Design Optimization of a Hybrid-Driven Soft Surgical Robot with Biomimetic Constraints.

The current study investigated the geometry optimization of a hybrid-driven (based on the combination of air pressure and tendon tension) soft robot for use in robot-assisted intra-bronchial intervention. Soft robots, made from compliant materials, have gained popularity for use in surgical interventions due to their dexterity and safety. The current study aimed to design a catheter-like soft robot with an improved performance by minimizing radial expansion during inflation and increasing the force exerted on targeted tissues through geometry optimization.

Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening.

Soft robots have gained popularity, especially in intraluminal applications, because their soft bodies make them safer for surgical interventions than flexures with rigid backbones. This study investigates a pressure-regulating stiffness tendon-driven soft robot and provides a continuum mechanics model for it towards using that in adaptive stiffness applications. To this end, first, a central single-chamber pneumatic and tri-tendon-driven soft robot was designed and fabricated.

Comparison of Mechanistic and Learning-based Tip Force Estimation on Tendon-driven Soft Robotic Catheters.

Researchers have adopted mechanistic and learning-based approaches for tip force estimation on soft robotic catheters. Typically the literature attributes the mech-anistic methods with more accuracy while indicating the learning-based methods outpace in computational time. In this study, a previously validated mechanistic tip force estimation method was compared with four learning-based methods, i.

Stiffness Adaptation of a Hybrid Soft Surgical Robot for Improved Safety in Interventional Surgery.

Minimally invasive instruments are inserted per-cutaneously and are steered toward the desired anatomy. The low stiffness of instruments is an advantage; however, once the target is reached, the instrument usually is required to transmit force to the environment. The main limitation of the constant stiffness is predetermined maneuverability and cap of force transmission.

Design of a Linear Wavenumber Spectrometer for Line Scanning Optical Coherence Tomography with 50 mm Focal Length Cylindrical Optics.

Optical coherence tomography (OCT) has a wide range of uses in bioimaging and nondestructive testing. Larger bandwidth light sources have recently been implemented to enhance measurement resolution. Increased bandwidth has a negative impact on spectral nonlinearity in k space, notably in the case of spectral domain OCT (SD-OCT).

Design and Optimization of a Linear Wavenumber Spectrometer with Cylindrical Optics for Line Scanning Optical Coherence Tomography.

We report the design of a high-efficiency spectral-domain spectrometer with cylindrical optics for line scanning optical coherence tomography (OCT). The spectral nonlinearity in k space (wavenumber) lowers the depth-dependent signal sensitivity of the spectrometers. For linearizing, in this design, grating and prism have been introduced.

Optical Fiber Array Sensor for Force Estimation and Localization in TAVI Procedure: Design, Modeling, Analysis and Validation.

Transcatheter aortic valve implantation has shown superior clinical outcomes compared to open aortic valve replacement surgery. The loss of the natural sense of touch, inherited from its minimally invasive nature, could lead to misplacement of the valve in the aortic annulus. In this study, a cylindrical optical fiber sensor is proposed to be integrated with valve delivery catheters.

Corrigendum: Deep Learning-Based Haptic Guidance for Surgical Skills Transfer.

[This corrects the article DOI: 10.3389/frobt.2020.

Deep Learning-Based Haptic Guidance for Surgical Skills Transfer.

Having a trusted and useful system that helps to diminish the risk of medical errors and facilitate the improvement of quality in the medical education is indispensable. Thousands of surgical errors are occurred annually with high adverse event rate, despite inordinate number of devised patients safety initiatives. Inadvertently or otherwise, surgeons play a critical role in the aforementioned errors.

Sensor-free Force Control of Tendon-driven Ablation Catheters through Position Control and Contact Modeling.

In the present study, a sensor-free force control framework for tendon-driven steerable catheters was proposed and validated. The hypothesis of this study was that the contact force between the catheter tip and the tissue could be controlled using the estimated force with a previously validated displacement-based viscoelastic tissue model. The tissue model was used in a feedback control loop.

Toward Task Autonomy in Robotic Cardiac Ablation: Learning-Based Kinematic Control of Soft Tendon-Driven Catheters.

The goal of this study was to propose and validate a control framework with level-2 autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a kinematic model for the flexible portion of typical ablation catheters was developed and a 40-mm-long spring-loaded flexible catheter was fabricated. The feasible space of the catheter was obtained experimentally.

Development and assessment of a stiffness display system for minimally invasive surgery based on smart magneto-rheological elastomers.

In the present study, a solution to address the clinical need for stiffness display during manual and robotic minimally invasive surgery was postulated, developed, and assessed. To this end, a magneto-rheological elastomer-based stiffness display, MiTouch, was designed, developed, and analyzed. The mechanical properties of the MRE and system parameters were identified experimentally, based on which the force-field-stiffness response surface of the smart MRE was characterized.

Haptic Telerobotic Cardiovascular Intervention: A Review of Approaches, Methods, and Future Perspectives.

Cardiac diseases are recognized as the leading cause of mortality, hospitalization, and medical prescription globally. The gold standard for the treatment of coronary artery stenosis is the percutaneous cardiac intervention that is performed under live X-ray imaging. Substantial clinical evidence shows that the surgeon and staff are prone to serious health problems due to X-ray exposure and occupational hazards.

Flow force augmented 3D suspended polymeric microfluidic (SPMF ) platform.

Detection and study of bioelements using microfluidic systems has been of great interest in the biodiagnostics field. Microcantilevers are the most used systems in biodetection due to their implementation simplicity which have been used for a wide variety of applications ranging from cellular to molecular diagnosis. However, increasing further the sensitivity of the microcantilever systems have a great effect on the cantilever based sensing for chemical and bio applications.

Upcoming Methods and Specifications of Continuous Intraocular Pressure Monitoring Systems for Glaucoma.

Glaucoma is the leading cause of irreversible blindness and vision loss in the world. Although intraocular pressure (IOP) is no longer considered the only risk factor for glaucoma, it is still the most important one. In most cases, high IOP is secondary to trabecular meshwork dysfunction.

Hybrid piezoresistive-optical tactile sensor for simultaneous measurement of tissue stiffness and detection of tissue discontinuity in robot-assisted minimally invasive surgery.

To compensate for the lack of touch during minimally invasive and robotic surgeries, tactile sensors are integrated with surgical instruments. Surgical tools with tactile sensors have been used mainly for distinguishing among different tissues and detecting malignant tissues or tumors. Studies have revealed that malignant tissue is most likely stiffer than normal.

Micro-optical force distribution sensing suitable for lump/artery detection.

Surgeons performing robotic-assisted surgical tasks need to establish the density and constituency of hidden tissue structures using only surgical tools. This is possible by integrating a miniaturized sensor into the end-effectors of robotic surgical systems. In this present work, optical microsystems technology is utilized to develop a miniature force-distribution sensor that can be integrated into surgical end-effectors.

A proof-of-principle robot with potential for the development of a hand-held tactile instrument for minimally-invasive artery cross-clamping.

One of the most common diseases of the vascular system is abdominal aortic aneurysm (AAA), for which the most definitive treatment is surgery. Minimally invasive aorta surgery is a novel method of surgery performed through small incisions and offers significant advantages including less pain, shorter hospital stay, faster patient recovery, less possibility of infection, etc. However, lack of sense of touch is the main drawback of this type of aorta surgery that would incapacitate the surgeon to exactly distinguish the aorta from its surrounding tissues which could cause various problems during the aorta cross-clamping process.

Innovative optical microsystem for static and dynamic tissue diagnosis in minimally invasive surgical operations.

During conventional surgical tasks, surgeons use their tactile perception in their finger tips to sense the degree of softness of biological tissues to identify tissue types and to feel for any abnormalities. However, in robotic-assisted surgical systems, surgeons are unable to sense this information because only surgical tools interact with tissues. In order to provide surgeons with such useful tactile perception, therefore, a tactile sensor is required that is capable of simultaneously measuring contact force and resulting tissue deformation.

Viscoelastic modeling of the contact interaction between a tactile sensor and an atrial tissue.

Modeling and parameter identification of soft tissue are essential in establishing an accurate contact model for tool-tissue interaction, which can be used in the development of high-fidelity surgical instruments. This paper discusses the interaction between a tissue and a tactile sensor in minimally invasive surgery, the focus being a novel technique for robotic-assisted mitral valve repair, in which tactile sensors are used to distinguish between different kinds of tissue by their relative softness. A discrete viscoelastic model is selected to represent the tissue behavior.

A piezoresistive tactile sensor for tissue characterization during catheter-based cardiac surgery.

Background: Currently, most of mitral valve annuloplasty surgeries are performed by using open heart surgery. However, if such operation would be performed by using minimally invasive surgery via catheter-based techniques (CBT), it offers various advantages for both surgeons and patients.

Methods: Two piezoresistive force sensors are used in the structure of the tactile sensor, which can easily be miniaturized and integrated into surgical catheters.

Valveless acoustic standing wave micropump for biomedical applications: a numerical study.

The operation principle of the valveless acoustic standing wave micropump is described. Time-variant flow structures through the planar diffuser-nozzle element of this micropump for different values of the divergence angle of the diffuser-nozzle element at excitation frequency of f = 20 kHz are numerically investigated. The variations of micropump flow rate, pressure loss coefficients of the nozzle and diffuser, and diffuser efficiency are shown as functions of theta.

Elastodynamic analysis of the human aorta and the effect of biomechanical parameters on its behavior.

In this work, a finite element formulation for the analysis of the elastodynamic behavior of the human aorta is presented. In this formulation, a one-dimensional approach was adopted and a comprehensive computer program was written and employed in the mathematical analysis. All the necessary material and geometrical parameters were appropriately incorporated in the simulation.

Modeling and simulation of blood flow in a sac-type left ventricular assist device.

Left ventricular assist devices (LVADs) are among the most important mechanical artificial hearts in medical equipment industry. Since the need for heart transplantation is on the rise, there is a requirement for implantable LVADs, which can be safely used for long-term purposes. One of the most promising kinds of these devices is the sac-type LVAD (ST-LVAD) that has the ability to generate pulsatile flow.

Application of artificial neural networks for the estimation of tumour characteristics in biological tissues.

Background: Artificial tactile sensing is a method in which the existence of tumours in biological tissues can be detected and computerized inverse analyses used to produce 'forward results'.

Methods: Three feed-forward neural networks (FFNN) have been developed for the estimation of tumour characteristics. Each network provides one of the three parameters of the tumour, i.