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Applied Sciences
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Frontiers in Medical Robotics
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Frontiers in Medical Robotics

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: closed (10 October 2022) | Viewed by 16576

Special Issue Editor

Prof. Dr. Byung-Ju Yi

E-Mail Website
Guest Editor
Department of Electronic System Engineering, Hanyang University, Seoul, Korea
Interests: surgical robot design; flexible end-effector design; registration algorithm
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

This Special Issue of Applied Sciences aims at publishing a collection of research contributions illustrating the recent achievements in all aspects of the development, study, and understanding of medical robotics. We hope to establish a collection of papers that will be of interest to scholars in the field. Contributions in the form of full papers, reviews, and communications focused on the related topics are very welcome. Potential topics include, but are not limited to, the following:

  • Robotics technology for COVID-19;
  • Surgical robotics and instrumentation;
  • Rehabilitation robotics and instrumentation;
  • Medical imaging;
  • Surgical navigation;
  • Surgical simulation and education;
  • Computer-aided diagnosis;
  • Computer-assisted radiation therapy;
  • Computer-assisted orthopedic and spinal surgery;
  • Computer-assisted ENT surgery;
  • Image-guided neurosurgery;
  • Image- and model-guided therapy;
  • Digital operating room;
  • Computed maxillofacial imaging;
  • Image processing and visualization;
  • Minimally invasive surgery;
  • Regulatory science for CAS;
  • Personalized medicine;
  • Telemedicine and e-health;
  • Microsurgery;
  • AI for CAS.

Prof. Dr. Byung-Ju Yi
Guest Editor

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. Applied Sciences 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 2400 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 (5 papers)

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Research

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15 pages, 7754 KiB  
Article
Calibration Method of Projectional Geometry for X-ray C-arm Fluoroscopy Using Sinogram Data
by Donggi Lee and Sungmin Kim
Appl. Sci. 2022, 12(15), 7543; https://0-doi-org.brum.beds.ac.uk/10.3390/app12157543 - 27 Jul 2022
Viewed by 1736
Abstract
X-ray imaging represents the most commonly used imaging modality in X-ray-guided vascular intervention procedures. Computed tomography (CT) data ensure that the procedure is performed accurately and safely by providing medical staff with positional information of the body part before starting the procedure. In [...] Read more.
X-ray imaging represents the most commonly used imaging modality in X-ray-guided vascular intervention procedures. Computed tomography (CT) data ensure that the procedure is performed accurately and safely by providing medical staff with positional information of the body part before starting the procedure. In particular, accurate geometric information of the imaging equipment is essential to accurately calculate the three-dimensional (3D) position of catheters used in delicate operations. However, it is difficult to gather this information before surgery. Therefore, this study proposes a novel calibration method that can be used immediately before a procedure and can guarantee the stability of the procedure. The calibration was performed without additional radiography using sinogram data obtained during the 3D CT imaging process, and both the accuracy and calculation time available in the vascular intervention theater were allowable. The experimental results show that the best angular conditions in terms of calculations and accuracy are between −40 and 40 degrees in angular range and 1.6 degrees in angular interval. Consequently, we achieved a calculation time of 2.92 s and an average accuracy of 0.36 mm, thus meeting our goal of accuracy below 1 mm within a minute of computational time. Full article
(This article belongs to the Special Issue Frontiers in Medical Robotics)
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12 pages, 14181 KiB  
Article
Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps
by Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto and Jumpei Arata
Appl. Sci. 2022, 12(5), 2480; https://0-doi-org.brum.beds.ac.uk/10.3390/app12052480 - 27 Feb 2022
Cited by 6 | Viewed by 2106
Abstract
Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems [...] Read more.
Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges. Full article
(This article belongs to the Special Issue Frontiers in Medical Robotics)
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12 pages, 3855 KiB  
Article
A Novel Distal Interlocking Screw Guidance System Using a Laser Pointer and a Mechanical Fine-Adjustment Device
by Binxiang Xu, Liming An and Seong Young Ko
Appl. Sci. 2021, 11(23), 11109; https://0-doi-org.brum.beds.ac.uk/10.3390/app112311109 - 23 Nov 2021
Viewed by 1657
Abstract
In minimally invasive bone fracture reduction surgery, broken femur bones are firmly fixed to a metallic intramedullary nail (IMN) after they are properly aligned. One of the greatest challenges of this process is that surgeons cannot directly see holes on the IMN, which [...] Read more.
In minimally invasive bone fracture reduction surgery, broken femur bones are firmly fixed to a metallic intramedullary nail (IMN) after they are properly aligned. One of the greatest challenges of this process is that surgeons cannot directly see holes on the IMN, which increases the difficulty of the procedure and results in the requirement of taking a large number of X-ray images to find the location and direction of holes. We propose a novel distal interlocking screw guidance system that consists of a parallel guidance system using a laser pointer (PGSLP) and a mechanical fine-adjustment device (FAD). The PGSLP is used to make the planes of the C-arm and FAD parallel. The FAD is used to concentrically align the IMN hole with the guiding hole. The performance of the proposed device was evaluated by a series of experiments. The tilted angle error between the C-arm and FAD was measured to be 1.24 ± 0.715°. The translational error between the IMN hole and guiding hole was measured to be 0.378 ± 0.120 mm. Since the proposed guiding system is simple, cost-effective, and accurate, we expect it will soon be used in real operations. Full article
(This article belongs to the Special Issue Frontiers in Medical Robotics)
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16 pages, 46186 KiB  
Article
In Vivo Usability Test of Vascular Intervention Robotic System Controlled by Two Types of Master Devices
by Hwa-Seob Song, Jae-Hong Woo, Jong-Yun Won and Byung-Ju Yi
Appl. Sci. 2021, 11(12), 5453; https://0-doi-org.brum.beds.ac.uk/10.3390/app11125453 - 11 Jun 2021
Cited by 8 | Viewed by 2939
Abstract
Conventional vascular intervention (VI) procedures are typically performed manually under exposure to X-rays, whereby several problems are presented that need to be addressed owing to the patients and doctors being exposed to large amounts of radiation. In such cases, employing radiation protection units [...] Read more.
Conventional vascular intervention (VI) procedures are typically performed manually under exposure to X-rays, whereby several problems are presented that need to be addressed owing to the patients and doctors being exposed to large amounts of radiation. In such cases, employing radiation protection units is not a long-term solution to avoid physical damage. Therefore, to overcome these issues, we propose a robotic VI system in this study. Moreover, we compare the extent of radiation exposure in the case of the conventional manual VI procedure with that in the case of the robotic procedure. The radiation exposure is then analyzed from the perspective of the doctor. Subsequently, the results of usability tests for two proposed master devices are presented in terms of the NASA task load index (NASA-TLX) and the system usability scale (SUS) score. To verify the effectiveness of the robotic VI system, animal experiments are conducted using a pig model. Among the two types of master devices tested with the proposed robotic VI system, the ergonomically designed 2-degree-of-freedom master device is found to be more effective than the joystick-type device in terms of the usability test scores. Hence, the proposed robotic VI procedure is shown to be advantageous in terms of reducing radiation exposure and improving usability. Full article
(This article belongs to the Special Issue Frontiers in Medical Robotics)
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Review

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16 pages, 5126 KiB  
Review
Robotics in Gastrointestinal Endoscopy
by Sang-Hyun Kim, Hyuk-Soon Choi, Bora Keum and Hoon-Jai Chun
Appl. Sci. 2021, 11(23), 11351; https://0-doi-org.brum.beds.ac.uk/10.3390/app112311351 - 30 Nov 2021
Cited by 5 | Viewed by 6722
Abstract
Recent advances in endoscopic technology allow clinicians to not only detect digestive diseases early, but also provide appropriate treatment. The development of various therapeutic endoscopic technologies has changed the paradigm in the treatment of gastrointestinal diseases, contributing greatly to improving the quality of [...] Read more.
Recent advances in endoscopic technology allow clinicians to not only detect digestive diseases early, but also provide appropriate treatment. The development of various therapeutic endoscopic technologies has changed the paradigm in the treatment of gastrointestinal diseases, contributing greatly to improving the quality of life of patients. The application of robotics for gastrointestinal endoscopy improves the maneuverability and therapeutic ability of gastrointestinal endoscopists, but there are still technical limitations. With the development of minimally invasive endoscopic treatment, clinicians need more sophisticated and precise endoscopic instruments. Novel robotic systems are being developed for application in various clinical fields, to ultimately develop into minimally invasive robotic surgery to lower the risk to patients. Robots for endoscopic submucosal dissection, autonomous locomotive robotic colonoscopes, and robotic capsule endoscopes are currently being developed. In this review, the most recently developed innovative endoscopic robots were evaluated according to their operating mechanisms and purpose of use. Robotic endoscopy is an innovative treatment platform for future digestive endoscopy. Full article
(This article belongs to the Special Issue Frontiers in Medical Robotics)
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