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Rehabilitation Engineering and Assistive technology (i-CREATe), International Convention on

作者： Jackrit Suthakorn Branesh M. Pillai Bibhu Sharma Department of Biomedical Engineering Center for Biomedical and Robotics Technology (BART LAB) Faculty of Engineering Mahidol University Thailand

ISBN: (数字)9798350355154

ISBN: (纸本)9798350355161

The increasing elderly population underscores the pressing need for technological solutions that enhance Quality of Life (QoL) by facilitating independent living. Mobility, encompassing essential movements such as sit-to-stand, stand-to-sit, and walking, becomes increasingly challenging with age, making it a critical aspect of independence in the elderly. This research aims to develop a BART LAB AI-Elderly Supporting Robot, designed to assist elderly individuals in sit-to-stand and walking activities, thereby improving their mobility and independence. The design and control mechanisms of the robot are based on detailed biomechanical modeling and optimized to align with the natural movement patterns of elderly individuals. The iterative design process involved biomechanical analysis, system optimization, and the subsequent development and validation of the robot. The optimization process utilized biomechanical data to tailor the kinematic and kinetic features of the robot, ensuring that the support provided is both effective and intuitive for the user. The validation results demonstrated that the robot significantly improved the mobility of elderly users while respecting their physiological limits, thereby enhancing their ability to live independently and safely. This development has substantial implications for elderly care by offering a robotic assistant that improves mobility and promotes safer and more independent living for the elderly.

关键词： Legged locomotion Biomechanics Technological innovation Pressing Reliability engineering Physiology Iterative methods Older adults Robots Optimization

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Advancing Mobility in Stair Climbing with BART LAB's Intelligent Wheelchair: A Deep Learning Approach to Pose Estimation

Advancing Mobility in Stair Climbing with BART LAB's Intelli...

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Rehabilitation Engineering and Assistive technology (i-CREATe), International Convention on

作者： Branesh M. Pillai Dileep Sivaraman Songpol Ongwattanakul Jackrit Suthakorn Department of Biomedical Engineering Center for Biomedical and Robotics Technology (BART LAB) Faculty of Engineering Mahidol University Thailand

ISBN: (数字)9798350355154

ISBN: (纸本)9798350355161

This study addresses the critical urban mobility challenges faced by individuals with lower-limb impairments, particularly the limitations of conventional wheelchairs in navigating stairs of varying dimensions. Conventional wheelchairs struggle with these challenges, particularly those with non-uniform stair dimensions, which impede urban accessibility. To overcome these limitations, we introduce a semi-autonomous tracked stair-climbing wheelchair (SCW) that features an innovative kinematic mechanism that seamlessly switches locomotion modes and autonomously adjusts the wheelchair's pose to adapt to diverse terrains. The research focuses on enhancing pose estimation capabilities during stair climbing through a novel deep-learning approach. By integrating a depth camera with an advanced kinematic model, a sophisticated algorithm capable of precise stair width estimation and pose adjustment has been developed. Experimental results confirm the system's effectiveness, achieving a Mean Absolute Error (MAE) of 0.05 meters and a Root Mean Squared Error (RMSE) of 0.07 meters in height measurement, with high precision (0.92) and recall (0.89) rates in identifying stair components. These findings demonstrate the system's capability to overcome accessibility and safety challenges, offering a technical stride towards improved inclusivity and independence in urban environments.

关键词： Meters Navigation Wheelchairs Semantic segmentation Pose estimation Urban areas Kinematics Stairs Robustness Safety

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A Hybrid EEG-EMG Framework for Humanoid Control using Deep Learning Transformers

A Hybrid EEG-EMG Framework for Humanoid Control using Deep L...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Olikkal, Parthan Pillai, Branesh M. Suthakorn, Jackrit Ali, Habib Vinjamuri, Ramana University of Maryland Baltimore County Vinjamuri lab Department of Computer Science and Electrical Engineering BaltimoreMD21220 United States Mahidol University Center for Biomedical and Robotics Technology Nakorm Pathom Salaya Thailand

ISBN: (纸本)9781665481090

Brain-computer interfaces (BCIs) offer promising solutions for upper limb rehabilitation. Despite advancements in deep learning, traditional models for motor rehabilitation using electroencephalography (EEG) or electromyography (EMG) to control assistive devices require enhancement. This study aims to enhance motor control capabilities by integrating EEG and EMG signals using a Transformer-based deep learning model. Ten able-bodies subjects performed center-out tasks on a low-cost upper limb rehabilitation table, capturing 2D kinematic data, EEG, and EMG signals simultaneously. The tasks varied in complexity across four levels. Preprocessed EEG and EMG signals were fused and given as input to the proposed model, which was evaluated using three performance metrics. Results showed that the EEG-EMG combined model achieved 87.27% accuracy across all the four levels. Furthermore, the model's output successfully controlled a humanoid robot to replicate similar movements. These findings highlight the efficacy of combined EEG-EMG data in improving accuracy and performance in BCI applications, advancing assistive technologies and neurorehabilitation interventions. © 2024 IEEE.

关键词： Anthropomorphic robots

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Revised in-depth meta-analysis on the efficacy of robot-assisted versus traditional free-hand pedicle screw insertion

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Laparoscopic, Endoscopic and Robotic Surgery 2024年第4期7卷 155-165页

作者： Sorayouth Chumnanvej Branesh M.Pillai Jackrit Suthakorn Siriluk Chumnanvej Neurosurgery Division Department of SurgeryFaculty of Medicine Ramathibodi HospitalMahidol UniversityBangkokThailand Center for Biomedical and Robotics Technology(BART LAB) Faculty of EngineeringMahidol UniversityBangkokThailand Department of Anesthesiology and Operating Room Phramongkutklao HospitalBangkokThailand

Objective:Robot-assisted pedicle screw insertion has recently emerged as an alternative to the traditional free-hand ***,discrepancies in the accuracy of screw placement between the 2 methods have been highlighted by some comparative *** meta-analysis was conducted to synthesize evidence comparing these ***:Searches were conducted in 5 electronic databases adhering to specific eligibility criteria for randomized and observational *** data were analyzed using RevMan software and the results are presented as odds ratios(ORs),mean differences,or standard mean differences(SMDs)with 95%confidence intervals(CIs).Our analysis included 12 studies(7 randomized trials and 5 observational studies,involving 883 patients and 4903 screws).Results:The results demonstrated a higher rate of Grade A Gertzbein and Robbins pedicle placement score(OR:1.77;95%CI:1.10e2.87),a lower rate of revision surgeries(OR:0.21;95%CI:0.09e0.52),and a shorter radiation exposure duration(SMD?1.38,95%CI:2.32 to0.44)in the robot-assisted group compared with the free-hand ***,the length of hospital stay,volume of intraoperative blood loss,postoperative visual analogue scale scores for back pain,and rate of wound infection were similar between the 2 *** heterogeneity was observed in some ***:Compared with the free-hand method,the robot-assisted technique provides greater accuracy and reduced radiation *** efficacy of the robot-assisted technique is expected to improve further as experience with its use in surgery grows.

关键词： Robotic surgery Pedicle screw placement Free-hand Fluoroscopy Meta-analysis

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Advances in Wireless,Batteryless,Implantable Electronics for Real‑Time,Continuous Physiological Monitoring

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Nano-Micro Letters 2024年第3期16卷 254-302页

作者： Hyeonseok Kim Bruno Rigo Gabriella Wong Yoon Jae Lee Woon‑Hong Yeo IEN Center for Wearable Intelligent Systems and Healthcare Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Tech and Emory University School of MedicineAtlantaGA 30332USA Parker H.Petit Institute for Bioengineering and Biosciences Institute for MaterialsInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

This review summarizes recent progress in developing wireless,batteryless,fully implantable biomedical devices for real-time continuous physiological signal monitoring,focusing on advancing human health *** considerations,such as biological constraints,energy sourcing,and wireless communication,are discussed in achieving the desired performance of the devices and enhanced interface with human *** addition,we review the recent achievements in materials used for developing implantable systems,emphasizing their importance in achieving multi-functionalities,biocompatibility,and *** wireless,batteryless devices offer minimally invasive device insertion to the body,enabling portable health monitoring and advanced disease ***,we summarize the most recent practical applications of advanced implantable devices for human health care,highlighting their potential for immediate commercialization and clinical uses.

关键词： Implantable electronics biomedical systems Batteryless devices Wireless electronics Physiological signal monitoring

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Adaptive Polynomial Predictive Filter: Solving Inconsistent and Interrupted Sensor Data Challenges

Adaptive Polynomial Predictive Filter: Solving Inconsistent ...

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IEEE International Conference on robotics and Biomimetics

作者： Dileep Sivaraman Branesh M. Pillai Songpol Ongwattanakul Jackrit Suthakorn Department of Biomedical Engineering Center for Biomedical and Robotics Technology (BART LAB) Faculty of Engineering Mahidol University Thailand

This article discusses the challenges faced by sensor fusion systems owing to inconsistent and interrupted sensor data and proposes an adaptive polynomial predictive filter-based sensor fusion approach to address this problem. This approach incorporates an adaptive polynomial filter based on polynomial extrapolation that can effectively capture the temporal dynamics of the sensor data and provide a robust estimate of the underlying signal. This paper provides a detailed analysis of the proposed approach, including its theoretical foundation, implementation, and performance evaluation using simulated sensor data. The simulation results demonstrate that the adaptive polynomial sensor fusion approach outperforms several state-of-the-art sensor fusion techniques, particularly in scenarios in which the sensor data are inconsistent or interrupted. The article concludes that the proposed approach offers an effective solution to the problem of inconsistent and interrupted sensor data in sensor fusion, with potential applications in various fields including robotics, autonomous vehicles, and healthcare.

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Intra-Operative Trajectory Realignment Algorithm for Minimizing Pedicle Screw Misplacement in Cervical Spinal Fusion

Intra-Operative Trajectory Realignment Algorithm for Minimiz...

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IEEE International Conference on robotics and Biomimetics

作者： Pasit Komonsuwan Shen Treratanakulchai Sorayouth Chumnanvej Jackrit Suthakorn Department of Biomedical Engineering Center for Biomedical and Robotics Technology (BART LAB) Faculty of Engineering Mahidol University Thailand Faculty of Medicine Ramathibodi Hospital Mahidol University Thailand

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Cervical spinal fusion is a surgical procedure that requires precise pedicle screw placement to ensure successful outcomes and avoid complications. Traditional manual methods rely on the surgeon's experience and anatomical landmark identification, which can lead to misalignment errors and complications. This study proposes an intra-operative trajectory re-alignment algorithm designed to address discrepancies between pre-operative and intra-operative images, particularly due to the inherent mobility of the cervical spine. The algorithm utilizes 3D CT scans for pre-operative imaging and 2D X-rays for intra-operative imaging. Principal Component Analysis (PCA) is applied to each 3D segmented spine to construct reference frames. These kinematic frames are manipulated to optimize the error between the simulated X-ray images and the reference 3D CT images. The CTspine1K data was used to evaluate the proposed algorithm by measuring geometric and clinical errors. The results show that the proposed algorithm reduces errors, and preventing screw perforation.

关键词： Three-dimensional displays Navigation Computed tomography Imaging X-rays Kinematics Fasteners Trajectory Testing Principal component analysis

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Soft Robot Kinematic Control Via Manipulability-Aware Redundancy Resolution

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Journal of Mechanisms and robotics 2025年第7期17卷 071013页

作者： Azizkhani, Milad Ha, Junhyoung Gunderman, Anthony L. Chen, Yue Department of Mechanical Engineering Georgia Institute of Technology Atlanta GA 30332 Center for Healthcare Robotics Artificial Intelligence and Robotics Institute Korea Institute of Science and Technology Seoul 02792 South Korea Department of Mechanical Engineering University of Arkansas Fayetteville AR 72701 Department of Biomedical Engineering Georgia Institute of Technology Atlanta GA 30332

This article addresses the kinematic control of a redundant soft robotic arm. Full pose kinematic control of soft robots is challenging because direct application of the classical controllers developed based on rigid robots to soft robots could lead to unreliable or infeasible motions. In this study, we explore the manipulability property of a soft robotic arm and develop an advanced resolved-rate controller that prioritizes position over orientation control and switches its modes and gains based on position and orientation manipulabilities, enabling stable motion even when the robot is close to the singular configurations. The simulation and experimental results indicate that our proposed method outperforms previous methods in terms of both accuracy and smoothness during operation.

关键词： Resolution (Optics) Kinematics bio-inspired Simulation Errors Redundancy (Engineering) continuum robotics Robots soft robotics Soft robots robotics kinematics Algorithms

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A technique for mimicking soft tissue manipulation from experimental data to a wave equation model for a new laparoscopic virtual reality training system

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Open biomedical Engineering Journal 2021年 15卷 16-28页

作者： Nillahoot, Nantida Patel, Sneha Suthakorn, Jackrit Department of Biomedical Engineering Center for Biomedical and Robotics Technology (BART LAB) Faculty of Engineering Mahidol University Salaya Nakorn Pathom 73170 Thailand

Background: The difficulty of laparoscopic procedures and the specific psychomotor skills required support the need for a training system for intensive and repetitive practice to acquire the specific skills. The present VR training systems have some limitations with respect to the soft tissue models in the training system. This is associated with the need for a real-time simulation, which requires a balance between computational cost and accuracy. Objective: The primary objective of the study is to develop a two dimensional wave equation model that closely mimics the soft tissue manipulation in a laparoscopic procedure for a VR training system. Methods: A novel mathematical model based on the wave equation is prepared to represent the interaction between the laparoscopic tool and the soft tissue. The parameters within the model are determined through experimental analysis of a soft tissue phantom. The experimental setup involves a linear actuator applying force to the soft tissue phantom to generate deformation. Data acquisition is conducted through a camera and a robotic force acquisition system which measures force, displacement of the linear actuator and records a video. Through image processing, the displacements of the markers on the phantom’s x-y plane during its deformation are determined and these parameters are used to develop the model, which finally is validated through a comparative analysis. Results: The results from the developed model are observed and compared statistically as well as graphically with the finite element model based on deformation data. The results show that the deformation data between the developed model and the available model is significantly similar. Conclusion: This study demonstrates the adaptability of the wave equation to meet the needs of the specific surgical procedure through modification of the model based on the experimental data. Moreover, the comparative analysis further corroborates the relevance and validity of the mo

关键词： Image Processing Soft Tissue Modeling Surgical Training Virtual Reality Training System Visualization Wave Equation

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Nonlinearity of optoacoustic signals and a new contrast mechanism for imaging

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光：科学与应用（英文版） 2025年第5期14卷 1420-1432页

作者： Jaber Malekzadeh-Najafabadi Jaya Prakash Daniel Razansky Jorge Ripoll Vipul Gujrati Vasilis Ntziachristos Biological Imaging Central Institute for Translational Cancer Research(TranslaTUM)School of Medicine and Health & School of ComputationInformation and TechnologyTechnical University of MunichMunichGermany Institute of Biological and Medical Imaging Bioengineering CenterHelmholtz Zentrum MünchenNeuherbergGermany Institute for Biomedical Engineering Department of Information Technology and Electrical EngineeringETH ZurichZurichSwitzerland Biological Imaging Central Institute for Translational Cancer Research(TranslaTUM)School of Medicine and Health & School of ComputationInformation and TechnologyTechnical University of MunichMunichGermany Institute of Biological and Medical Imaging Bioengineering CenterHelmholtz Zentrum MünchenNeuherbergGermany Department of Instrumentation and Applied Physics Indian Institute of ScienceBengaluruIndia Institute for Biomedical Engineering and Institute of Pharmacology and Toxicology Faculty of MedicineUniversity of ZurichZurichSwitzerland Institute for Biomedical Engineering Department of Information Technology and Electrical EngineeringETH ZurichZurichSwitzerland Department of Bioengineering and Aerospace Engineering Universidad Carlos Ⅲ de MadridMadridSpain Biological Imaging Central Institute for Translational Cancer Research(TranslaTUM)School of Medicine and Health & School of ComputationInformation and TechnologyTechnical University of MunichMunichGermany Institute of Biological and Medical Imaging Bioengineering CenterHelmholtz Zentrum MünchenNeuherbergGermany Biological Imaging Central Institute for Translational Cancer Research(TranslaTUM)School of Medicine and Health & School of ComputationInformation and TechnologyTechnical University of MunichMunichGermany Institute of Biological and Medical Imaging Bioengineering CenterHelmholtz Zentrum MünchenNeuherbergGermany Munich Institute of Robotics and Machine Intelligence(MIRMI) Technical University of MunichMunichGermany

Optoacoustic signals behave nonlinearly at light fluences above a few mJ/cm2,which may affect the interpretation and quantification of *** has been proposed that optoacoustic nonlinearity arises from the heat-induced formation of nanobubbles or changes in local thermo-physical ***,such explanations are only valid at much higher fluences than typically used in biomedical optoacoustic imaging(＞20 mJ/cm2)or in the presence of materials with high absorption coefficients such as gold *** propose herein that electromagnetic permittivity changes in response to photon absorption are major source of optoacoustic signal nonlinearity at low *** provide theoretical and experimental evidence that supports this postulation and show that optoacoustic pressure responses due to permittivity changes,which are function of thermally excited third-order nonlinear susceptibility,can explain the nonlinear behavior of the optoacoustic *** different materials exhibit different thermally excited third-order nonlinear susceptibility,this property could function as a new contrast mechanism that can identify the sensitivity of a substance's dielectric constant to photon-induced temperature ***,we propose an imaging method based on nonlinear optoacoustic signals that exploits this newly identified contrast *** findings may have far-reaching implications for improving the accuracy of optoacoustics and utilizing the proposed new contrast mechanism would advance our understanding of cellular and tissue functionality.

关键词： mechanism contrast imaging nonlinearity optoacoustic signals

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