Dataset Information

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.

ABSTRACT: Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surgery was presented to keep the tool-to-vessel forces and tool-to-sclera forces below prescribed thresholds. A cannulation tool and forceps with dual force-sensing capability were developed and used to measure force information fed into the robot controller, which was implemented on existing Steady Hand Eye Robot platforms. The robotic system facilitates retinal vein cannulation by allowing a user to grasp the target vessel with the forceps and then enter the vessel with the cannula. The system was evaluated on an eye phantom. The results showed that, while the eyeball was subjected to rotational disturbances, the proposed controller actuates the robotic manipulators to maintain the average tool-to-vessel force at 10.9 mN and 13.1 mN and the average tool-to-sclera force at 38.1 mN and 41.2 mN for the cannula and the forcpes, respectively. Such small tool-to-tissue forces are acceptable to avoid retinal tissue injury. Additionally, two clinicians participated in a preliminary user study of the bimanual cannulation demonstrating that the operation time and tool-to-tissue forces are significantly decreased when using the bimanual robotic system as compared to freehand performance.

SUBMITTER: He C

PROVIDER: S-EPMC7943036 | biostudies-literature | 2020 May-Aug

REPOSITORIES: biostudies-literature

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Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.

He Changyan C Ebrahimi Ali A Yang Emily E Urias Muller M Yang Yang Y Gehlbach Peter P Iordachita Iulian I

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation 20200501

Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surgery was presented to keep the tool-to-vessel forces and tool-to-sclera forces below prescribed thres ...[more]

PMID: 33692911

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Project description:BACKGROUND:Several daily living activities require people to coordinate the motion and the force produced by both arms, using their position sense and sense of effort. However, to date, the interaction in bimanual tasks has not been extensively investigated. METHODS:We focused on bimanual tasks where subjects were required: (Experiment 1) to move their hands until reaching the same position - equal hand position implied identical arm configurations in joint space - under different loading conditions;(Experiment 2) to produce the same amount of isometric force by pushing upward, with their hands placed in symmetric or asymmetric positions. The arm motions and forces required for accomplishing these tasks were in the vertical direction. We enrolled a healthy population of 20 subjects for Experiment 1 and 25 for Experiment 2. Our primary outcome was the systematic difference between the two hands at the end of each trial in terms of position for Experiment 1 and force for Experiment 2. In both experiments using repeated measure ANOVA we evaluated the effect of each specific condition, namely loading in the former case and hand configuration in the latter. RESULTS:In the first experiment, the difference between the hands' positions was greater when they were concurrently loaded with different weights. Conversely, in the second experiment, when subjects were asked to exert equal forces with both arms, the systematic difference between left and right force was not influenced by symmetric or asymmetric arm configurations, but by the position of the left hand, regardless of the right hand position. The performance was better when the left hand was in the higher position. CONCLUSIONS:The experiments report the reciprocal interaction between position sense and sense of effort inbimanual tasks performed by healthy subjects. Apart for the intrinsic interest for a better understanding of basic sensorimotor processes, the results are also relevant to clinical applications, for defining functional evaluation and rehabilitative protocols for people with neurological diseases or conditions that impair the ability to sense and control concurrently position and force.

Project description:Coordinated bimanual control depends on information processing in different intra- and interhemispheric networks that differ with respect to task symmetry and laterality of execution. Aging and age-related cognitive impairments, but also sex can have detrimental effects on connectivity of these networks. We therefore expected effects of age, cognitive function and sex on bimanual force coordination. We furthermore expected these effects to depend on the characteristics of the task (i.e., difficulty and symmetry). 162 right handed participants (19 younger adults [YA], 21-30 years, 9 females; 52 cognitively healthy older adults [HOA], 80-91 years, 32 females; and 91 older adults with mild cognitive impairments [MCI] 80-91 years, 37 females) performed isometric bimanual force control tasks that required following constant or alternating (cyclic sine-wave) targets and varied in symmetry, i.e., (i) constant symmetric, asymmetric [with constant left and alternating right (ii) or vice versa (iii)], (iv) alternating in- and (v) alternating antiphase (both hands alternating with 0° or 180° relative phase, respectively). We analyzed general performance (time on target), bimanual coordination as coupling between hands (linear correlation coefficient) and structure of variability (i.e., complexity measured through detrended fluctuation analysis). Performance and coupling strongly depended on task symmetry and executing hand, with better performance in symmetric tasks and in asymmetric tasks when the left hand produced a constant and the right hand an alternating force. HOA and MCI, compared to YA, showed poorer performance (time on target) and reduced coupling in in- and antiphase tasks. Furthermore, both groups of OA displayed less complex structure in alternating force production tasks, a marker of reduced control. In addition, we found strong sex effects with females displaying reduced coupling during in- and antiphase coordination and less complex variably structure in constant force production. Results of this study revealed strong effects of age, but also sex on bimanual force control. Effects depended strongly on task symmetry and executing hand, possibly due to different requirements in interhemispheric information processing. So far, we found no clear relationship between behavioral markers of bimanual force control and age-related cognitive decline (compared to healthy aging), making further investigation necessary.

Project description:BackgroundNoisy galvanic vestibular stimulation (nGVS) has been shown to improve motor performance in people with and without disabilities. Previous investigations on the use of nGVS to improve upper-limb motor performance have focused on unimanual fine motor movements, nevertheless, bimanual gross movements are also essential for conducting activities of daily living and can be affected as a result of cerebral dysfunction. Consequently, in this study we investigated the effects of nGVS on bimanual gross motor performance.MethodsTwelve healthy participants completed a visuomotor task in which they performed bimanual upper-limb movements using two robots. During the task, participants tracked a target that oscillated following a sinusoidal amplitude-modulated trajectory. In half of the trials, participants received subthreshold nGVS, in the other half, they received sham stimulation. Primary outcome measure: percent improvement in root mean square error (RMSE) between the target's and cursors' trajectories. Secondary outcome measures: percent improvement in lag between the cursors and target; and percent improvement in RMSE between the cursors' trajectories. A post-test questionnaire was administered to evaluate the experience of participants.ResultsTracking error was not affected by nGVS: left -2.6(5.5)%, p = 0.128; right -0.9(6.2)%, p = 0.639; nor was bimanual coordination -1.5(9.6)%, p = 0.590. When comparing if one hand was affected more than the other, we did not find a statistically significant difference (-1.7(3.3)%, p = 0.098). Similar results were found for the lag. Questionnaire results indicated that the robotic devices did not limit participants' movements, did not make participants feel unsafe, nor were they difficult to control. Furthermore, participants did not feel unsafe with the nGVS device, nor did they report any discomfort due to nGVS.ConclusionResults suggest that nGVS applied to people without disabilities do not affect bimanual gross motor performance. However, as this was the first study to investigate such effects, stimulation parameters were based on previous unimanual fine motor studies. Future studies should investigate optimal stimulation parameters for improving upper-limb gross motor performance. Overall, participants felt safe using the robotic devices and receiving the noisy electrical stimulation. As such, a similar setup could potentially be employed for subsequent studies investigating the relation between upper-limb performance and nGVS.

Dataset Information

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.

Publications

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.

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