Inverse kinematics for upper limb compound movement estimation in exoskeleton-assisted rehabilitation

Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury) -- The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement -- The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton -- This approximation is rough since their kinematic structures differ -- Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup -- Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains -- EIKPE has been tested with single DOFmovements of the wrist and elbow joints -- This paper presents the assessment of EIKPEwith elbow-shoulder compoundmovements (i.e., object prehension) -- Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage) -- The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compoundmovement execution, especially for the shoulder joint angles -- This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types -

White and grey matter development in utero assessed using motion-corrected diffusion tensor imaging and its comparison to ex utero measures

Fetal brain diffusion tensor imaging (DTI) offers quantitative analysis of the developing brain. The objective was to 1) quantify DTI measures across gestation in a cohort of fetuses without brain abnormalities using full retrospective correction for fetal head motion 2) compare results obtained in utero to those in preterm infants. Motion-corrected DTI analysis was performed on data sets obtained at 1.5T from 32 fetuses scanned between 21.29 and 37.57 (median 31.86) weeks. Results were compared to 32 preterm infants scanned at 3T between 27.43 and 37.14 (median 33.07) weeks. Apparent diffusion coefficient (ADC) and fractional anisotropy (FA) were quantified by region of interest measurements and tractography was performed. Fetal DTI was successful in 84% of fetuses for whom there was sufficient data for DTI estimation, and at least one tract could be obtained in 25 cases. Fetal FA values increased and ADC values decreased with age at scan (PLIC FA: p = 0.001; R  = 0.469; slope = 0.011; splenium FA: p < 0.001; R  = 0.597; slope = 0.019; thalamus ADC: p = 0.001; R  = 0.420; slope = - 0.023); similar trends were found in preterm infants. This study demonstrates that stable DTI is feasible on fetuses and provides evidence for normative values of diffusion properties that are consistent with aged matched preterm infants

Planning and Registration Techniques for Image-Guided Robotic Spinal Surgery

This work presents the planning and guidance systems of a novel cooperative robot designed for spinal surgery. The latter has been developed for transpedicular fixation, a particular intervention consisting in the immobilisation of two or more vertebrae by means of screws and metal bars. Its conventional clinical protocols have high levels of invasiveness, increased radiation exposure, difficult visualisation of the surgical field and considerable probabilities of screw misplacement. All these problems could be solved by means of a surgical robotic assistant, which would work cooperatively with the surgeon providing stable and accurate instrument placement. A comprehensive review of the state-of-the-art in surgical robotics for spinal interventions is given in this thesis, focusing on the research done in the last ten years. This study shows that spinal surgical robotics is still in an early stage of development and faces considerable challenges, in particular reaching the theoretical accuracy level demanded by clinical studies. A novel surgical planning application is also presented in this thesis along with a new software library for 2D-3D registration. The latter is a key problem of the proposed robotic system, as it permits accurate localisation of the patient by matching his pre-operative (3D) data and intra-operative (2D) x-ray images. Despite that 2D-3D registration has been studied for many years, researchers were faced with a lack of appropriate software, which was effectively solved with the library presented in this work. 2D-3D registration involves the additional sub-problems of calibration and distortion correction of x-ray imaging devices. These were addressed in this thesis proposing a novel algorithm able to solve both, also providing precise reconstruction of 3D points from their 2D projections. The proposed method is simultaneously accurate, robust and fast, fitting well into the requirements of surgical applications. Finally, integration of the robotic system's components was studied in this thesis, reporting the first experimental results on phantoms. Despite that full integration with the presented 2D-3D registration methods has not been carried out, the robotic system was found to be accurate enough for surgical practice. Full integration and tests with cadavers or animals should be the subject of future works

Self-Calibrated In-Process Photogrammetry for Large Raw Part Measurement and Alignment before Machining

Photogrammetry methods are being used more and more as a 3D technique for large scale metrology applications in industry. Optical targets are placed on an object and images are taken around it, where measuring traceability is provided by precise off-process pre-calibrated digital cameras and scale bars. According to the 2D target image coordinates, target 3D coordinates and camera views are jointly computed. One of the applications of photogrammetry is the measurement of raw part surfaces prior to its machining. For this application, post-process bundle adjustment has usually been adopted for computing the 3D scene. With that approach, a high computation time is observed, leading in practice to time consuming and user dependent iterative review and re-processing procedures until an adequate set of images is taken, limiting its potential for fast, easy-to-use, and precise measurements. In this paper, a new efficient procedure is presented for solving the bundle adjustment problem in portable photogrammetry. In-process bundle computing capability is demonstrated on a consumer grade desktop PC, enabling quasi real time 2D image and 3D scene computing. Additionally, a method for the self-calibration of camera and lens distortion has been integrated into the in-process approach due to its potential for highest precision when using low cost non-specialized digital cameras. Measurement traceability is set only by scale bars available in the measuring scene, avoiding the uncertainty contribution of off-process camera calibration procedures or the use of special purpose calibration artifacts. The developed self-calibrated in-process photogrammetry has been evaluated both in a pilot case scenario and in industrial scenarios for raw part measurement, showing a total in-process computing time typically below 1 s per image up to a maximum of 2 s during the last stages of the computed industrial scenes, along with a relative precision of 1/10,000 (e.g. 0.1 mm error in 1 m) with an error RMS below 0.2 pixels at image plane, ranging at the same performance reported for portable photogrammetry with precise off-process pre-calibrated cameras

Proof‐of‐concept of a robotic‐driven photogrammetric scanner for intra‐operative knee cartilage repair

Abstract This work presents a proof‐of‐concept of a robotic‐driven intra‐operative scanner designed for knee cartilage lesion repair, part of a system for direct in vivo bioprinting. The proposed system is based on a photogrammetric pipeline, which reconstructs the cartilage and lesion surfaces from sets of photographs acquired by a robotic‐handled endoscope, and produces 3D grafts for further printing path planning. A validation on a synthetic phantom is presented, showing that, despite the cartilage smooth and featureless surface, the current prototype can accurately reconstruct osteochondral lesions and their surroundings with mean error values of 0.199 ± 0.096 mm but with noticeable concentration on areas with poor lighting or low photographic coverage. The system can also accurately generate grafts for bioprinting, although with a slight tendency to underestimate the actual lesion sizes, producing grafts with coverage errors of −12.2 ± 3.7, −7.9 ± 4.9, and −15.2 ± 3.4% for the medio‐lateral, antero‐posterior, and craneo‐caudal directions, respectively. Improvements in lighting and acquisition for enhancing reconstruction accuracy are planned as future work, as well as integration into a complete bioprinting pipeline and validation with ex vivo phantoms

Experience-based SEEG planning: from retrospective data to automated electrode trajectories suggestions

StereoElectroEncephaloGraphy (SEEG) is a minimally invasive technique that consists of the insertion of multiple intracranial electrodes to precisely identify the epileptogenic focus. The planning of electrode trajectories is a cumbersome and time-consuming task. Current approaches to support the planning focus on electrode trajectory optimisation based on geometrical constraints but are not helpful to produce an initial electrode set to begin with the planning procedure. In this work, the authors propose a methodology that analyses retrospective planning data and builds a set of average trajectories, representing the practice of a clinical centre, which can be mapped to a new patient to initialise planning procedure. They collected and analysed the data from 75 anonymised patients, obtaining 30 exploratory patterns and 61 mean trajectories in an average brain space. A preliminary validation on a test set showed that they were able to correctly map 90% of those trajectories and, after optimisation, they have comparable or better values than manual trajectories in terms of distance from vessels and insertion angle. Finally, by detecting and analysing similar plans, they were able to identify eight planning strategies, which represent the main tailored sets of trajectories that neurosurgeons used to deal with the different patient cases

A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait

The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton