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检索条件"机构=1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin"

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Development of a panoramic simulation for robot assisted endoscopic surgery

Development of a panoramic simulation for robot assisted end...

引用

IEEE/institute of Complex Medical Engineering International Conference on Complex Medical Engineering

作者： Yan, Zhiyuan Wu, Dongmei Ma, Ruqi Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424493241

In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are very important to the surgeon. The development of a panoramic simulation for robot assisted endoscopic surgery is described in the paper. The simulation is appropriate for da Vinci and other similar system. In this simulation, the robot model is accurately presented, and its kinematic analysis is precise. The soft tissue model used in the simulation is an improved mass-spring model. This model is suited for real-time and visual deformation. A commercial haptic device known as Omega is used in this simulation, we can easily obtain haptics by it. As a result, the user can switch between panoramic display and local scene by zoom, and can easily manipulate the virtual surgical robot to perform many surgical operations such as grasping and pushing, at the same time, the user can feel the force feedback. © 2011 IEEE.

关键词： Robotic surgery

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A drive-control system for 3D piezoelectric stick-slip positioner

A drive-control system for 3D piezoelectric stick-slip posit...

引用

6th International Forum on Strategic technology, IFOST 2011

作者： Rong, Weibin Zhang, Shizhong Liu, Xingxing Yu, Miao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781457703966

The micro-positioning system composed of dynamic piezoelectric translation devices features nanoscale resolution, millimeters range, compact structure and availability in extreme operating conditions, and it is commonly used in field of micro-nano operation. To solve the problem of the drive and control of the piezoelectric stick-slip positioner, a 3-channel drive-control system is developed. The driver is designed with a high-power integrated operational amplifier based on a mixed approach of voltage control and current control. The two modes can be switched easily in the use. A high speed DSP chip is chosen as the core of the controller which receives and processes the commands from PC. Experimental results show that the drive-control system has a resolution less than 4.6mV, a linearity error of 0.014% and a full power response bandwidth up to 5 kHz. © 2011 IEEE.

关键词： Stick-slip

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A 3D stick-slip nanopositioner for nanomanipulation

A 3D stick-slip nanopositioner for nanomanipulation

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Rong, Weibin Zhang, Shizhong Yu, Miao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424481149

A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). Considering linear dynamics of PZT and nonlinear friction between slider and rod, a comprehensive model representation of the stick-slip stage was presented and verified by being compared with experimental results. Resolution to 10nm has been achieved and the ability to lift up to 70g has been demonstrated. Some manipulations of nanowires were performed in assistant of the nanopositioner we developed, including picking up and bending single ones. Both results of experiments and manipulations demonstrated the excellent performance of the nanopositioner. © 2011 IEEE.

关键词： Stick-slip

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Design and development of a hand rehabilitation robot for patient-cooperative therapy following stroke

Design and development of a hand rehabilitation robot for pa...

引用

2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Fu, Yili Zhang, Qinchao Zhang, Fuhai Gan, Zengkang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781424481149

Stroke is very common and always leads to severe hand impairment. Traditional robotic systems have been introduced to assist therapy for a long time and already achieved certain effect. However, with further development of therapy strategies in the last few years, higher request to the rehabilitation robot has been put forward. Thus, we are developing a novel hand rehabilitation robot named HIT-glove to provide patient-cooperative therapy for hand-impaired post-stroke patients. In this paper, the mechanical design of the actuated hand exoskeleton is detailed and the control strategy for patient-cooperative therapy is introduced. The actuated hand exoskeleton, which can be applied to hands in different sizes and shapes, is able to bilaterally actuate every joint of the fingers. The patient-cooperative control strategy, based on the sensing system and an interactive interface, is well designed to let the patient actively participate into the therapy. Besides, to get a better effect of functional rehabilitation of the hand, our robot is expected to provide the following two categories of therapy: motor function exercise for joints and movement coordination training for fingers. © 2011 IEEE.

关键词： Exoskeleton (robotics)

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Robot-assisted PET-CT-MRI image fusion

Robot-assisted PET-CT-MRI image fusion

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IEEE/institute of Complex Medical Engineering International Conference on Complex Medical Engineering

作者： Wang, Weidong Wu, Dongmei Sun, Pengfei Du, Zhijiang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424493241

A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Its design features are super payload capability, precise navigation and positioning, ultrasonic obstacle avoidance and Anti- magnetic. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely. © 2011 IEEE.

关键词： Mobile robots

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Planar Region Alignment based Visual Regulation for Mobile Robot

Planar Region Alignment based Visual Regulation for Mobile R...

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International Conference on Mechatronics and Automation

作者： Z. L. Wang Y. Liu B. G. Cai J. Zhao School of Electronic Information and Engineering Beijing Jiao Tong University State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467312752

It has been proved that, based on planar region alignment, camera ego-motion motion can be robustly estimated with a multistage approach in [24], Based on this observation, a visual regulation approach based on planar region alignment is proposed. This paper is composed of two parts. In the first part, the image motion model of planar point is reviewed first, which will be used for camera motion estimation. Then a simple least square method for computing homography matrix H is introduced. The basic procedure of multistage motion estimation based on planar region alignment is summarized. In the second part, the kinematic model of monocular camera based mobile robot system is deduced with a constrained camera-robot configuration, the visual regulation control law is derived and the stability of the close loop system is analyzed in the sense of Lyapunov stability theory. The motion estimation experiment results are presented with real images, and simulation results show the convergence of the proposed visual regulation.

关键词： Region alignment Monocular vision Mobile robot Visual regulation Lypunov stability theory

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Force analysis and modeling of carbon nanowires operation in SEM

Force analysis and modeling of carbon nanowires operation in...

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2011 International Conference on Environmental Biotechnology and Materials Engineering, EBME 2011

作者： Rong, Weibin Li, Dongjie Sun, Lining Wang, Jinyu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin University of Science and Technology Harbin 150080 China

ISBN: (纸本)9783037850220

Due to influence of size effect, the force properties in nanoscale are greatly different from those in macroscale and the traditional models of operation are becoming difficult to meet the development of nanoscale manipulation. To provide guiding theory for practical nano-manipulation, the nanoscale forces of contact and non-contact operation of nanowires are analyzed for nano-manipulation in SEM. The Vander Waals models among the probe, nanowire and substrate are modeled according to the force properties in nanoscale, and then the simplified models are simulated with MATLAB. The influence degree of various factors and the relationship of them during the operation are obtained. At last, experimental system is established to verify the correctness of the proposed models. © (2011) Trans Tech Publications.

关键词： Nanowires

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Stability and performance of virtual reality-based telenanomanipulation system in SEM

Stability and performance of virtual reality-based telenanom...

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2011 International Conference on Environmental Biotechnology and Materials Engineering, EBME 2011

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin University of Science and Technology Harbin 150080 China

ISBN: (纸本)9783037850220

In this paper, a master/slave telenanomanipulation control system with force feedback is established with the micro-positioner (Attocube) working in scanning electron microscope (SEM) as the slave side and the haptic device (Omega3) as the master side. An improved virtual coupling (IVC) algorithm is introduced based on nanoscale virtual coupling (NSVC) by adding a proportional-plus- integral (PI) velocity controller in the haptic interface. The stability and performance of the established system are discussed. This method leads to an explicit design procedure for virtual coupling networks which give greatest performance while guaranteeing stability both on moving carbon nanowires in SEM and measuring force at the point of device-human contact. © (2011) Trans Tech Publications.

关键词： Virtual reality

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Simulation of near-field optical manipulator using the combination of a near-field scanning optical microscope probe and an atomic force microscope metallic probe

Simulation of near-field optical manipulator using the combi...

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作者： Liu, Binghui Yang, Lijun Wang, Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We propose a physical model to calculate the trapping force on a nanoparticle trapped by the system using the combination of a near-field scanning optical microscope (NSOM) probe and an atomic force microscope (AFM) metallic probe. Such a near-field trap is produced by evanescent illumination from the NSOM probe and light scattering at the tip of the AFM metallic probe. By using the Maxwell stress tensor through the electric field distribution obtained with the three-dimensional finite difference time domain (3-D FDTD) method, the dependence of the trapping force on the system parameters is discussed, and trapping properties including near-field distribution, trapping position, and the role of other forces versus trapping force are revealed. The results indicate that a particle down to tens of nanometers in size can be trapped toward the tip of an AFM probe with a lower laser intensity (∼1040 W/mm2) than that required by conventional optical manipulators (∼105 W/mm2). © 2011 American institute of Physics.

关键词： Probes

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Study on the hydrodynamics and kinematics of a biomimetic fin propulsor actuated by SMA wires

Study on the hydrodynamics and kinematics of a biomimetic fi...

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2011 International Conference on Electronic and Mechanical Engineering and Information technology, EMEIT 2011

作者： Yang, Zhengbao Wang, Yukui Gao, Fei Wang, Zhenlong Wang, Yangwei State Key Laboratory of Robotics and System at Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781612840857

A flexible noiseless and high-efficient propulsor plays a prominent role in the performance of underwater vehicles. This paper presents a micro flexible caudal fin propulsor actuated by shape memory alloy (SMA) wires. To improve the responding frequency and fatigue of the SMA wires, a pair of slots is designed. So the SMA wires can be heated in the protection of silica gel layer and cool in the other status, i.e. flowing water. Then the propulsive performance of the biomimetic propulsor is evaluated through thrust measurement experiments. Note that higher undulating frequency does not mean stronger thrust force because the undulating amplitude descends along with the undulating frequency increase for this kind SMA propulsor. Further, the kinematics of the propulsor is analyzed and the corresponding equation of motion is obtained. At last, a three-dimensional numerical simulation on the biomimetic fin was conducted by CFD to investigate the interaction of the propulsor with surrounding water and the thrust production. The CFD results consist with the experimental results well, which verify the kinetic model and the numerical simlation. © 2011 IEEE.

关键词： Kinematics

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