Recently, flexible robotic systems are developed to enhance minimally invasive interventions on internal organs located in confined areas of human body. These surgical devices are designed to navigate anatomical pathways via single-port access, such as natural orifices or minimal incisions and intraluminal interventions. With improved precision, spatial flexibility and dexterity, the robotic technology can enhance surgery such that minimally invasive flexible access would become a faster, safer, and more convenient method for intra-body interventions without multiple or wide incisions. However, a lot of works are still required for global acceptance of existing flexible robotic surgical platforms. This review provides extended insights on the design details of two types of flexible robotic systems used for endoscopic and endovascular procedures. As of today, several prototypes of both platforms have been proposed; however, their global acceptability and applicability remains very low. To address these, we present an extensive review on design constraints and control methods which are vital for safer, faster, and better operation of the flexible robotic systems in minimally invasive surgery (MIS). Finally, research trends of flexible robotic systems and their clinical application status in MIS are discussed along with some of the technical and technological challenges hindering their prominence.

Background: Precise patient setup is critical in radiation therapy. Medical imaging plays an essential role in patient setup. As compared to computed tomography (CT) images, magnetic resonance image (MRI) has high contrast for soft tissues, which becomes a promising imaging modality during treatment. In this paper, we proposed a method to synthesize brain MRI images from corresponding planning CT (pCT) images. The synthetic MRI (sMRI) images can be used to align with positioning MRI (pMRI) equipped by an MRI-guided accelerator to account for the disadvantages of multi-modality image registration. Methods: Several deep learning network models were applied to implement this brain MRI synthesis task, including CycleGAN, Pix2Pix model, and U-Net. We evaluated these methods using several metrics, including mean absolute error (MAE), mean squared error (MSE), structural similarity index (SSIM), and peak signal-to-noise ratio (PSNR). Results: In our experiments, U-Net with L1+L2 loss achieved the best results with the lowest overall average MAE of 74.19 and MSE of 1.035*10⁴, respectively, and produced the highest SSIM of 0.9440 and PSNR of 32.44. Conclusions: Quantitative comparisons suggest that the performance of U-Net, a supervised deep learning method, is better than the performance of CycleGAN, a typical unsupervised method, in our brain MRI synthesis procedure. The proposed method can convert pCT/pMRI multi-modality registration into mono-modality registration, which can be used to reduce registration error and achieve a more accurate patient setup.

The objective of humanoid navigation is to plan the global locomotion path for humanoid robots in complex global environments. It is different from wheeled mobile robot navigation because of the biped's unique abilities to step upon/over obstacles and the stability requirement is difficult. Sampling-based footstep planning that considers the aforementioned characteristics is a goal-directed navigation approach for humanoid robots. This paper will describe two footstep planning approaches, including our improvements on the previous deterministic sampling-based approach and the newly proposed randomized sampling-based approach. Numerical experiments are also given to verify the feasibility and planning performance of the two approaches.