Malignant tumors have become one of the serious public health problems in human safety and health, among which the chest and abdomen diseases account for the largest proportion. Early diagnosis and treatment can effectively improve the survival rate of patients. However, respiratory motion in the chest and abdomen can lead to uncertainty in the shape, volume, and location of the tumor, making treatment of the chest and abdomen difficult. Therefore, compensation for respiratory motion is very important in clinical treatment. The purpose of this review was to discuss the research and development of respiratory movement monitoring and prediction in thoracic and abdominal surgery, as well as introduce the current research status. The integration of modern respiratory motion compensation technology with advanced sensor detection technology, medical-image-guided therapy, and artificial intelligence technology is discussed and analyzed. The future research direction of intraoperative thoracic and abdominal respiratory motion compensation should be non-invasive, non-contact, use a low dose, and involve intelligent development. The complexity of the surgical environment, the constraints on the accuracy of existing image guidance devices, and the latency of data transmission are all present technical challenges.

Dysphagia is a pervasive health issue that impacts diverse demographic groups worldwide, particularly the elderly, stroke survivors, and those suffering from neurological disorders. This condition poses substantial health risks, including malnutrition, respiratory complications, and increased mortality. Additionally, it exacerbates economic burdens by extending hospital stays and escalating healthcare costs. Given that this disorder is frequently underestimated in vulnerable populations, there is an urgent need for enhanced diagnostic and therapeutic strategies. Traditional diagnostic tools such as the videofluoroscopic swallowing study (VFSS) and flexible endoscopic evaluation of swallowing (FEES) require interpretation by clinical experts and may lead to complications. In contrast, non-invasive sensors offer a more comfortable and convenient approach for assessing swallowing function. This review systematically examines recent advancements in non-invasive swallowing function detection devices, focusing on the validation of the device designs and their implementation in clinical practice. Moreover, this review discusses the swallowing process and the associated biomechanics, providing a theoretical foundation for the technologies discussed. It is hoped that this comprehensive overview will facilitate a paradigm shift in swallowing assessments, steering the development of technologies towards more accessible and accurate diagnostic tools, thereby improving patient care and treatment outcomes.

Serial-parallel hybrid manipulators featuring remote actuation via parallelogram mechanisms are highly valued for their low inertia and high stiffness. However, the complex nonlinear errors introduced by their multi-stage transmission chains pose significant challenges for high-precision calibration. To address this, this paper proposes a hierarchical and decoupled calibration framework specifically tailored for such parallelogram-driven hybrid manipulators. The method first independently calibrates the pose error of the 3-DOF serial main arm using a composite error model that integrates transmission chain constraints. Subsequently, the 2-DOF parallel wrist is accurately calibrated employing a joint-space error identification strategy based on inverse kinematics, thereby circumventing the intractability of solving the parallel mechanism’s forward kinematics. Experimental validation was performed on a self-developed 5-DOF robot prototype using an optical tracker and an attitude sensor. Results from the validation dataset demonstrate that the proposed method reduces the robot’s average positioning error from 2.199 mm to 0.658 mm (a 70.1% improvement) and the average attitude error from 0.8976 deg to 0.1767 deg (an 80.3% improvement). Furthermore, comparative experiments against the standard MDH model and polynomial fitting models confirm that the proposed composite error model and multi-stage transmission error model are essential for achieving high accuracy. This research provides crucial theoretical insights and practical solutions for the high-precision application of complex remote-driven hybrid manipulators.