Investigation of adaptive muscle synergy modulated motor responses to grasping perturbations.

This study investigated how muscle synergies adapt in response to unexpected changes in object weight during lifting tasks. The aim was to discover which motor control strategies individuals use to maintain their grasping performance. Muscle synergies were extracted from the muscle activity of fifteen healthy participants who lifted objects of identical appearance but varying weights in a randomized order, which introduced artificial perturbations. Reaching and manipulation phases of object lifting were analyzed using constrained non-negative matrix factorization and k-means clustering. Participants exhibited a perturbation-independent and thus consistent recruitment of spatial synergy components, while significant adaptations in muscle synergy activation occurred in response to unexpected perturbations. Perturbations caused by unexpectedly heavy objects led to delayed and gradual increases in muscle synergy activation until the force required to lift the object was reached. In contrast, perturbations caused by lighter objects led to reductions in excess muscle synergy activation occurring later. Sensorimotor control maintains the modularity of muscle synergies. Even when external mechanical perturbations occur, the grasping performance is preserved, and control is adapted solely through muscle synergy activation. These results suggest that using pure spatial synergy components as control signals for myoelectric arm prostheses may prevent them from malfunctioning due to external perturbations.

Deep-learning-based instrument detection for intra-operative robotic assistance.

PURPOSE: Robotic scrub nurses have the potential to become an attractive solution for the operating room. Surgical instrument detection is a fundamental task for these systems, which is the focus of this work. We address the detection of the complete surgery set for wisdom teeth extraction, and propose a data augmentation technique tailored for this task. METHODS: Using a robotic scrub nurse system, we create a dataset of 369 unique multi-instrument images with manual annotations. We then propose the Mask-Based Object Insertion method, capable of automatically generating a large amount of synthetic images. By using both real and artificial data, different Mask R-CNN models are trained and evaluated. RESULTS: Our experiments reveal that models trained on the synthetic data created with our method achieve comparable performance to that of models trained on real images. Moreover, we demonstrate that the combination of real and our artificial data can lead to a superior level of generalization. CONCLUSION: The proposed data augmentation technique is capable of dramatically reducing the labelling work required for training a deep-learning-based detection algorithm. A dataset for the complete instrument set for wisdom teeth extraction is made available for the scientific community, as well as the raw information required for the generation of the synthetic data ( https://github.com/Jorebs/Deep-learning-based-instrument-detection-for-intra operative-robotic-assistance ).

Computational Analysis of the Droplet-Stimulated Laryngeal Adductor Reflex in High-Speed Sequences.

OBJECTIVES/HYPOTHESIS: The laryngeal adductor reflex (LAR) is an important protective mechanism of the airways. Its physiology is still not completely understood. The available methods for LAR evaluation offer limited reproducibility and/or rely on subjective interpretation. A new approach, termed Microdroplet Impulse Testing of the LAR (MIT-LAR), was recently introduced. Here, the LAR is elicited by a droplet and a laryngoscopic high-speed recording is acquired simultaneously. In the present work, image-processing algorithms for autonomous MIT-LAR sequence analysis were developed. This allowed the automated approximation of kinematic LAR parameters in humans. STUDY DESIGN: Development and testing of computational methods. METHODS: Computational image processing enabled the autonomous estimation of the glottal area, the glottal angle, and the vocal fold edge distance in MIT-LAR sequences. A suitable analytical representation of these glottal parameters allowed the extraction of seven relevant LAR parameters. The obtained values were compared to the literature. RESULTS: A generalized logistic function showed the highest average goodness of fit among four different analytical approaches for each of the glottal parameters. Autonomous sequence analysis yielded bilateral LAR response latencies of (229 ± 116) ms and (182 ± 60) ms for cases of complete and incomplete glottal closure, respectively. The initial/average/maximum angular vocal fold adduction velocity was estimated at (157 ± 115) °s-1 /(891 ± 516) °s-1 /(929 ± 583) °s-1 and (88 ± 53) °s-1 /(421 ± 221) °s-1 /(520 ± 238) °s-1 for complete and incomplete glottal closure, respectively. CONCLUSION: The automated extraction of LAR parameters from laryngoscopic high-speed sequences can potentially increase the objectiveness of optical LAR characterization and reduce the associated workload. The proposed methods may thus be helpful for future research on this vital reflex. LEVEL OF EVIDENCE: NA Laryngoscope, 132:2412-2419, 2022.