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MRI-guided robot intervention—current state-of-the-art and new challenges

Med-X 2023年第1期1卷 141-181页

作者： Shaoping Huang Chuqian Lou Ying Zhou Zhao He Xuejun Jin Yuan Feng Anzhu Gao Guang-Zhong Yang Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai 200240China National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy(NERC-AMRT) Shanghai Jiao Tong UniversityShanghai 200240China Materials and Technology Center of Robotics EmpaDübendorf 8600Switzerland State Key Lab of Metal Matrix Composites and School of Materials Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Magnetic Resonance Imaging(MRI)is now a widely used modality for providing multimodal,high-quality soft tissue contrast images with good spatiotemporal resolution but without subjecting patients to ionizing *** addition to its diagnostic potential,its future theranostic value lies in its ability to provide MRI-guided robot intervention with combined structural and functional mapping,as well as integrated instrument localization,target recognition,and in situ,in vivo monitoring of the therapeutic *** of current applications include neurosurgery,breast biopsy,cardiovascular intervention,prostate biopsy and *** applications in targeted drug delivery and MRI-guided chemoembolization are also being *** promising progress has been made in recent years,there are still significant basic science research and engineering *** paper provides a comprehensive review of the current state-of-the-art in MRI-guided robot intervention and allied technologies in actuation,sensing,new materials,interventional instruments,and interactive/real-time *** future research directions and new clinical developments are also discussed.

关键词： MRI-guided robot intervention Actuation Sensing Materials Interventional instruments Interactive/realtime MRI

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The role of input imaging combination and ADC threshold on segmentation of acute ischemic stroke lesion using U-Net

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European Radiology 2023年第9期33卷 6157-6167页

作者： Li, Ya-Hui Lin, Shao-Chieh Chung, Hsiao-Wen Chang, Chia-Ching Peng, Hsu-Hsia Huang, Teng-Yi Shen, Wu-Chung Tsai, Chon-Haw Lo, Yu-Chien Lee, Tung-Yang Juan, Cheng-Hsuan Juan, Cheng-En Chang, Hing-Chiu Liu, Yi-Jui Juan, Chun-Jung Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei Taiwan Department of Medical Imaging China Medical University Hsinchu Hospital No. 199 Sec. 1 Xinglong Rd. Zhubei City Hsinchu County 302 Hsinchu Taiwan Ph.D. Program in Electrical and Communication Engineering Feng Chia University Taichung Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Department of Management Science National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Biomedical Engineering and Environmental Sciences National Tsing Hua University Hsinchu Taiwan Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan Department of Radiology School of Medicine College of Medicine China Medical University Taichung Taiwan Department of Medical Imaging Medical University Hospital Taichung Taiwan Department of Neurology China Medical University Hospital Taichung Taiwan Cheng Ching Hospital Taichung Taiwan Master’s Program of Biomedical Informatics and Biomedical Engineering Feng Chia University Taichung Taiwan Department of Automatic Control Engineering Feng Chia University No. 100 Wenhwa Rd. Seatwen Taichung 40724 Taiwan Department of Biomedical Engineering The Chinese University of Hong Kong ERB1112 11/F William M.W. Mong Engineering Building N.T Shatin Hong Kong Multi-Scale Medical Robotics Center The Chinese University of Hong Kong N.T Shatin Hong Kong Department of Biomedical Engineering National Defense Medical Center Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

Background: To evaluate the effect of the weighting of input imaging combo and ADC threshold on the performance of the U-Net and to find an optimized input imaging combo and ADC threshold in segmenting acute ischemic stroke (AIS) lesion. Methods: This study retrospectively enrolled a total of 212 patients having AIS. Four combos, including ADC-ADC-ADC (AAA), DWI-ADC-ADC (DAA), DWI-DWI-ADC (DDA), and DWI-DWI-DWI (DDD), were used as input images, respectively. Three ADC thresholds including 0.6, 0.8 and 1.8 × 10^–3 mm²/s were applied. Dice similarity coefficient (DSC) was used to evaluate the segmentation performance of U-Nets. Nonparametric Kruskal–Wallis test with Tukey–Kramer post-hoc tests were used for comparison. A p <.05 was considered statistically significant. Results: The DSC significantly varied among different combos of images and different ADC thresholds. Hybrid U-Nets outperformed uniform U-Nets at ADC thresholds of 0.6 × 10^–3 mm²/s and 0.8 × 10^–3 mm²/s (p <.001). The U-Net with imaging combo of DDD had segmentation performance similar to hybrid U-Nets at an ADC threshold of 1.8 × 10^–3 mm²/s (p =.062 to 1). The U-Net using the imaging combo of DAA at the ADC threshold of 0.6 × 10^–3 mm²/s achieved the highest DSC in the segmentation of AIS lesion. Conclusions: The segmentation performance of U-Net for AIS varies among the input imaging combos and ADC thresholds. The U-Net is optimized by choosing the imaging combo of DAA at an ADC threshold of 0.6 × 10^–3 mm²/s in segmentating AIS lesion with highest DSC. Key Points: • Segmentation performance of U-Net for AIS differs among input imaging combos. • Segmentation performance of U-Net for AIS differs among ADC thresholds. • U-Net is optimized using DAA with ADC = 0.6 × 10^–3mm²/s. © 2023, The Author(s), under exclusive licence to European Society of Radiology.

关键词： Deep Learning Diffusion Magnetic Resonance Imaging Ischemic Stroke Neural Networks, Computer Retrospective Study

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Periodic Motion Planning and control for Double Rotary Pendulum via Virtual Holonomic Constraints

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 291-298页

作者： Zeguo Wang Leonid B.Freidovich Honghua Zhang Beijing Institute of Control Engineering IEEE the Robotics and Control Laboratory (www.control.tfe.umu.se) Department of Applied Physics and ElectronicsUmea University

Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also mean some relation between state variables and could be used in the motion *** consider a double rotary pendulum, which has an underactuation degree 2. A novel periodic motion planning is presented based on an optimization search. A necessary condition for existence of the whole periodic trajectory is given because of the higher underactuation degree of the system. Moreover this condition is given to make virtual holonomic constraint(VHC) based control design feasible. Therefore, an initial guess for the optimization of planning a feasible periodic motion is based on this necessary condition. Then, VHCs are used for the system transformation and transverse linearization is used to design a static state feedback controller with periodic matrix function gain. The controller gain is found through another optimization procedure. The effectiveness of initial guess and performance of the closed-loop system are illustrated through numerical simulations.

关键词： Double rotary pendulum periodic motion planning under-actuated mechanical systems virtual holonomic constraint (VHC)

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An Augmented and Diminished Reality Exergame for Investigating the Embodiment of a Prosthetic Limb

An Augmented and Diminished Reality Exergame for Investigati...

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Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), IEEE Conference on

作者： Roberta Macaluso Davide Calandra Filippo Gabriele Pratticò Edoardo Battegazzorre Gianmarco Baiocchi Nicolò Boccardo Matteo Laffranchi Andrea Bottino Giacinto Barresi Fabrizio Lamberti Department of Control and Computer Engineering Politecnico di Torino Italy Istituto Italiano di Tecnologia Rehab Technologies Lab and Open University Affiliated Research Centre Genoa Italy Rehab Technologies Lab Istituto Italiano di Tecnologia Genoa Italy Bristol Robotics Laboratory UWE Bristol UK

ISBN: (数字)9798331514846

ISBN: (纸本)9798331525637

Bionic limb prosthetics continue to face significant challenges in terms of artificial limb embodiment, often leading to prosthesis abandonment in patients. Following recent results in literature on digital trainings, this study investigates the impact of the visuo-attentive feedback of an Augmented/Diminished Reality (AR/DR) exergame on prosthetic embodiment. Two interaction paradigms were compared, i.e. a reference unrestricted interaction of a virtual prosthetic limb against a one in which the prosthesis and its interaction capability fades over time and requires the participant’s visual-attention to reestablish it. Preliminary findings on non-amputees demonstrated hardship with the visuo-attentive approach which was associated with detrimental effects on the prosthesis embodiment, possibly because of the re-allocation of cognitive resources that are necessary to establish the process of body ownership.

关键词： Training Limbs Visualization Three-dimensional displays Correlation Prosthetic limbs User interfaces Faces Prosthetics Testing

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Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft robotics

arXiv

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arXiv 2023年

作者： Pustina, Pietro Della Santina, Cosimo Boyer, Frédéric De Luca, Alessandro Renda, Federico Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen82234 Germany Institute Mines Telecom Atlantique Nantes44307 France The Department of Mechanical and Nuclear Engineering Khalifa University of Science and Technology Abu Dhabi127788 United Arab Emirates

Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? Not only we show that the answer to this question is yes, but we also provide necessary and sufficient conditions. More specifically, we look for a representation of the configuration space such that the right-hand side of the dynamics in Euler-Lagrange form becomes [I O]Tu, being u the system input. We identify a class of systems, called collocated, for which this problem is solvable. Under mild conditions on the input matrix, a simple test is presented to verify whether a system is collocated or not. By exploiting power invariance, we provide necessary and sufficient conditions that a change of coordinates decouples the input channels if and only if the dynamics is collocated. In addition, we use the collocated form to derive novel controllers for damped underactuated mechanical systems. To demonstrate the theoretical findings, we consider several Lagrangian systems with a focus on continuum soft robots. © 2023, CC BY.

关键词： Dynamics

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Benchmarking an Ultra-lightweight Deep Learning Architecture for Laser-based Underwater Communication

Benchmarking an Ultra-lightweight Deep Learning Architecture...

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Frontiers in Optics + Laser Science 2021, FiO+LS 2021 - Part of Frontiers in Optics, FiO 2021

作者： Esposito, Joel M. Avramov-Zamurovic, Svetlana Nelson, Charles Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall Annapolis21402 United States Electrical and Computer Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall Annapolis21402 United States

We communicate underwater via laser by transmitting an alphabet of images. A lightweight deep neural network decodes the distorted images with ~99% accuracy, in a fraction of the time used by larger deep networks. Fro... 详细信息

ISBN: (纸本)9781557528209

关键词： Deep neural networks

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Intracranial Photodynamic Therapy Strategy Based Magnetic Continuum Robots for Glioblastoma Management

SSRN

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SSRN 2024年

作者： Wu, Junfeng Li, Na Lin, Daojing Zhou, Junjian Song, Yingqiu Liu, Lianqing Jiao, Niandong School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang110168 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Radiotherapy Cancer Hospital of China Medical University Shenyang110042 China

Glioblastoma multiforme (GBM), a malignant brain tumor, poses a significant global health challenge because of its high invasiveness and resistance to treatment. Photodynamic therapy (PDT), with its high spatial-temporal selectivity, holds promise for GBM treatment, offering strong local selectivity, minimal systemic side effects, and low resistance. However, delivering photosensitizers across the blood-brain barrier and precisely targeting brain tumors through the skull with a laser present critical challenges to clinical application. Addressing these challenges, the soft, continuous structure and remote magnetic control of magnetic continuum robots (MCRs) offer new possibilities for precise delivery to GBM. Here, we propose an intracranial PDT strategy using MCRs, featuring a magnetic control model based on Gaussian Process Regression and a computer vision-based closed-loop control algorithm. This approach enables automatic delivery of nanomedicines and localized laser irradiation, characterized by simplicity, minimal data needs, and robustness. Additionally, under the combined effects of photodynamic nanoparticles (PNPs) and a laser, both U87 and GL261 cells exhibit high mortality rates, which increase with the concentration of PNPs, laser energy, and duration of exposure. In conclusion, this strategy overcomes PDT's limitations to superficial lesions, offers a novel GBM treatment approach, and constitutes a key milestone for using PDT in GBM treatment. © 2024, The Authors. All rights reserved.

关键词： Photodynamic therapy

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A domain decomposition strategy for natural imposition of mixed boundary conditions in port-Hamiltonian systems

arXiv

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arXiv 2025年

作者： de Jong, Sjoerd D.M. Brugnoli, Andrea Rashad, Ramy Zhang, Yi Stramigioli, Stefano Department of Microelectronics Delft University of Technology Delft Netherlands ICA Université de Toulouse ISAE–SUPAERO INSA CNRS MINES ALBI UPS Toulouse France Control and Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Saudi Arabia School of Mathematics and Computing Science Guilin University of Electronic Technology Guilin China Robotics and Mechatronics Department University of Twente Netherlands

[Abstract] In this contribution, a finite element scheme to impose mixed boundary conditions without introducing Lagrange multipliers is presented for wave propagation phenomena described as port-Hamiltonian systems. The strategy relies on finite element exterior calculus and a domain decomposition to interconnect two systems with different causalities. The spatial domain is split into two parts by introducing an arbitrary interface. Each subdomain is discretized with a mixed finite element formulation that introduces a uniform boundary condition in a natural way as the input. In each subdomain the spaces are selected from a finite element subcomplex to obtain a stable discretization. The two systems are then interconnected together by making use of a feedback interconnection. This is achieved by discretizing the boundary inputs using appropriate spaces that couple the two formulations. The final systems includes all boundary conditions explicitly and does not contain any Lagrange multiplier. Each subdomain is integrated using an implicit midpoint scheme in an uncoupled way from the other by means of a leapfrog scheme. The proposed strategy is tested on three different examples: the Euler-Bernoulli beam, the wave equation and the Maxwell equations. Numerical tests assess the conservation properties of the scheme and the effectiveness of the methodology. © 2025, CC BY.

关键词： Lagrange multipliers

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Experimental Validation of Sensitivity-Aware Trajectory Planning for a Quadrotor UAV Under Parametric Uncertainty

Experimental Validation of Sensitivity-Aware Trajectory Plan...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ali Srour Salvatore Marcellini Tommaso Belvedere Marco Cognetti Antonio Franchi Paolo Robuffo Giordano CNRS Univ Rennes Inria IRISA Rennes Cedex France Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse CNRS UPS Toulouse France LAAS-CNRS Robotics and Mechatronics Department Electrical Engineering Mathematics Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this work, we provide an experimental vali-dation of the recent concepts of closed-loop state and input sensitivity in the context of robust flight control for a quadrotor (UAV) equipped with the popular PX4 1 1 https://***/ controller. Our objective is to experimentally assess how the optimization of the reference trajectory w.r.t. these sensitivity metrics can improve the closed-loop system performance against model uncertainties commonly affecting the quadrotor systems. To accomplish this, we present a series of experiments designed to validate our optimization approach on two distinct trajectories, with the primary aim of assessing its precision in guiding the quadrotor through the center of a window at relatively high speeds. This approach provides some interesting insights for increasing the closed-loop robustness of the robot state and inputs against physical parametric uncertainties that may degrade the system's performance.

关键词： Uncertainty Sensitivity Target tracking Trajectory planning Perturbation methods Autonomous aerial vehicles Robustness

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Multi-Objective Scheduling of Single Mobile Robot Based on Grey Wolf Optimization Algorithm

SSRN

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SSRN 2022年

作者： Petrović, Milica Jokić, Aleksandar Miljković, Zoran Kulesza, Zbigniew University of Belgrade Faculty of Mechanical Engineering Department of Production Engineering Laboratory for Industrial Robotics and Artificial Intelligence Kraljice Marije 16 35 Belgrade11120 Serbia University of Belgrade Faculty of Mechanical Engineering Department of Production Engineering Kraljice Marije 16 35 Belgrade11120 Serbia Bialystok University of Technology Faculty of Electrical Engineering Department of Automatic Control and Robotics Wiejska 45D Bialystok15-351 Poland

During the last decades, intelligent mobile robots have been recognized as one of the most promising and emerging solutions used to fulfill material transport demands in intelligent manufacturing systems. One of the most significant characteristics of those demands is their multi-objectivity, where identified objectives might usually be in conflict. Therefore, obtaining the optimally scheduled robotic-based material transport system that is simultaneously faced with several conflicting objectives is a highly challenging task. In order to address such a challenge, this paper proposes a novel multi-objective Grey Wolf Optimizer (MOGWO) methodology to efficiently schedule material transport systems based on an intelligent single mobile robot. The proposed optimization methodology includes the comprehensive analysis and the mathematical formulation for 13 novel fitness functions, which are combined to form a Pareto front of the multi-objective optimization problem, as well as a novel strategy for optimal exploration of multi-objective search space. Moreover, four metrics, i.e., Generational Distance (GD), Inverted Generational Distance (IGD), Spacing (SP), and Maximum Spread (MS), are employed to quantitively evaluate and compare the effectiveness of the proposed enhanced MOGWO algorithm with two state-of-the-art metaheuristic methods (MOGA, MOAOA) on 25 benchmark problems. The obtained results achieved through two experimental scenarios indicate that the enhanced MOGWO algorithm outperforms other algorithms in terms of convergence, coverage, and robust optimal Pareto solution obtained. Finally, transportation paths based on obtained scheduling plans are experimentally validated by mobile robot RAICO (Robot with Artificial Intelligence based Cognition) within a physical model of the intelligent manufacturing environment. The achieved experimental results successfully demonstrate the efficiency of the proposed methodology for optimal multi-objective scheduling of materia

关键词： Mobile robots

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