Design and Experimental Validation of a 3D-Printed Embedded-Sensing Continuum Robot for Neurosurgery.

A minimally-invasive manipulator characterized by hyper-redundant kinematics and embedded sensing modules is presented in this work. The bending angles (tilt and pan) of the robot tip are controlled through tendon-driven actuation; the transmission of the actuation forces to the tip is based on a Bowden-cable solution integrating some channels for optical fibers. The viability of the real-time measurement of the feedback control variables, through optoelectronic acquisition, is evaluated for automated bending of the flexible endoscope and trajectory tracking of the tip angles. Indeed, unlike conventional catheters and cannulae adopted in neurosurgery, the proposed robot can extend the actuation and control of snake-like kinematic chains with embedded sensing solutions, enabling real-time measurement, robust and accurate control of curvature, and tip bending of continuum robots for the manipulation of cannulae and microsurgical instruments in neurosurgical procedures. A prototype of the manipulator with a length of 43 mm and a diameter of 5.5 mm has been realized via 3D printing. Moreover, a multiple regression model has been estimated through a novel experimental setup to predict the tip angles from measured outputs of the optoelectronic modules. The sensing and control performance has also been evaluated during tasks involving tip rotations.

Detection of Suspicious Cardiotocographic Recordings by Means of a Machine Learning Classifier.

Cardiotocography (CTG) is one of the fundamental prenatal diagnostic methods for both antepartum and intrapartum fetal surveillance. Although it has allowed a significant reduction in intrapartum and neonatal mortality and morbidity, its diagnostic accuracy is, however, still far from being fully satisfactory. In particular, the identification of uncertain and suspicious CTG traces remains a challenging task for gynecologists. The introduction of computerized analysis systems has enabled more objective evaluations, possibly leading to more accurate diagnoses. In this work, the problem of classifying suspicious CTG recordings was addressed through a machine learning approach. A machine-based labeling was proposed, and a binary classification was carried out using a support vector machine (SVM) classifier to distinguish between suspicious and normal CTG traces. The best classification metrics showed accuracy, sensitivity, and specificity values of 92%, 92%, and 90%, respectively. The main results were compared both with results obtained by considering a more unbalanced dataset and with relevant literature studies in the field. The use of the SVM proved to be promising in the field of CTG classification. However, appropriate feature selection and dataset balancing are crucial to achieve satisfactory performance of the classifier.