Learning Skill Characteristics From Manipulations.

Percutaneous coronary intervention (PCI) has increasingly become the main treatment for coronary artery disease. The procedure requires high experienced skills and dexterous manipulations. However, there are few techniques to model PCI skill so far. In this study, a learning framework with local and ensemble learning is proposed to learn skill characteristics of different skill-level subjects from their PCI manipulations. Ten interventional cardiologists (four experts and six novices) were recruited to deliver a medical guidewire to two target arteries on a porcine model for in vivo studies. Simultaneously, translation and twist manipulations of thumb, forefinger, and wrist are acquired with electromagnetic (EM) and fiber-optic bend (FOB) sensors, respectively. These behavior data are then processed with wavelet packet decomposition (WPD) under 1-10 levels for feature extraction. The feature vectors are further fed into three candidate individual classifiers in the local learning layer. Furthermore, the local learning results from different manipulation behaviors are fused in the ensemble learning layer with three rule-based ensemble learning algorithms. In subject-dependent skill characteristics learning, the ensemble learning can achieve 100% accuracy, significantly outperforming the best local result (90%). Furthermore, ensemble learning can also maintain 73% accuracy in subject-independent schemes. These promising results demonstrate the great potential of the proposed method to facilitate skill learning in surgical robotics and skill assessment in clinical practice.

An Improved Networked Predictive Controller for Vascular Robot Using 5G Networks.

Percutaneous coronary intervention (PCI) has gradually become the most common treatment of coronary artery disease (CAD) in clinical practice due to its advantages of small trauma and quick recovery. However, the availability of hospitals with cardiac catheterization facilities and trained interventionalists is extremely limited in remote and underdeveloped areas. Remote vascular robotic system can assist interventionalists to complete operations precisely, and reduce occupational health hazards occurrence. In this paper, a bionic remote vascular robot is introduced in detail from three parts: mechanism, communication architecture, and controller model. Firstly, human finger-like mechanisms in vascular robot enable the interventionalists to advance, retract and rotate the guidewires or balloons. Secondly, a 5G-based communication system is built to satisfy the end-to-end requirements of strong data transmission and packet priority setting in remote robot control. Thirdly, a generalized predictive controller (GPC) is developed to suppress the effect of time-varying network delay and parameter identification error, while adding a designed polynomial compensation module to reduce tracking error and improve system responsiveness. Then, the simulation experiment verifies the system performance in comparison with different algorithms, network delay, and packet loss rate. Finally, the improved control system conducted PCI on an experimental pig, which reduced the delivery integral absolute error (IAE) by at least 20% compared with traditional methods.

Design and Performance Evaluation of a Novel Vascular Robotic System for Complex Percutaneous Coronary Interventions.

The robotic-assisted percutaneous coronary intervention is an emerging technology with great potential to solve the shortcomings of existing treatments. However, the current robotic systems can not manipulate two guidewires or ballons/stents simultaneously for coronary bifurcation lesions. This paper presents VasCure, a novel bio-inspired vascular robotic system, to deliver two guidewires and stents into the main branch and side branch of bifurcation lesions in sequence. The system is designed in master-slave architecture to reduce occupational hazards of radiation exposure and orthopedic injury to interventional surgeons. The slave delivery device has one active roller and two passive rollers to manipulate two interventional devices. The performance of the VasCure was verified by in vitro and in vivo animal experiments. In vitro results showed the robotic system has good accuracy to deliver guidewires and the maximum error is 0.38mm. In an animal experiment, the interventional surgeon delivered two guidewires and balloons to the left circumflex branch and the left anterior descending branch of the pig, which confirmed the feasibility of the vascular robotic system.

Comparative study on effect of acupuncture and lidocaine block for lumbar myofascial pain syndrome / 中国针灸

<p><b>OBJECTIVE</b>To observe the clinical efficacy of acupuncture at Jiaji (EX-B 2) points mainly for lumbar myofascial pain syndrome (MPS).</p><p><b>METHODS</b>Sixty-six cases of MPS were randomized into an acupuncture group and a lidocaine group, 33 cases in each group. The acupuncture group was treated with acupuncture at Jiaji (EX-B 2) points combined with needling local myofascial trigger points (MTrP), and the lidocaine group was treated with local block at trigger points with lidocaine injection. The treatment was given once every 2 days. After three and five times of the treatment, the simplified McGill scale, Oswestry disability index (ODI) and pressure-pain threshold were assessed to compare the therapeutic effects between the two groups.</p><p><b>RESULTS</b>After treatment, the scores of simplified McGill and ODI of two groups were obviously reduced while the score of pressure-pain threshold was obviously increased (all P < 0.01). After three and five times of the treatment, there were no significant differences in above scores between the two groups (all P > 0.05).</p><p><b>CONCLUSION</b>Acupuncture at Jiaji (EX-B 2) points combined with needling MTrP is an effective and safe therapy for lumbar MPS, the therapeutic effect is equal to lidocaine block.</p>

Effect of "Jin three-needle therapy" on cognitive function and activity of daily living in patients of hemiplegia after stroke: a multi-central randomized controlled study / 中国针灸

<p><b>OBJECTIVE</b>To provide reliable evidence of "J in three-needle therapy" for treatment of stroke.</p><p><b>METHODS</b>Multi-central randomized controlled trials were adopted, 180 hemiplegia patients of ischemic stroke were randomly divided into a fin three-needle group (90 cases) and a routine acupuncture group (90 cases). Two groups were both treated with basic neurology therapies, and J in three-needle group was treated with J in three-needle therapy, three acupoints of tempora, hand and foot etc. were selected; the routine acupuncture group was treated with traditional acupuncture, Quchi (LI 11), Huantiao (GB 30), Futu (ST 32) etc. were selected. Both groups were treated with acupuncture for 5 weeks. The cognitive function score of functional comprehensive assessment scale (FCA), the scores of mini-mental state examination scale (MMSE) and modified Barthel index (BI) were compared before and after treatment between two groups. Results After treatment, the scores of FCA, MMSE and BI in both groups were significantly improved compared to those before treatment (P < 0.01, P < 0.05); the improvement of FCA score, MMSE score and BI score in the J in three-needle group were superior to those of the routine acupuncture group after treatment (P < 0.01, P < 0.05). The total effective rate of 85.4% in the J in three-needle group was superior to tohat of 70.0% in the routine acupuncture group (P < 0.05).</p><p><b>CONCLUSION</b>J in three-needle acupuncture treatment can obviously improve the cognitive function and activity ability of daily life of hemiplegia patients after stroke, and the therapeutic effect of J in three-needle therapy is superior to that of traditional acupuncture treatment.</p>