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Sayahkarajy M, Witte H, Faudzi AAM. Chorda Dorsalis System as a Paragon for Soft Medical Robots to Design Echocardiography Probes with a New SOM-Based Steering Control. Biomimetics (Basel) 2024; 9:199. [PMID: 38667210 PMCID: PMC11048713 DOI: 10.3390/biomimetics9040199] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2024] [Revised: 03/17/2024] [Accepted: 03/22/2024] [Indexed: 04/28/2024] Open
Abstract
Continuum robots play the role of end effectors in various surgical robots and endoscopic devices. While soft continuum robots (SCRs) have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot, considering the concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as transesophageal echocardiography (TEE). The feasibility of fabrication of a soft endoscopic device derived from the Chorda dorsalis paragon was shown empirically by producing a three-segment pneumatic SCR. The main novelties include bioinspired design, modeling, and a navigation control strategy presented as a novel algorithm to maintain a kinematic similarity between the soft robot and the rigid counterpart. The kinematic model was derived based on the method of transformation matrices, and an algorithm based on a self-organizing map (SOM) network was developed and applied to realize kinematic similarity. The simulation results indicate that the control method forces the soft robot tip to follow the path of the rigid probe within the prescribed distance error (5 mm). The solution provides a soft robot that can surrogate and succeed the traditional rigid counterpart owing to size, workspace, and kinematics.
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Affiliation(s)
- Mostafa Sayahkarajy
- Fachgebiet Biomechatronik, Technische Universität Ilmenau, 98693 Ilmenau, Germany
| | - Hartmut Witte
- Fachgebiet Biomechatronik, Technische Universität Ilmenau, 98693 Ilmenau, Germany
| | - Ahmad Athif Mohd Faudzi
- Centre for Artificial Intelligence and Robotics, Universiti Teknologi Malaysia, Kuala Lumpur 54100, Malaysia;
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Han Z, Tian H, Han X, Wu J, Zhang W, Li C, Qiu L, Duan X, Tian W. A Respiratory Motion Prediction Method Based on LSTM-AE with Attention Mechanism for Spine Surgery. CYBORG AND BIONIC SYSTEMS 2024; 5:0063. [PMID: 38188983 PMCID: PMC10769044 DOI: 10.34133/cbsystems.0063] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/08/2023] [Accepted: 09/21/2023] [Indexed: 01/09/2024] Open
Abstract
Respiratory motion-induced vertebral movements can adversely impact intraoperative spine surgery, resulting in inaccurate positional information of the target region and unexpected damage during the operation. In this paper, we propose a novel deep learning architecture for respiratory motion prediction, which can adapt to different patients. The proposed method utilizes an LSTM-AE with attention mechanism network that can be trained using few-shot datasets during operation. To ensure real-time performance, a dimension reduction method based on the respiration-induced physical movement of spine vertebral bodies is introduced. The experiment collected data from prone-positioned patients under general anaesthesia to validate the prediction accuracy and time efficiency of the LSTM-AE-based motion prediction method. The experimental results demonstrate that the presented method (RMSE: 4.39%) outperforms other methods in terms of accuracy within a learning time of 2 min. The maximum predictive errors under the latency of 333 ms with respect to the x, y, and z axes of the optical camera system were 0.13, 0.07, and 0.10 mm, respectively, within a motion range of 2 mm.
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Affiliation(s)
- Zhe Han
- School of Medical Technology,
Beijing Institute of Technology, Beijing, China
| | - Huanyu Tian
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing, China
| | | | | | - Weijun Zhang
- School of Medical Technology,
Beijing Institute of Technology, Beijing, China
| | - Changsheng Li
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing, China
| | - Liang Qiu
- Department of Radiation Oncology,
Stanford University, Stanford, CA, USA
| | - Xingguang Duan
- School of Medical Technology,
Beijing Institute of Technology, Beijing, China
- School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing, China
| | - Wei Tian
- School of Medical Technology,
Beijing Institute of Technology, Beijing, China
- Ji Shui Tan Hospital, Beijing, China
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Wang L, Sun Z, Wang Y, Wang J, Zhao Z, Yang C, Yan C. A Pre-Grasping Motion Planning Method Based on Improved Artificial Potential Field for Continuum Robots. SENSORS (BASEL, SWITZERLAND) 2023; 23:9105. [PMID: 38005494 PMCID: PMC10674240 DOI: 10.3390/s23229105] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/27/2023] [Revised: 11/05/2023] [Accepted: 11/08/2023] [Indexed: 11/26/2023]
Abstract
Secure and reliable active debris removal methods are crucial for maintaining the stability of the space environment. Continuum robots, with their hyper-redundant degrees of freedom, offer the ability to capture targets of varying sizes and shapes through whole-arm grasping, making them well-suited for active debris removal missions. This paper proposes a pre-grasping motion planning method for continuum robots based on an improved artificial potential field to restrict the movement area of the grasping target and prevent its escape during the pre-grasping phase. The analysis of the grasping workspace ensures that the target is within the workspace when starting the pre-grasping motion planning by dividing the continuum robot into delivery and grasping segments. An improved artificial potential field is proposed to guide the continuum robot in surrounding the target and creating a grasping area. Specifically, the improved artificial potential field consists of a spatial rotating potential field, an attractive potential field incorporating position and posture potential fields, and a repulsive potential field. The simulation results demonstrate the effectiveness of the proposed method. A comparison of motion planning results between methods that disregard and consider the posture potential field shows that the inclusion of the posture potential field improves the performance of pre-grasping motion planning for spatial targets, achieving a success rate of up to 97.8%.
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Affiliation(s)
- Lihua Wang
- School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China; (L.W.)
- Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
| | - Zezhou Sun
- Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
| | - Yaobing Wang
- Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
| | - Jie Wang
- Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
| | - Zhijun Zhao
- Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
| | - Chengxu Yang
- Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
| | - Chuliang Yan
- School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China; (L.W.)
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Hu S, Lu R, Zhu Y, Zhu W, Jiang H, Bi S. Application of Medical Image Navigation Technology in Minimally Invasive Puncture Robot. SENSORS (BASEL, SWITZERLAND) 2023; 23:7196. [PMID: 37631733 PMCID: PMC10459274 DOI: 10.3390/s23167196] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/13/2023] [Revised: 08/11/2023] [Accepted: 08/14/2023] [Indexed: 08/27/2023]
Abstract
Microneedle puncture is a standard minimally invasive treatment and surgical method, which is widely used in extracting blood, tissues, and their secretions for pathological examination, needle-puncture-directed drug therapy, local anaesthesia, microwave ablation needle therapy, radiotherapy, and other procedures. The use of robots for microneedle puncture has become a worldwide research hotspot, and medical imaging navigation technology plays an essential role in preoperative robotic puncture path planning, intraoperative assisted puncture, and surgical efficacy detection. This paper introduces medical imaging technology and minimally invasive puncture robots, reviews the current status of research on the application of medical imaging navigation technology in minimally invasive puncture robots, and points out its future development trends and challenges.
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Affiliation(s)
| | - Rongjian Lu
- School of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China; (S.H.)
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Kuan CP, Huang S, Wu HY, Wang AP, Wu CY. Path Planning and Navigation of Miniature Serpentine Robot for Bronchoscopy Application. MICROMACHINES 2023; 14:mi14050969. [PMID: 37241594 DOI: 10.3390/mi14050969] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Revised: 04/25/2023] [Accepted: 04/27/2023] [Indexed: 05/28/2023]
Abstract
The miniature serpentine robot can be applied to NOTES (Natural Orifice Transluminal Endoscopic Surgery). In this paper, a bronchoscopy application is addressed. This paper describes the basic mechanical design and control scheme of this miniature serpentine robotic bronchoscopy. In addition, off-line backward path planning and real-time and in situ forward navigation in this miniature serpentine robot are discussed. The proposed backward-path-planning algorithm utilizes the 3D model of a bronchial tree constructed from the synthetization of medical images such as images from CT (Computed Tomography), MRI (Magnetic Resonance Imaging), or X-ray, to define a series of nodes/events backward from the destination, for example, the lesion, to the original starting point, for example, the oral cavity. Accordingly, forward navigation is designed to make sure this series of nodes/events shall be passed/occur from the origin to the destination. This combination of backward-path planning and forward navigation does not require accurate positioning information of the tip of the miniature serpentine robot, which is where the CMOS bronchoscope is located. Collaboratively, a virtual force is introduced to maintain the tip of the miniature serpentine robot at the center of the bronchi. Results show that this method of path planning and navigation of the miniature serpentine robot for bronchoscopy applications works.
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Affiliation(s)
- Cheng-Peng Kuan
- Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu 31040, Taiwan
| | - Shu Huang
- Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu 31040, Taiwan
| | - Hao-Yan Wu
- Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu 31040, Taiwan
| | - An-Peng Wang
- Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu 31040, Taiwan
| | - Chien-Yu Wu
- Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu 31040, Taiwan
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