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Exploring Eye-tracking based Biomarkers to Assess Cognitive Abilities in Autistic Children: A Feasibility Study

IEEE Journal of Biomedical and health Informatics 2025年 PP卷 PP页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 China Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Peng Cheng Laboratory Shenzhen518000 China

Cognitive assessment can reveal a person's cognitive processing and behavioral patterns, making it an indispensable component of autism intervention and prognosis. Existing machine-assisted cognitive assessment methods primarily focus on children's performance outcomes, overlooking distinctive behavioral models, particularly characteristics of eye movement behavior, which have been demonstrated as the most direct indicators of cognitive abilities. In this study, we explore eye-tracking biomarkers for assisting cognitive assessment through a series of meticulously designed multi-level human-computer interaction protocols, encompassing three cognitive abilities: pairing and categorization, emotion recognition, and social interaction. A platform embedded with an eye-tracking module has been developed to reliably collect and analyze eye movement data, even in the presence of unrestricted large head movements in children. Experimental results indicate that there are significant group differences between autism and typically developing children in the eye-tracking features of total fixation duration, response latency, time to first fixation, mean fixation duration, and visit count in the absence of significant intergroup differences in the Wechsler Preschool and Primary Scale of Intelligence (WPPSI) and Wechsler Intelligence Scale for Children (WISC) assessment results. In addition, certain eye movement features in each group are correlated with WPPSI/WISC scale scores, enabling clinical cognitive assessments within each group based on these eye movement features. This study suggests that using eye-tracking features as biomarkers to assist detailed cognitive assessments holds significant potential for the intervention and prognosis of autism. © 2013 IEEE.

关键词： Diseases

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Robotic Sensorized Gastroendoscopy with Wireless Single-Hand Control

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Current Directions in Biomedical Engineering 2022年第1期8卷 66-69页

作者： García, Gabriela Fischer, Nikola Marzi, Christian Mathis-Ullrich, Franziska Health Robotics and Automation Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe 76131 Germany

The manipulation of flexible endoscopes is a procedure that requires great dexterity since it requires the synchronization and use of both hands in parallel. Imprecise handling during gastroendoscopy could harm the digestive tract. Our solution allows the physician to use only one hand to wirelessly control the forward, backward, and tip bending motion. The proposed system provides endoscopic vision and tactile impact force sensing at the tip to detect the force applied to tissue and thus avoid damage. We experimentally evaluate the handling of the robotic system in open space and inside a medical phantom. The results revealed a training effect with less time demand for task completion and reduction of average impact force after only 5 runs. The proposed system was successfully controlled using one hand and, together with the force information, could enhance the physician's experience during endoscopy. Future work will address axial control and an intensive user study with clinical experts. © 2022 by Walter de Gruyter Berlin/Boston.

关键词： robotics

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Robotic Sensorized Gastroendoscopy with Wireless Single-Hand Control

Robotic Sensorized Gastroendoscopy with Wireless Single-Hand...

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关键词： robotics

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Correction to: With or without human interference for precise age estimation based on machine learning?

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International journal of legal medicine 2025年 2025 Mar 22页

作者： Mengqi Han Shaoyi Du Yuyan Ge Dong Zhang Yuting Chi Hong Long Jing Yang Yang Yang Jingmin Xin Teng Chen Nanning Zheng Yu-Cheng Guo Key Laboratory of Shaanxi Province for Craniofacial Precision Medicine Research College of Stomatology Xi'an Jiaotong University 98 XiWu Road Xi'an 710004 Shaanxi People's Republic of China. Department of Orthodontics College of Stomatology Xi'an Jiaotong University 98 XiWu Road Xi'an 710004 Shaanxi People's Republic of China. Institute of Artificial Intelligence and Robotics College of Artificial Intelligence Xi'an Jiaotong University 28 Xianning West Road Xi'an 710049 Shaanxi People's Republic of China. dushaoyi@***. Institute of Artificial Intelligence and Robotics College of Artificial Intelligence Xi'an Jiaotong University 28 Xianning West Road Xi'an 710049 Shaanxi People's Republic of China. College of Automation Science and Engineering Xi'an Jiaotong University 28 Xianning West Road Xi'an 710049 Shaanxi People's Republic of China. College of Medicine and Forensics Xi'an Jiaotong University Health Science Center 76 West Yanta Road Xi'an 710004 Shaanxi People's Republic of China. Key Laboratory of Shaanxi Province for Craniofacial Precision Medicine Research College of Stomatology Xi'an Jiaotong University 98 XiWu Road Xi'an 710004 Shaanxi People's Republic of China. xjtu-guoyucheng@***. Department of Orthodontics College of Stomatology Xi'an Jiaotong University 98 XiWu Road Xi'an 710004 Shaanxi People's Republic of China. xjtu-guoyucheng@***. Institute of Artificial Intelligence and Robotics College of Artificial Intelligence Xi'an Jiaotong University 28 Xianning West Road Xi'an 710049 Shaanxi People's Republic of China. xjtu-guoyucheng@***.

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Portable Baby Incubator Monitoring using Smartphone 7

Portable Baby Incubator Monitoring using Smartphone

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7th International Conference on Electrical, Telecommunication and Computer Engineering, ELTICOM 2023

作者： Salahuddin, Nur Sultan Sari, Sri Poernomo Tumewa, Nora Trisna Musyaffa, Aqilla Rahman Wijaya, Arif Herawati, Ema Yudhanto, Satrio Dwi Ambariani Pujiati Gunadarma University Faculty of Computer Science and Information Technology Jakarta Indonesia Gunadarma University Faculty of Industrial Technology Jakarta Indonesia Gunadarma University Multimedia and Robotics Laboratory Depok Indonesia Gunadarma University Industrial Automation Laboratory Depok Indonesia Gunadarma University Faculty of Health Sciences and Pharmacy Depok Indonesia

ISBN: (纸本)9798350385526

Most neonatal deaths occur at the age of 0-6 days (78.5%) and prematurity is one of the main causes of infant death in Indonesia, ranking fifth in the number of premature births. A baby incubator is very necessary to help premature babies adapt to their new environment. An incubator is a health care tool for critical/premature neonates that provides warmth and humidity according to the needs of newborns under controlled conditions. A portable baby incubator monitoring system using wifi as a communication medium to monitor babies, equipped with a DS18B20 sensor to measure the baby's body temperature, an AD8232 sensor to measure the baby's heartbeat and an ESP32 Cam to capture the baby's face has been created. The test results showed that this incubator was able to detect the baby's body temperature, the baby's heartbeat and take the baby's face remotely using an Android-based smartphone, weighs around 5.8 kg, has a simple design, can be carried around making it easier for medical personnel to carry out supervision premature baby. © 2023 IEEE.

关键词： Smartphones

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Automated Linear and Non-Linear Path Planning for Neurosurgical Interventions

Automated Linear and Non-Linear Path Planning for Neurosurgi...

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IEEE International Conference on robotics and automation (ICRA)

作者： Steffen Peikert Christian Kunz Nikola Fischer Michal Hlavá č Andrej Pala Max Schneider Franziska Mathis-Ullrich Health Robotics and Automation Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Department of Neurosurgery University Hospital Ulm/G&#x00FC nzburg Gunzburg Germany

ISBN: (数字)9781728196817

ISBN: (纸本)9781728196824

Recent advances in medical technology have produced a number of flexible instruments that are capable of traversing non-linear paths. This is of special interest in the field of neurosurgery. However, the non-rigid instruments have the disadvantage that path planning becomes increasingly difficult. In addition to anatomical risk factors, the mechanical properties and constraints of the specific instrument must also be considered. To support surgeons to deal with the increase in planning complexity, we present a novel method for both linear and arbitrary follow-the-leader flexible path planning. Our method is utilizing patient-specific image data, which is then used to generate a multi-objective problem consisting of conventional risk metrics for path planning in high-risk regions like the accumulated path cost or the distance to risk structures. Simultaneously, the path-problem is also constraint to mechanical properties of the instrument such as curvature or maximum operational length. Optimal paths can then be generated by solving a multi-objective problem by approximating the Pareto front. We show that our method can automatically generate linear and non-linear paths for neurosurgical interventions in the human brain in less than 2 minutes. Furthermore, we show that the proposed automated method generates paths with 87% reduced risk compared to standard of care plannings.

关键词： Measurement Costs Instruments Path planning Mechanical factors Neurosurgery Planning

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Fiber-optic intubation simulator with force feedback

Fiber-optic intubation simulator with force feedback

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Ankur R. Baheti Yuri Millo Jaydev P. Desai Simulation and Training Environment Laboratory MedStar Health Washington D.C. DC USA Robotics Automation Manipulation and Sensing (RAMS) Laboratory University of Maryland College Park MD USA

ISBN: (纸本)9781424468218;9781424468225

The existing simulators for fiber-optic intubation procedure provide haptic feedback to the user when there is contact with the vocal-cord section, but they do not capture the grazing effect of the endoscope along the inner walls of the airway. The grazing on the inner walls of the airway, if not well controlled, could lead to unnecessary trauma for the patient. Hence, there is a need to provide this force feedback in a fiber-optic intubation simulator. We have built a force feedback device that incorporates both the force feedback when contact is made with the vocal-cord section as well as grazing of the endoscope along the inner walls of the airway. We use a PD controller to obtain force feedback at the vocal-cord section and a variable magnetic field to replicate the frictional force feedback caused by the grazing of the endoscope along the inner walls of the airway. The movements of the endoscope are captured using rotary encoders (which read the insertion and the tip bend) and a magnetometer (which reads the twist angle of the endoscope along the long axis). We performed tests based on the intensity of contact of the endoscope against the vocal-cords and the inner walls of the airway. Changes in the intensity of grazing at the inner walls of the airway were observed by actively varying the coil current in the magnet. The simulator will help to train all aspects of fiber-optic intubation which involves contact with the vocal-cords as well as grazing the surface of the airway.

关键词： Force feedback Endoscopes Haptic interfaces Optical fiber devices PD control Force control Magnetic variables control Magnetic fields Magnetometers Performance evaluation

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Capacitive Proximity Sensor for Non-Contact Endoscope Localization

Capacitive Proximity Sensor for Non-Contact Endoscope Locali...

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IEEE International Conference on robotics and automation (ICRA)

作者： Christian Marzi Hosam Alagi Olivia Rau Jochen Hampe Jan Gerrit Korvink Bjö rn Hein Franziska Mathis-Ullrich Health Robotics and Automation Laboratory Institute for Anthropo-matics and Robotics Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Intelligent Process Automation and Robotics Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Institute of Microstructure Technology Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Department of Medicine I University Hospital Dresden Technical University (TU) Dresden Dresden Germany Karlsruhe University of Applied Sciences Karlsruhe Germany

The promising automation of flexible surgical instruments and robots is impeded by the lack of sensory means, which allow for sensing of an instrument's position to the surrounding tissue. This work presents a novel sensory method utilizing capacitive proximity sensing to derive a relative localization of a flexible instrument inside a hollow organ. The method is evaluated by exemplary integration of a sensor in a commercial gastroendoscope and accuracy analysis using a high precision robot. The results show an accuracy of distance sensing from a medical phantom's center of 2%. The method is also evaluated for the irregularly shaped surrounding of ex-vivo tissue in a dynamic scenario. This promising approach holds potential for transfer to clinical scenarios and for further development towards pose estimation of flexible surgical robots and shape sensing of a minimally invasive environment.

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Robot models for space environments

Robot models for space environments

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IEEE International Conference on robotics and automation (ICRA)

作者： R.O. Ambrose C.G. Ambrose Metrica Automation and Robotics NASA-Johnson Space Center Houston TX USA Department of Orthopedic Surgery Biomechanics Laboratory University of Texas Health Science Center Houston TX USA

The models developed here apply to both robot domains, where extreme thermal or precision conditions require a fundamental understanding of robot thermodynamics and heat transfer mechanisms that deform manipulators. A transient, 3D finite difference model is presented for tracking heat generated by actuators, conducted through the manipulator, radiated to space and absorbed from solar flux. Unlike large space cranes, the closely positioned actuators in small fine arms require modeling of energy exchange between joints, and simulations show that this heat transfer is governed by bearing elements. The consequences of torque histories can be predicted using these models, which link dynamics to future thermal states, and their resulting structural expansions and contractions. Thermal models can be coupled with distributed sensing to anticipate deformations in robots under operation in space conditions, improving precision and reducing the need for repeated calibration.

关键词： Orbital robotics Space heating Deformable models Heat transfer Manipulators Actuators Thermodynamics Finite difference methods Solar heating Solar power generation

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Corrigendum to "3D printed biomimetic composite scaffolds with sequential releasing of copper ions and dexamethasone for cascade regulation of angiogenesis and osteogenesis" [Chem. Eng. J. 496 (2024) 153662] (Chemical Engineering Journal (2024) 496, (S1385894724051519), (10.1016/***.2024.153662))

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Chemical Engineering Journal 2025年 511卷

作者： Song, Yongteng Hu, Qingxi Liu, Suihong Wang, Yahao Jia, Lijun Hu, Xinli Huang, Changjin Zhang, Haiguang Rapid Manufacturing Engineering Center School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200072 China National Demonstration Center for Experimental Engineering Training Education Shanghai University Shanghai200444 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Engineering Science and Mechanics Department Penn State University University ParkPA16802 United States Department of Orthopedics Changzheng Hospital Naval Medical University Shanghai China School of Health Science and Engineering University of Shanghai for Science and Technology Shanghai China

(1) The authors regret the error in Fig. 9(C) of the published article, where the unit of BMD on the y-axis was incorrectly given as "g/mm2". The correct unit should be "g/cm3".(2) The authors also regret the error in the calculation of Tb.N in Fig. 9(E), which has now been *** the above errors, in section 3.1.4, the SHG-MSNs@DEX compression modulus should be "22.88 ± 2.50 MPa" instead of "22.88 ± 22.50 MPa." The authors sincerely apologize for any inconvenience this may have caused. This correction does not affect the interpretation of the results or the conclusions of the study, and the updated figure is shown below as Fig. 9 (Updated).[Figure presented] Fig. 9 (Updated) Bone regeneration of rat skull defects in vivo. (A) Schematic diagram of the use of prepared bone scaffolds to repair skull defects. (B) Representative 3D reconstructed micro-CT images depicting skull defect sites 4 weeks and 8 weeks after scaffold implantation. (C-E) BMD, BV/TV, and Tb.N analysis results were obtained from micro-CT images at 4 weeks and 8 weeks post-surgery. (F, G) Results of histological analysis of skull sections at 4 weeks and 8 weeks after surgery: H&E staining (F) and Masson staining (G). Error bars indicate the standard deviation (n = 3), with statistical significance defined as **p © 2024 Elsevier B.V.

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