Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial TSM-based medical devices have non-linear phenomena resulting from their composition such as backlash hysteresis and dead zone, which lead to a considerable challenge for achieving precise control of the end effector pose. However, many recent works in the literature do not consider the combined effects and compensation of these phenomena, and less focus on practical ways to identify model parameters in realistic conditions. This paper proposes a simplified piecewise linear model to construct both backlash hysteresis and dead zone compensators together. Further, a practical method is introduced to identify model parameters using motor current from a robotic controller for the TSM. Our proposed methods are validated with multiple Intra-cardiac Echocardiography (ICE) catheters, which are typical commercial example of TSM, by periodic and non-periodic motions. Our results show that the errors from backlash hysteresis and dead zone are considerably reduced and therefore the accuracy of robotic control is improved when applying the presented methods.

Wearables with photoplethysmography (PPG) sensors are being increasingly used in clinical research as a non-invasive, inexpensive method for remote monitoring of physiological health. Ensuring the accuracy and reliability of PPG-derived measurements is critical, as inaccuracies can impact research findings and clinical decisions. This paper systematically compares heart rate (HR) and heart rate variability (HRV) measures from PPG against an electrocardiogram (ECG) monitor in free-living settings. Two devices with PPG and one device with an ECG sensor were worn by 25 healthy volunteers for 10 days. PPG-derived HR and HRV showed reasonable accuracy and reliability, particularly during sleep, with mean absolute error < 1 beat for HR and 6–15 ms for HRV. The relative error of HRV estimated from PPG varied with activity type and was higher than during the resting state by 14–51%. The accuracy of HR/HRV was impacted by the proportion of usable data, body posture, and epoch length. The multi-scale peak and trough detection algorithm demonstrated superior performance in detecting beats from PPG signals, with an F1 score of 89% during sleep. The study demonstrates the trade-offs of utilizing PPG measurements for remote monitoring in daily life and identifies optimal use conditions by recommending enhancements.

We propose to learn a probabilistic motion model from a sequence of images for spatio-temporal registration. Our model encodes motion in a low-dimensional probabilistic space – the motion matrix – which enables various motion analysis tasks such as simulation and interpolation of realistic motion patterns allowing for faster data acquisition and data augmentation. More precisely, the motion matrix allows to transport the recovered motion from one subject to another simulating for example a pathological motion in a healthy subject without the need for inter-subject registration. The method is based on a conditional latent variable model that is trained using amortized variational inference. This unsupervised generative model follows a novel multivariate Gaussian process prior and is applied within a temporal convolutional network which leads to a diffeomorphic motion model. Temporal consistency and generalizability is further improved by applying a temporal dropout training scheme. Applied to cardiac cine-MRI sequences, we show improved registration accuracy and spatio-temporally smoother deformations compared to three state-of-the-art registration algorithms. Besides, we demonstrate the model’s applicability for motion analysis, simulation and super-resolution by an improved motion reconstruction from sequences with missing frames compared to linear and cubic interpolation.

Computational models of cardiac electrophysiology are promising tools for reducing the rates of non-response patients suitable for cardiac resynchronization therapy (CRT) by optimizing electrode placement. The majority of computational models in the literature are mesh-based, primarily using the finite element method (FEM). The generation of patient-specific cardiac meshes has traditionally been a tedious task requiring manual intervention and hindering the modeling of a large number of cases. Meshless models can be a valid alternative due to their mesh quality independence. The organization of challenges such as the CRT-EPiggy19, providing unique experimental data as open access, enables benchmarking analysis of different cardiac computational modeling solutions with quantitative metrics. We present a benchmark analysis of a meshless-based method with finite-element methods for the prediction of cardiac electrical patterns in CRT, based on a subset of the CRT-EPiggy19 dataset. A data assimilation strategy was designed to personalize the most relevant parameters of the electrophysiological simulations and identify the optimal CRT lead configuration. The simulation results obtained with the meshless model were equivalent to FEM, with the most relevant aspect for accurate CRT predictions being the parameter personalization strategy (e.g., regional conduction velocity distribution, including the Purkinje system and CRT lead distribution).