Dr. Ren, together with Godwin, was invited to give a talk at IEEE IMBioC (International Microwave Biomedical Conference) 2022, on Kirigami Strain Sensors Using Conductive Trace and Radio Frequency Estimation for Robotics. Related webpages: http://www.nusri.cn/IMBioC2022/
Surgical motion generation and motion understanding towards augmented minimally invasive robotic procedures, Dr. Hongliang Ren
Minimally Invasive Surgeries emerging in modern medical treatment have brought new opportunities and challenges for procedure-specific surgical motion generation and the associated motion understanding, which are the foundation of intelligent robotic manipulation and guiding interventions. Image-guided robotic surgery is expected to increase the precision, flexibility, and repeatability of surgical procedures but poses challenges for medical training.
This talk will highlight some recent developments in dexterous robotic motion generation with motion understanding towards image-guided minimally invasive procedures. The procedure-specific telerobotic surgical systems can assist surgeons in performing dexterous manipulations using the master-slave console bilateral motion generation & mapping mechanism with variable stiffness.
Meanwhile, surgical motion understanding aims to learn from the multi-domain surgical perceptions and describe the semantic relationship between instruments and surgical region of interest. Automatically understanding the instrument motions in robotic surgery is crucial to enhance surgical outcomes, enable surgical camera automation, and facilitate surgical training. To that end, we generate the task-aware saliency maps and scanpath of the instruments beyond tracking and segmentation, similar to the surgeon’s visual perception, to get the priority focus on selected surgical instruments. Furthermore, generating a surgical report in robot-assisted surgery, together with surgical scene understanding, can play a significant role in document entry tasks, surgical training, and post-operative analysis.
Pilot Study of Trans-oral Robotics to Meet the Minimal Exposure Needs During Infectious Disease Pandemics, Dr. Hongliang Ren
Abstract: Swabbing tests have proved to be an effective method of diagnosis for a wide range of diseases. There are high risks of infection for surgeons during the face-to-face COVID-19 swab sampling due to the novel coronavirus’s infectivity. Teleoperated or self-administered swabs can mitigate potential occupational health hazards and reliance on healthcare workers during traditional swabbing procedures. We present some pilot studies on flexible transoral robotic approaches and mechanisms for swab sampling. One prospective robot comprises a flexible manipulator, an endoscope with a monitor, and a master device. A 3-prismatic-universal flexible parallel mechanism with 3 degrees of freedom (DOF) is used to realize the manipulator’s movements. The flexibility of the manipulator improves the safety of testees. Under the vision guidance from the endoscope, a master device can control the swab’s motion attached to the manipulator for sampling. We will also discuss other possible methods to apply closed kinematic chain theory to develop a self-administered viral swab to collect respiratory specimens. The proposed sensorized swab models utilizing hollow polypropylene tubes possess mechanical compliance, simple construction, and inexpensive components. These foldable telescopic structures with multiple kirigami cuts minimize components involved in the system as the characteristics are built directly into the material.
Congratulations to the following members for the papers accepted by ICRA2021 and presentations at pre-ICRA2021:
Menya Learning Domain Adaptation with Model Calibration for Surgical Report Generation in Robotic Surgery https://youtu.be/Eu-ryJ9OyTM
Godwin Chip-Less Wireless Sensing of Origami Structural Morphing under Various Mechanical Stimuli Using Home-Based Ink-Jet Printable Materials https://youtu.be/HXgW2S21OGI
Huxin Remote-Center-Of-Motion Recommendation Toward Brain Needle Intervention Using Deep Reinforcement Learning https://youtu.be/Py5Vw_hQryY
Bok Seng Origami-Inspired Snap-Through Bistability in Parallel and Curved Mechanisms through the Inflection of Degree Four Vertexes https://youtu.be/mCBPTVw5_kw
Changsheng A Miniature Manipulator with Variable Stiffness towards Minimally Invasive Transluminal Endoscopic Surgery https://youtu.be/b_zW9MHgG5g
Ruphan Multiphysics Simulation of Magnetically Actuated Robotic Origami Worms https://youtu.be/UCkLuhoN0ME