The Application of Ultrasound Image in Cancer Diagnosis

In order to solve the problem of low accuracy, high cost, and difficult detection of traditional algorithms, a new algorithm based on ultrasound imaging is proposed in this paper. The algorithm is based on fuzzy clustering to diagnose the disease and effectively improve the accuracy of the algorithm. By testing the actual scene, it effectively proves the effectiveness and accuracy of the algorithm, which can find and treat diseases in time and can be widely used and popularized in clinical research in China.

COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation

The coronavirus disease 2019 (COVID-19) pandemic has resulted in public health interventions such as physical distancing restrictions to limit the spread and transmission of the novel coronavirus, causing significant effects on the delivery of physical healthcare procedures worldwide. The unprecedented pandemic spurs strong demand for intelligent robotic systems in healthcare. In particular, medical telerobotic systems can play a positive role in the provision of telemedicine to both COVID-19 and non-COVID-19 patients. Different from typical studies on medical teleoperation that consider problems such as time delay and information loss in long-distance communication, this survey addresses the consequences of physiological organ motion when using teleoperation systems to create physical distancing between clinicians and patients in the COVID-19 era. We focus on the control-theoretic approaches that have been developed to address inherent robot control issues associated with organ motion. The state-of-the-art telerobotic systems and their applications in COVID-19 healthcare delivery are reviewed, and possible future directions are outlined.

Review of Advanced Medical Telerobots

The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

A generalized predictive control for remote cardiovascular surgical systems

Robot-assisted cardiovascular surgery is used to avoid surgeon suffering from X-ray radiation and relieve fatigue caused by long-time standing wearing protective clothing. Its remote surgery can alleviate the lack of experienced doctors in remote areas. Due to the existence of time-delay phenomena, flexible deformation and nonlinearity of interventional instruments, it is difficult to ensure system transparency. This paper analyzes the evaluation index of system transparency. A generalized predictive control (GPC) is developed to suppress the effect of time-varying delay and parameter identification error. Moreover, a terminal sliding mode controller (SMC) is designed to improve the robustness of the system under consideration. Simulation results are provided to show that the proposed control strategy can improve transparency of the remote vascular interventional surgery system.

Using Temporal Sensitivity to Predict Performance Under Latency in Teleoperation

Objective This article establishes a relationship between temporal sensitivity and task performance under one-way latency between input and response. Background As the latency between human input and telerobot response increases, performance (e.g., speed to complete task and accuracy) declines. Tools, such as predictive displays, have been developed to ameliorate performance costs. However, more work is needed to understand the relationship between individual differences and task performance. Temporal sensitivity in particular was the focus of this research. Method Participants completed two tasks. In the time estimation task, participants estimated the duration of a series of visual stimuli. In the second task, participants drove a remote-controlled (RC) car through a track. On each trial, there was a latency between the participant's input into the controller and the response by the RC car, with latencies ranging from 400 to 1,000 milliseconds between trials. Completion time and the number of errors made were recorded. Results Temporal sensitivity predicted the total number of errors made during a trial but was not found to be a predictor of completion time. It was however predictive of error rate (i.e., errors per minute), suggesting a possible speed/accuracy trade-off. Conclusion This was an initial step in establishing a link between temporal sensitivity and performance with latency. Application The study has applications toward training teleoperators who may experience latency, such as astronauts and surgeons.