Human-Machine Interfaces in Medical Robotics.

Format:

Book

Author/Creator:

Huang, Yanpei.

Contributor:

ScienceDirect (Online service)

Language:

English

Subjects (All):

Robotics in medicine.

Surgical robots.

Physical Description:

1 online resource (304 pages)

Edition:

1st ed.

Place of Publication:

Chantilly : Elsevier Science & Technology, 2025.

Contents:

Front Cover

Human-Machine Interfaces in Medical Robotics

Copyright

Contents

Contributors

Introduction

1 Human-machine interfaces (HMIs) in medical robotics

2 About this book

Human, machine, and interface

Organization of this book

3 Trends of HMI in medical robotics

Wearable HMI for everyday life and home-use medical robots

Personalization of HMIs in medical devices

AI-driven HMIs in medical robotics

AR/VR-enhanced HMIs in medical robotics

References

1 Human-machine interfaces for robotic surgery

1.1 Introduction

1.2 HMI in current robotic surgical systems

1.2.1 HMI in rigid laparoscopic surgical robots

1.2.2 HMI in flexible endoscopic surgical robots

1.2.3 HMI in microsurgery robots

1.3 Design considerations for HMI in advanced SRS

1.3.1 Distal force sensing

1.3.2 Miniature actuators for haptic feedback

1.3.3 Wearable interfaces and motion tracking using cameras

1.3.4 AI assistance

1.4 Evaluation matrix for HMI in SRS

1.5 Future directions

Acknowledgments

2 Neuromechanical modeling and rehabilitation exoskeletons for human upper limbs

2.1 Biomechanical modeling of human upper limbs

2.1.1 Skeleton model

2.1.2 Musculoskeletal model

2.1.3 Computationally aided model

2.1.3.1 OpenSim

2.1.3.2 AnyBody

2.1.3.3 BoB

2.1.3.4 SIMM-SD/Fast

2.1.3.5 Comparison and discussion

2.2 Neural controller of human upper limbs

2.2.1 Impedance control

2.2.2 Optimal control

2.2.3 Model predictive control

2.3 Mechatronics design of upper-limb rehabilitation exoskeletons

2.3.1 Mechanical design

2.3.1.1 Considerations of human arm biomechanics in upper-limb rehabilitation exoskeleton design

2.3.1.2 Joints and DoF in upper-limb rehabilitation exoskeletons

2.3.2 Material selection

2.3.2.1 Metal materials.

2.3.2.2 Plastic materials

2.3.2.3 Plastic materials

2.3.3 Actuation systems

2.3.3.1 Electric motors

2.3.3.2 Series elastic actuators

2.3.3.3 Hydraulic motors

2.3.3.4 Pneumatic motors

2.3.4 Power transmission

2.3.4.1 Rigid exoskeletons

2.3.4.2 Flexible exoskeletons

2.3.5 Portability and wearability

2.4 Control strategy of upper-limb rehabilitation exoskeletons for stroke patients

2.4.1 Brunnstrom stages of recovery

2.4.1.1 Stage 1: flaccidity

2.4.1.2 Stage 2: beginning synergies with emerging spasticity

2.4.1.3 Stage 3: dominant spasticity with synergistic movements

2.4.1.4 Stage 4: reduced spasticity with emerging isolated movements

2.4.1.5 Stage 5: increasing voluntary control and complex coordination

2.4.1.6 Stage 6: near-normal coordinated movement

2.4.2 Brunnstrom upper-limb rehabilitation strategies

2.4.3 Rehabilitation modes of upper-limb rehabilitation exoskeletons

2.4.3.1 Assistive mode

2.4.3.2 Corrective mode

2.4.3.3 Resistive mode

3 Hands-free interface for human motion augmentation

3.1 Introduction

3.2 Existing hands-free body interfaces

3.2.1 Head interface

3.2.2 Finger interface

3.2.3 Foot interface

3.2.4 Other interfaces

3.3 Design of the hands-free body interface

3.3.1 Design objective

3.3.2 Input selection and sensing

3.3.3 Recognition and mapping

3.4 Evaluation of hands-free human-machine interface

3.4.1 Functionality of the third tool

3.4.2 Experiment comparisons

3.4.3 Experiment protocol

3.4.4 Measures and data analysis

3.4.4.1 Objective measures

3.4.4.2 Subjective measures

3.4.5 Evaluation population and ethics

3.5 Case study: development of an intuitive 4-DoF foot interface controlling the surgical endoscope

3.5.1 Design overview

3.5.2 Body-gesture selection.

3.5.2.1 Minimizing human effort

3.5.2.2 Repeatability and accuracy

3.5.2.3 Foot movements to control a flexible endoscope

3.5.3 Input and sensing

3.5.4 Mechanical structure

3.5.5 Motor command computation

3.5.6 Evaluation

3.5.6.1 Endoscope control experiment

3.5.6.2 Three-hand surgery experiment

3.6 Summary and visions

4 Soft robotics: a compliant approach for human-machine interactions

4.1 Introduction

4.2 Soft robotic components

4.2.1 Soft actuators

Fluid-power actuation

Dielectric elastomer actuators

Jamming actuators

Tendon-driven and concentric tube actuators

Externally stimulated actuators

Comparison and selection guidelines for soft actuation technologies

4.2.2 Soft sensors

Pressure-based sensors

Piezoresistive/piezoelectric sensors

Optical sensors

Magnetic sensors

Comparison and selection guide

4.3 Soft robotics applications in medical human-robot interactions

4.3.1 Soft surgical robots and MIS

4.3.2 Implants and ingestible robots

4.3.3 Rehabilitation, assistance devices, and prostheses

4.3.4 Haptic interfaces and medical simulators

4.4 Model and control of soft robots

4.4.1 Modeling of soft robots

4.4.2 Control strategies for soft robots

4.5 Challenges, vision, and conclusion

Current trends and challenges

Future vision and the role of embodied intelligence

Conclusion

5 Human-robot shared teleoperation

5.1 Introduction

5.2 Multiple coordination on the local side

5.2.1 Kalman filter module

5.2.2 DDPG-based latency compensator

5.2.3 Simulation and experiment

5.3 Copilot remote collaboration

5.3.1 Multi-operator command fusion

5.3.2 DDPG-based prediction and arbitration

5.3.3 IT2 fuzzy identification-based force estimator

5.3.4 Simulation and experiment.

5.3.4.1 Dual-pilot collaboration

5.3.4.2 Triple-pilot collaboration with time delay

5.4 Conclusion

5.4.1 Limitations

5.4.2 Opportunities and vision

6 Constraint control of teleoperation with prescribed performance

6.1 Introduction

6.2 Multilateral collaborative teleoperation with self-tuning authority and prescribed constraint performance

6.2.1 Interval type-2 polynomial-fuzzy-model-based teleoperation

6.2.2 Critic neural network-based arbitration

6.2.3 Controller design

6.2.4 Stability analysis

6.2.5 Simulation and experiments

6.2.5.1 Simulation results

6.2.5.2 Experiment setup

6.2.5.3 Experiment results

6.3 Anthropomorphic dual-arm coordinated control for a single-port surgical robot

6.3.1 Problem analysis

6.3.1.1 Mechanism constraints

6.3.1.2 Limitation of traditional teleoperation

6.3.1.3 Solvability foundation

6.3.2 Dual-step optimization approach

6.3.3 Dual-step optimization approach based anthropomorphic coordination

6.3.3.1 Anthropomorphic configuration concept

6.3.3.2 Anthropomorphic criterion configuration definition

6.3.3.3 Anthropomorphic coordinated control strategy

6.3.4 Simulation results

6.3.5 Summary

6.4 Conclusion

6.4.1 Limitations

6.4.2 Opportunities and vision

7 Human motor adaptation and control with multisensory feedback

7.1 Introduction

7.2 Human adaptation with multisensory feedback

7.2.1 Visuo-haptic sensory feedback from human-to-human interaction

7.2.1.1 Introducing haptic feedback could improve performance

7.2.1.2 The influence of coupling stiffness

7.2.1.3 Interaction force pattern in motor communication

7.2.1.4 Interaction with multiple partners

7.2.1.5 Influence of performance by collaboration modes

7.2.1.6 Visuo-haptic adaptation in lower limb.

7.2.2 Visuo-haptic feedback from interacting with a robotic partner

7.2.3 Visuo-haptic feedback integration with sensory noise

7.3 Human motor control models for sensorimotor adaptation

7.3.1 Overview of human motor control

7.3.2 Learning-based force and impedance adaptation models

7.3.2.1 Tracking error minimization

7.3.2.2 Optimal information and effort

7.3.3 Human motor control with sensorimotor noise

7.3.3.1 Linear-quadratic Gaussian control (LQG) with multisensory integration

7.3.3.2 Extended linear-quadratic Gaussian control

7.3.3.3 Stochastic optimal open-loop control

7.4 Conclusion and vision

8 Electrical neurostimulation for treatment of motor disorders

8.1 Introduction

8.2 Principles of neuromodulation

8.2.1 Direct activation of action potentials

8.2.2 Modulation of neuronal excitability

8.2.3 Neuroplastic changes

8.2.4 Spatial selectivity and volume of tissue activated

8.2.5 Conclusion

8.3 Stimulation techniques

8.3.1 Functional electrical stimulation

8.3.1.1 Mechanism of action

8.3.1.2 Hardware components

8.3.1.3 Current technology and clinical adoption

8.3.1.4 Challenges and future directions

8.3.2 Spinal cord stimulation

8.3.2.1 Mechanism of action

8.3.2.2 Hardware components

8.3.2.3 Current technology and clinical adoption

8.3.2.4 Challenges and future directions

8.3.3 Deep brain stimulation (DBS)

8.3.3.1 Mechanism of action

8.3.3.2 Hardware components

8.3.3.3 Current technology and clinical adoption

8.3.3.4 Challenges and future directions

8.3.4 Summary

8.4 Stimulation control strategies and case studies

8.4.1 Classification

8.4.2 Loop structure

8.4.3 Model knowledge

8.4.4 Adaptation

8.4.5 Case studies

8.4.5.1 Posture-responsive spinal cord stimulation (SCS) system for chronic pain management.

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ISBN:

0443137242

9780443137242

Publisher Number:

90104329287

Access Restriction:

Restricted for use by site license.