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Sensor-Based Surgical and Medical Robotics: Challenges and Opportunities
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Sensor-Based Surgical and Medical Robotics: Challenges and Opportunities

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Biomedical Sensors".

Deadline for manuscript submissions: closed (30 March 2024) | Viewed by 6336

Special Issue Editors

Dr. Jingwei Song

E-Mail Website1 Website2
Guest Editor
1. United Imaging Research Institute of Intelligent Imaging, Beijing 100144, China
2. Department of Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109, USA
Interests: surgical vision; SLAM; computer vision; 3D reconstruction; GPU programming
Dr. Cristina P. Santos

E-Mail Website
Guest Editor
Center for MicroElectroMechanical Systems (CMEMS), University of Minho, 4710-057 Braga, Portugal
Interests: human motion; human locomotion; human–robot interactions and collaboration; medical devices; neuro-rehabilitation of patients suffering from motor problems by means of bio-inspired robotics and neuroscience technologies
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Medical and surgical robots are fundamentally changing modern clinical applications as enabling components in much broader computer-integrated systems that include diagnosis, preoperative planning, perioperative and postoperative care, hospital logistics and scheduling, and long-term follow-up and quality control. Among these applications, sensors and related algorithms play an important role as the perception module for high-level tasks.

To date, the efficiency and performance of medical and surgical robots are heavily dependent on robots’ general perception abilities. Varieties of sensors and associated algorithms have been proposed to overcome challenging perception tasks in surgical and medical procedures. The developments of these sensors, in turn, provide new opportunities for more advanced functions for the robots. Bridging the gap between algorithms and sensors significantly benefits medical and clinical practice.

This Special Issue aims to discuss innovative sensors-based surgical and medical robots, as well as the intelligent algorithms that make full use of the sensors. Authors are invited to submit articles relating to ''Sensor-Based Surgical and Medical Robotics: Challenges and Opportunities'', with topics including, but not limited to, the following:

  • AI-based medical/surgical algorithms;
  • AI-enabled medical/surgical robotics;
  • Clinical applications of sensors;
  • Computer vision for medical/surgical robotics;
  • Deep learning methods for medical/surgical robotics;
  • Sensors for the automation of medical/surgical robotics;
  • Hardware–software integration in medical/surgical robotics;
  • Human–computer interaction methods in medical/surgical robotics;
  • Planning and control algorithms in medical/surgical robotics;
  • Preoperative medical image computing;
  • Probability and uncertainty analysis in medical/surgical robotics;
  • Perception techniques in medical/surgical robotics;
  • Medical/surgical robots and systems;
  • Navigation, localization, mapping, and SLAM in medical/surgical robotics;
  • Neurorobotics;
  • Safety in medical/surgical robotics;
  • VR/AR techniques in medical/surgical robotics.

Dr. Jingwei Song
Dr. Cristina P. Santos
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Sensors is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Published Papers (3 papers)

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Research

24 pages, 7154 KiB  
Article
Innovative Metaheuristic Optimization Approach with a Bi-Triad for Rehabilitation Exoskeletons
by Deira Sosa Méndez, Cecilia E. García Cena, David Bedolla-Martínez and Antonio Martín González
Sensors 2024, 24(7), 2231; https://doi.org/10.3390/s24072231 - 30 Mar 2024
Viewed by 647
Abstract
The present work proposes a comprehensive metaheuristic methodology for the development of a medical robot for the upper limb rehabilitation, which includes the topological optimization of the device, kinematic models (5 DOF), human–robot interface, control and experimental tests. This methodology applies two cutting-edge [...] Read more.
The present work proposes a comprehensive metaheuristic methodology for the development of a medical robot for the upper limb rehabilitation, which includes the topological optimization of the device, kinematic models (5 DOF), human–robot interface, control and experimental tests. This methodology applies two cutting-edge triads: (1) the three points of view in engineering design (client, designer and community) and (2) the triad formed by three pillars of Industry 4.0 (autonomous machines and systems, additive manufacturing and simulation of virtual environments). By applying the proposed procedure, a robotic mechanism was obtained with a reduction of more than 40% of its initial weight and a human–robot interface with three modes of operation and a biomechanically viable kinematic model for humans. The digital twin instance and its evaluation through therapeutic routines with and without disturbances was assessed; the average RMSEs obtained were 0.08 rad and 0.11 rad, respectively. The proposed methodology is applicable to any medical robot, providing a versatile and effective solution for optimizing the design and development of healthcare devices. It adopts an innovative and scalable approach to enhance their processes. Full article
(This article belongs to the Special Issue Sensor-Based Surgical and Medical Robotics: Challenges and Opportunities)
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23 pages, 18382 KiB  
Article
A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots
by Jacinto Colan, Ana Davila, Khusniddin Fozilov and Yasuhisa Hasegawa
Sensors 2023, 23(6), 3328; https://doi.org/10.3390/s23063328 - 22 Mar 2023
Cited by 11 | Viewed by 2553
Abstract
Minimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive surgery introduces significant challenges related to the control of the robot’s [...] Read more.
Minimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive surgery introduces significant challenges related to the control of the robot’s motion and the accuracy of its movements. In particular, the inverse kinematics (IK) problem is critical for robot-assisted minimally invasive surgery (RMIS), where satisfying the remote center of motion (RCM) constraint is essential to prevent tissue damage at the incision point. Several IK strategies have been proposed for RMIS, including classical inverse Jacobian IK and optimization-based approaches. However, these methods have limitations and perform differently depending on the kinematic configuration. To address these challenges, we propose a novel concurrent IK framework that combines the strengths of both approaches and explicitly incorporates RCM constraints and joint limits into the optimization process. In this paper, we present the design and implementation of concurrent inverse kinematics solvers, as well as experimental validation in both simulation and real-world scenarios. Concurrent IK solvers outperform single-method solvers, achieving a 100% solve rate and reducing the IK solving time by up to 85% for an endoscope positioning task and 37% for a tool pose control task. In particular, the combination of an iterative inverse Jacobian method with a hierarchical quadratic programming method showed the highest average solve rate and lowest computation time in real-world experiments. Our results demonstrate that concurrent IK solving provides a novel and effective solution to the constrained IK problem in RMIS applications. Full article
(This article belongs to the Special Issue Sensor-Based Surgical and Medical Robotics: Challenges and Opportunities)
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20 pages, 7564 KiB  
Article
Design and Performance Verification of a Novel RCM Mechanism for a Minimally Invasive Surgical Robot
by Hu Shi, Zhixin Liang, Boyang Zhang and Haitao Wang
Sensors 2023, 23(4), 2361; https://doi.org/10.3390/s23042361 - 20 Feb 2023
Cited by 4 | Viewed by 2164
Abstract
Minimally invasive surgical robots have the advantages of high positioning accuracy, good stability, and flexible operation, which can effectively improve the quality of surgery and reduce the difficulty for doctors to operate. However, in order to realize the translation of the existing RCM [...] Read more.
Minimally invasive surgical robots have the advantages of high positioning accuracy, good stability, and flexible operation, which can effectively improve the quality of surgery and reduce the difficulty for doctors to operate. However, in order to realize the translation of the existing RCM mechanism, it is often necessary to add a mobile unit, which is often bulky and occupies most space above the patient’s body, thus causing interference to the operation. In this paper, a new type of planar RCM mechanism is proposed. Based on this mechanism, a 3-DOF robotic arm is designed, which can complete the required motion for surgery without adding a mobile unit. In this paper, the geometric model of the mechanism is first introduced, and the RCM point of the mechanism is proven during the motion process. Then, based on the establishment of the geometric model of the mechanism, a kinematics analysis of the mechanism is carried out. The singularity, the Jacobian matrix, and the kinematic performance of the mechanism are analyzed, and the working space of the mechanism is verified according to the kinematic equations. Finally, a prototype of the RCM mechanism was built, and its functionality was tested using a master–slave control strategy. Full article
(This article belongs to the Special Issue Sensor-Based Surgical and Medical Robotics: Challenges and Opportunities)
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