Robotic-Arm-Based Force Control by Deep Deterministic Policy Gradient in Neurosurgical Practice

Review Medicine, General & Internal

Non-Invasive Intracranial Pressure Monitoring

Sebastian Johannes Mueller et al.

JOURNAL OF CLINICAL MEDICINE (2023)

Article Mathematics

Robotic-Arm-Based Force Control in Neurosurgical Practice

Ibai Inziarte-Hidalgo et al.

Summary: This research proposes an optimal robotic arm speed shape in neurological surgery to minimise a cost functional that uses an adaptive scheme to determine the brain tissue force. Until now, there have been no studies or theories on the shape of the robotic arm speed in such a context. The authors have applied a robotic arm with optimal speed control in neurological surgery. The results of this research are as follows: In this article, the authors propose a control scheme that minimises a cost functional which depends on the position error, trajectory speed and brain tissue force. This work allowed us to achieve an optimal speed shape or trajectory to reduce brain retraction damage during surgery. The authors have reached two main conclusions. The first is that optimal control techniques are very well suited for robotic control of neurological surgery. The second conclusion is that several studies on functional cost parameters are needed to achieve the best trajectory speed of the robotic arm. These studies could attempt to optimise the functional cost parameters and provide a mechanical characterisation of brain tissue based on real data.

MATHEMATICS (2023)

Add to Collection

Article Engineering, Electrical & Electronic

A Dynamic Pole Motion Approach for Control of Nonlinear Hybrid Soft Legs: A Preliminary Study

Ki-Young Song et al.

Summary: In this study, dynamic pole motion (DPM) and error-based adaptive controller (E-BAC) were used to analyze and control a nonlinear hybrid soft leg system. By selecting proper parameters and continuously varying feedback, this method achieved a fast response with no overshoot.

MACHINES (2022)

Add to Collection

Review Clinical Neurology