Robotic navigation with deep reinforcement learning in transthoracic echocardiography.

Purpose: The search for heart components in robotic transthoracic echocardiography is a time-consuming process. This paper proposes an optimized robotic navigation system for heart components using deep reinforcement learning to achieve an efficient and effective search technique for heart components.

Method: The proposed method introduces (i) an optimized search behavior generation algorithm that avoids multiple local solutions and searches for the optimal solution and (ii) an optimized path generation algorithm that minimizes the search path, thereby realizing short search times.

Neurorehabilitation Method for Preventing the Collapse of Internal Model: Verification of Unconscious Motor Change Caused by Implicit Error Involved in Multimodal Sensory FBs(Feedbacks).

It remains challenging for patients with stroke to regain the proper gait they had before stroke onset. In this study, one of the significant reasons for the problem is assumed to be the collapse of patients' internal model. Therefore, this study aimed to propose a method for lower-limb rehabilitation in the acute phase to prevent the collapse of the internal model and simultaneously promote voluntariness.

Unilateral spatial neglect affected by right-sided stimuli in a three-dimensional virtual environment: A preliminary proof-of-concept study.

Unlabelled: Unilateral spatial neglect (USN) is defined as the inability to attend and see on one side, which seriously interferes with daily life. Clinically, patients with left USN commonly demonstrate a striking immediate capture of attention from ipsilesional, right-sided items as soon as a visual scene unfolds (i.e.

Diagnostic posture control system for seated-style echocardiography robot.

Purpose: Conventional robotic ultrasound systems were utilized with patients in supine positions. Meanwhile, the limitation of the systems is that it is difficult to evacuate the patients in case of emergency (e.g.

Suppression of Clothing-Induced Acoustic Attenuation in Robotic Auscultation.

For patients who are often embarrassed and uncomfortable when exposing their breasts and having them touched by physicians of different genders during auscultation, we are developing a robotic system that performs auscultation over clothing. As the technical issue, the sound obtained through the clothing is often attenuated. This study aims to investigate clothing-induced acoustic attenuation and develop a suppression method for it.

A Pneumatic Artificial Muscle and Spring Combination System that Assists Ankle Rocker and Transforms Energy into Push-Off Support: A Feasibility Study in Heathy Participants.

Insufficient push-off is a common problem for stroke hemiplegia patients. Assistive systems using extension spring to store energy during stance phase of gait to provide push-off assistance have been developed. However, patients could also suffer poor ankle rocker function; that is, poor dorsiflexion movement in stance phase.

Quantification of Unilateral Spatial Neglect Symptoms Based on Identification of Exploratory Ability.

Unilateral spatial neglect (USN) is the failure to report, respond, or orient to novel or meaningful stimuli presented on the side opposite a brain lesion. In our previous study, we reported that the ability of patients with USN to perform when the neck was fixed (called cognitive ability) was different from that when the neck was not fixed (called exploratory ability). However, the exploratory ability index has not been clarified, and cognitive and exploratory abilities have not been quantified.

A Proposal for a New Index to Quantify the Ratio of Near and Far Spatial Neglect Using Immersive Virtual Reality Technology: A Technical Report.

Unilateral spatial neglect (USN) is defined as impaired attention to sensory stimuli on one side, which can exist for near and far spaces combined or independently. Thus, quantifying both near- and far-space neglect is crucial. This study aims to propose an index to quantify the near/far spatial neglect ratio to describe the USN symptoms' characteristics in each patient using immersive virtual reality (VR) technology.

Development of Needle Guide Unit Considering Buckling Bone-Perforation Control Strategy Based on Computed Tomography-Guided Needle Insertion Robot.

A computed tomography (CT)-guided robotic assistance system is useful for needle insertion into metastatic carcinoma of vertebrae, which has limited pathways. However, the use of conventional needles in this procedure can result in bone fracture in the perforation area caused by the reaction force of the inserted needle. In this study, we developed a multistage retractable needle guide unit that avoids the buckling and crushing of the needle tip that commonly occur in 25-gauge ultrafine needles.

Development of Self-Destructive Urine Detection Film Using Water-soluble Resin.

The increasingly aging population in Japan, has given rise to a shortage of caregiver availability. By the year 2025, it is projected that there will be a need for 380,000 caregivers. One of Caregivers' compulsory tasks consists in checking diapers every 2 hours both during the day and at night.

Embodiment modifies attention allotment for the benefit of dual task performance.

Many everyday tasks, like walking down a street, require us to dual task to also avoid collisions of our swinging arms with other pedestrians. The collision avoidance is possible with ease because humans attend to all our (embodied) limbs. But how does the level of embodiment affect attention distribution, and consequently task performance in dual tasks? Here we examined this question with a dual task that required participants to perform a cued button-press (main task) with their right hand, while reacting to possible collisions by a moving object with a left 'robot' hand (secondary task).

Investigation of optimal gait speed for motor learning of walking using the vibro-tactile biofeedback system.

In stroke patients, sensory loss often reduces the sensation of ground contact, which impairs motor learning during rehabilitation. In our previous study, we proposed a vibro-tactile biofeedback system (which we called the perception-empathy biofeedback system) for gait rehabilitation. The results of our 9-week pilot clinical test suggested that patients who had reached the autonomous phase in gait learning had difficulty noticing the external vibratory feedback provided by the biofeedback system, leading to ineffective intervention.

Robotic Cytology using Extra-Fine Needles : -Proposal of Puncture Control Strategy for Increasing Collection Amount.

Fine needle aspiration cytology requires accurate needle insertion into a tumor and sufficient amount collection of samples, which highly depends on the skill of the physician. The advantage of the diagnosis is to minimize the tissue damage with the fine needle, while, when the amount of the sample sucked from the lesion is not enough for the definite diagnosis, the procedure has to be repeated until satisfying them. Although numerous research reported a robot-assisted insertion method to improve the accuracy of needle placement with fine needles, there was less research to address the efficient tissue collection.

Effects of Assisted Dorsiflexion Timing on Voluntary Efforts and Compensatory Movements: A Feasibility Study in Healthy Participants.

In previous research, we found that modulating the assistance timing of dorsiflexion may affect a user's voluntary efforts. This could constitute a focus area based on assistive strategies that could be developed to foster patients' voluntary efforts. In this present study, we conducted an experiment to verify the effects of ankle dorsiflexion assistance under different timings using a high-dorsiflexion assistive system.

Development of a vibrotactile cueing device that implicitly increases walking speed during gait training in stroke patients: an observational case series study.

One of the main sequelae of stroke is difficulty walking, which is characterised by decreased walking speed and asymmetrical walking patterns. Physical therapists often rely on explicit motor learning strategies, i.e.

Fine needle insertion method for minimising deflection in lower abdomen: In vivo evaluation.

Background: Fine needle insertion in the lower abdomen is difficult because of complex deflections and few image feedbacks. We aim to develop an approach for generating a straight insertion path by minimizing the needle deflection robustly based on a preoperative computer tomography (CT) image.

Method: This study presents two approaches: an insertion control strategy that performs both vibration and rotation-assisted needle insertions and a preoperative insertion path planning for determining an optimal insertion path based on insertion angles at each tissue boundary.

A Haptic-Based Perception-Empathy Biofeedback System with Vibration Transition: Verifying the Attention Amount.

In this paper, a perception-empathy biofeedback (PEBF) system is proposed that supplements the foot pressure status of a paralyzed foot with a wearable vibrotactile biofeedback (BF) vest to the back. Improvements in the ankle dorsiflexion and push-off movement in the swing phase and pre-swing phase, respectively, can be expected after using the proposed system. However, the results of the 3 week pilot clinical tests suggest that significant improvement is only observed for the push-off movement.

Development and proof of concept of an immersive virtual reality system to evaluate near and far space neglect in individuals after stroke: A brief report.

Background: Unilateral spatial neglect (USN) is defined as impaired attention to sensory stimuli on one side. The symptoms can exist for near and far spaces combined or independently. Thus, it is important to evaluate both possibilities in a clinical environment.

Robotic fetal ultrasonography platform with a passive scan mechanism.

Purpose: The shortage of obstetricians and gynecologists has intensified in developed countries. Our long-term goal is to develop a robotic prenatal care platform for automatic ultrasound (US) scanning to improve the workflow efficiency of obstetricians and gynecologists. This paper develops a hardware platform for the positioning of the US probe to obtain diagnostic US images while satisfying safety requirements of the fetus and pregnant woman.

Quantitative Evaluation of Bleeding during Blood Vessel Puncture Caused by Fine Needle in Lower Abdomen.

Inserting a fine needle presents a trade-off problem between safety and accuracy. As one of the serious complications due to tissue damages during needle insertion, severe bleeding often occurs owing to blood vessel puncture. However, there are few researches to evaluate the safety quantitatively regarding bleeding during the fine needle insertion.

Identification of Spring Coefficient for Heel Rocker Function Support Based on Estimated Dorsiflexion Torque.

In previous research, we have developed a high-dorsiflexion assistive robotic technology aiming for gait rehabilitation targeting on ankle dorsiflexion movement. A McKibben-type artificial muscle is applied to provide large dorsiflexion force while adding little weight to the device. This ensures the foot clearance before initial stance phase in gait.

Using a Vibrotactile Biofeedback Device to Augment Foot Pressure During Walking in Healthy Older Adults: A Brief Report.

Human movement based on sensory control is significant to motor task performance. Thus, impairments to sensory input significantly limit feedback-type motor control. The present study introduces a vibrotactile biofeedback (BF) system which augments information regarding the user's foot pressure to enhance gait performance.

Balance Training With a Vibrotactile Biofeedback System Affects the Dynamical Structure of the Center of Pressure Trajectories in Chronic Stroke Patients.

Haptic-based vibrotactile biofeedback (BF) is a promising technique to improve rehabilitation of balance in stroke patients. However, the extent to which BF training changes temporal structure of the center of pressure (CoP) trajectories remains unknown. This study aimed to investigate the effect of vibrotactile BF training on the temporal structure of CoP during quiet stance in chronic stroke patients using detrended fluctuation analysis (DFA).

Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multilayered Tissues.

Fine needle deflection is a problem encountered during insertion into a soft tissue. Although an axial rotational insertion is an effective approach for minimizing this problem, needle deflection still depends on the insertion angle with respect to the tissue boundary. Since the human body consists of multi-layered tissues of various shapes and mechanical properties, preoperative planning of an optimal path is a key factor for achieving a successful insertion.