022] Open
Abstract
Sensing the proper signal could be a vital piece of the solution to the much evading attributes of prosthetic hands, such as robustness to noise, ease of connectivity, and intuitive movement. Towards this end, magnetics tags have been recently suggested as an alternative sensing mechanism to the more common EMG signals. Such sensing technology, however, is inherently invasive and hence only in simulation stages of magnet localization to date. Here, for the first time, we report on the clinical implementation of implanted magnetic tags for an amputee's prosthetic hand from both the medical and engineering perspectives. Specifically, the proposed approach introduces a flexor-extensor tendon transfer surgical procedure to implant the tags, artificial neural networks to extract human intention directly from the implanted magnet's magnetic fields -in short KineticoMyoGraphy (KMG) signals- rather than localizing them, and a game strategy to examine the proposed algorithms and rehabilitate the patient with his new prosthetic hand. The bionic hand's ability is then tested following the patient's intended gesture type and grade. The statistical results confirm the possible utility of surgically implanted magnetic tags as an accurate sensing interface for recognizing the intended gesture and degree of movement between an amputee and his bionic hand.
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Affiliation(s)
- Ali Moradi
- Orthopedic Research Center, Ghaem Hospital, Mashhad University of Medical Sciences, Azadi Sq., Mashhad, 91388-13944, Iran
| | - Hamed Rafiei
- Department of Electrical Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran
| | - Mahla Daliri
- Orthopedic Research Center, Ghaem Hospital, Mashhad University of Medical Sciences, Azadi Sq., Mashhad, 91388-13944, Iran
| | - Mohammad-R Akbarzadeh-T
- Department of Electrical Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran.
| | - Alireza Akbarzadeh
- Department of Mechanical Engineering, FUM Center of Advanced Rehabilitation and Robotics Research (FUM CARE) and Center of Excllence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran
| | - Amir-M Naddaf-Sh
- Department of Electrical Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran
| | - Sadra Naddaf-Sh
- Department of Computer Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran
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Gherardini M, Sturma A, Boesendorfer A, Ianniciello V, Mannini A, Aszmann OC, Cipriani C. Feasibility Study on Disentangling Muscle Movements in TMR Patients Through a Myokinetic Control Interface for the Control of Artificial Hands. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3181748] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Marta Gherardini
- Biorobotics Institute, Scuola Superiore Sant'Anna, Pontedera, PI, Italy
| | - Agnes Sturma
- Clinical Laboratory for Bionic Extremity Reconstruction, Department of Plastic, Reconstructive and Aesthetic Surgery, Medical University of Vienna, Vienna, Austria
| | - Anna Boesendorfer
- Clinical Laboratory for Bionic Extremity Reconstruction, Department of Plastic, Reconstructive and Aesthetic Surgery, Medical University of Vienna, Vienna, Austria
| | | | - Andrea Mannini
- IRCCS Fondazione Don Carlo Gnocchi Onlus, Firenze, Italy
| | - Oskar C. Aszmann
- Clinical Laboratory for Bionic Extremity Reconstruction, Department of Plastic, Reconstructive and Aesthetic Surgery, Medical University of Vienna, Vienna, Austria
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Wang Y, Cao D, Chen SL, Li YM, Zheng YW, Ohkohchi N. Current trends in three-dimensional visualization and real-time navigation as well as robot-assisted technologies in hepatobiliary surgery. World J Gastrointest Surg 2021; 13:904-922. [PMID: 34621469 PMCID: PMC8462083 DOI: 10.4240/wjgs.v13.i9.904] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 02/14/2021] [Revised: 04/19/2021] [Accepted: 08/02/2021] [Indexed: 02/06/2023] Open
Abstract
With the continuous development of digital medicine, minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery. Due to the specificity and complexity of hepatobiliary surgery, traditional preoperative imaging techniques such as computed tomography and magnetic resonance imaging cannot meet the need for identification of fine anatomical regions. Imaging-based three-dimensional (3D) reconstruction, virtual simulation of surgery and 3D printing optimize the surgical plan through preoperative assessment, improving the controllability and safety of intraoperative operations, and in difficult-to-reach areas of the posterior and superior liver, assistive robots reproduce the surgeon’s natural movements with stable cameras, reducing natural vibrations. Electromagnetic navigation in abdominal surgery solves the problem of conventional surgery still relying on direct visual observation or preoperative image assessment. We summarize and compare these recent trends in digital medical solutions for the future development and refinement of digital medicine in hepatobiliary surgery.
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Affiliation(s)
- Yun Wang
- Institute of Regenerative Medicine, and Affiliated Hospital of Jiangsu University, Jiangsu University, Zhenjiang 212001, Jiangsu Province, China
| | - Di Cao
- Institute of Regenerative Medicine, and Affiliated Hospital of Jiangsu University, Jiangsu University, Zhenjiang 212001, Jiangsu Province, China
| | - Si-Lin Chen
- Institute of Regenerative Medicine, and Affiliated Hospital of Jiangsu University, Jiangsu University, Zhenjiang 212001, Jiangsu Province, China
| | - Yu-Mei Li
- Institute of Regenerative Medicine, and Affiliated Hospital of Jiangsu University, Jiangsu University, Zhenjiang 212001, Jiangsu Province, China
| | - Yun-Wen Zheng
- Institute of Regenerative Medicine, and Affiliated Hospital of Jiangsu University, Jiangsu University, Zhenjiang 212001, Jiangsu Province, China
- Department of Gastrointestinal and Hepato-Biliary-Pancreatic Surgery, Faculty of Medicine, University of Tsukuba, Tsukuba 305-8575, Ibaraki, Japan
- Guangdong Provincial Key Laboratory of Large Animal Models for Biomedicine, and School of Biotechnology and Heath Sciences, Wuyi University, Jiangmen 529020, Guangdong Province, China
- School of Medicine, Yokohama City University, Yokohama 234-0006, Kanagawa, Japan
| | - Nobuhiro Ohkohchi
- Department of Gastrointestinal and Hepato-Biliary-Pancreatic Surgery, Faculty of Medicine, University of Tsukuba, Tsukuba 305-8575, Ibaraki, Japan
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