Co-Planar Stereotaxic Atlas of the Human Brain—3-Dimensional Proportional System: An Approach to Cerebral Imaging, J. Talairach, P. Tournoux. Georg Thieme Verlag, New York (1988), 122 pp., 130 figs. DM 268

In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural compliance and ease of miniaturization. After decades of pioneering research, a host of designs have now been investigated and have demonstrated capabilities beyond the scope of conventional rigid-link robots. Recently, we have seen increasing efforts aimed at leveraging these qualities to improve the frontiers of minimally invasive surgical interventions. Several concepts have now been commercialized, which are inspiring and enabling a current paradigm shift in surgical approaches toward flexible access routes, e.g., through natural orifices such as the nose. In this paper, we provide an overview of the current state of this field from the perspectives of both robotics science and medical applications. We discuss relevant research in design, modeling, control, and sensing for continuum manipulators, and we highlight how this work is being used to build robotic systems for specific surgical procedures. We provide perspective for the future by discussing current limitations, open questions, and challenges.

Continuum Robots for Medical Applications: A Survey

Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot's body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot's body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.

Ferromagnetic soft continuum robots

IEEE International Conference on Robotics and Automation (ICRA) におけるフルードパワー技術の研究動向

https://www.jstage.jst.go.jp/article/jsprs1975/37/6/37_6_39/_pdf

1998 IEEE International Conference on SMCに参加して

Postmortem studies on patients with Alzheimer’s disease (AD) have confirmed that the dorsal raphe nucleus (DRN) in the brainstem is the first brain structure affected in the earliest stage of AD. The present study examined the brainstem in the early stage of AD using magnetic resonance (MR) imaging. T1-weighted MR images of the brains of 81 subjects were obtained from the publicly available Open Access Series of Imaging Studies (OASIS) database, including 27 normal control (NC) subjects, 27 patients with very mild AD (AD-VM) and 27 patients with mild AD (AD-M). The brainstem was interactively segmented from the MR images using ITK-SNAP. The present voxel-based morphometry (VBM) study was designed to investigate the brainstem differences between the AD-VM/AD-M groups and the NC group. The results showed bilateral loss in the pons and the left part of the midbrain in the AD-M group compared to the NC group. The AD-M group showed greater loss in the left midbrain than the AD-VM group (PFWEcorrected < 0.05). The results revealed that brainstem atrophy occurs in the early stages of AD (Clinical Dementia Rating = 0.5 and 1.0). Most of these findings were also investigated in a multicenter dataset. This is the first VBM study that provides evidence of brainstem alterations in the early stage of AD.

Brainstem atrophy in the early stage of Alzheimer's disease: a voxel-based morphometry study.

A combination of walking control methods was proposed and implemented on a biped robot. The LIPM-based model predictive control (MPC) was adopted to generate a basic stable walking pattern. The stability of pitch and yaw rotation was improved through pitch and yaw momentum control as a supplementation of MPC. It is found that biped robot walking tends to deviate from the planned walking direction if not considering the rotation friction torque in yaw axis under the support foot. There are basically two methods to control yaw momentum, waist and swing arms rotation control. However, the upper body is often needed to accomplish other tasks. Therefore, a yaw momentum control method based on swing leg dynamics was proposed. This idea does not depend on upper body’s motion and is highlighted in this paper. Through experiments, the feasibility of the combination of the control methods proved to be practical in keeping biped robot walking stable both in linear and rotation motion. The pros and cons of th...

3D stable biped walking control and implementation on real robot

A prototype of wheel-leg hybrid mobile robot that can move on both ground and wall surfaces is presented, which could be used for special tasks such as rescue, inspection, surveillance and reconnaissance. The wheel-leg hybrid locomotion mechanism enable the robot to achieve quick motion on wall surface, as well as obstacle-spanning on wall surfaces and smooth wall-to-wall transitions. And the wheel lifting mechanism enables the robot to move on both wall surfaces and ground. The robot is composed of a base body and a mechanical leg with 3 DOF. The base body is a big flat suction cup with three-wheeled locomotion mechanism inside, and there is a small flat sucker in the end of the mechanical leg. The new designed chamber seal has simple structure and has steady and reliable performance. A distributed embedded control system is also described which enable the robot operating manually and semi-autonomously in wheeled motion mode or legged motion mode. Kinematics model of the robot is established to analyze the robot's motion on the wall. And the locomotion gait of the robot is discussed. Experiments show that the robot can adhere on wall surface and realize the basic movements.

A wheel-leg hybrid wall climbing robot with multi-surface locomotion ability

This study investigates the problem of dynamic walking impact on a biped robot. Two online variable stiffness control algorithms, i.e., torque balance algorithm (TBA) and surface fitting algorithm (SFA), are proposed based on virtual spring leg to achieve compliant performance. These two algorithms target on solving the high nonlinearity commonly existing in legged robot actuators. A planar biped robot experiment platform is designed for testing the proposed variable stiffness control. The experiments compare the performance of TBA and SFA and verify that applying the variable stiffness control of a virtual spring leg is capable of effectively absorbing unforeseen ground impacts and thus improving stability and safety of walking biped robots.

Yili Fu

Papers

Brainstem atrophy in the early stage of Alzheimer's disease: a voxel-based morphometry study.

3D stable biped walking control and implementation on real robot

A wheel-leg hybrid wall climbing robot with multi-surface locomotion ability

Variable stiffness control of series elastic actuated biped locomotion

A novel deep LSTM network for artifacts detection in microelectrode recordings