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A prostate seed implantation robot system based on human-computer interactions: Augmented reality and voice control

Mathematical Biosciences and Engineering 2024年第5期21卷 5947-5971页

作者： Zhang, Xinran Zhang, Yongde Yang, Jianzhi Du, Haiyan Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Harbin150080 China Foshan Baikang Robot Technology Co. Ltd. Foshan528237 China

The technology of robot-assisted prostate seed implantation has developed rapidly. However, during the process, there are some problems to be solved, such as non-intuitive visualization effects and complicated robot control. To improve the intelligence and visualization of the operation process, a voice control technology of prostate seed implantation robot in augmented reality environment was proposed. Initially, the MRI image of the prostate was denoised and segmented. The three-dimensional model of prostate and its surrounding tissues was reconstructed by surface rendering technology. Combined with holographic application program, the augmented reality system of prostate seed implantation was built. An improved singular value decomposition three-dimensional registration algorithm based on iterative closest point was proposed, and the results of three-dimensional registration experiments verified that the algorithm could effectively improve the three-dimensional registration accuracy. A fusion algorithm based on spectral subtraction and BP neural network was proposed. The experimental results showed that the average delay of the fusion algorithm was 1.314 s, and the overall response time of the integrated system was 1.5 s. The fusion algorithm could effectively improve the reliability of the voice control system, and the integrated system could meet the responsiveness requirements of prostate seed implantation. © 2024 the Author(s).

关键词： Iterative methods

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Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish robot Propelled by Piezoelectric Actuators

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Journal of Bionic Engineering 2007年第3期4卷 151-158页

作者： Seok Heo Tedy Wiguna Hoon Cheol Park Nam Seo Goo Artificial Muscle Research Center Konkuk UniversitySeoul 143-701Korea Department of Advanced Technology Fusion Konkuk UniversitySeoul 143-701Korea Department of Advanced Technology Fusion Artificial Muscle Research Center and Smart Robot CenterKonkuk UniversitySeoul 143-701Korea

This paper addresses the design of a biomimetic fish robot actuated by piezoeeramic actuators and the effect of artificial caudal fins on the fish robot＇s performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fm characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel＇s fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fm area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.

关键词： LIPCA biomimetic fish robot caudal fro Strouhal number Froude number Reynolds number

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Application of Parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair robot

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International Journal of Automation and computing 2013年第5期10卷 447-454页

作者： Ling-Feng Sang Hong-Bo Wang Dian-Fan Zhang Zhen-Hua Tian Fu-Hai Deng De-Lei Fang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Science and Technology Research Institute Yanshan University

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is *** proposed robot could be used as biped and quadruped walking chair *** the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,*** the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism *** motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are ***,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is ***,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to *** study provides a theoretical foundation for the prototype development.

关键词： Human-carrying walking chair robot parallel leg mechanism degree of freedom varistructure workspace kinematics

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Operation and Force Analysis of the Guide Wire in a Minimally Invasive Vascular Interventional Surgery robot System

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 249-257页

作者： YANG Xue WANG Hongbo SUN Li YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University School of Mechanical Engineering University of Jinan Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Faculty of Science and Technology Bournemouth University

To develop a robot system for minimally invasive surgery is significant,however the existing minimally invasive surgery robots are not applicable in practical operations,due to their limited functioning and weaker perception.A novel wire feeder is proposed for minimally invasive vascular interventional *** is used for assisting surgeons in delivering a guide wire,balloon and stenting into a specific lesion *** contrasting those existing wire feeders,the motion methods for delivering and rotating the guide wire in blood vessel are described,and their mechanical realization is presented.A new resistant force detecting method is given in *** change of the resistance force can help the operator feel the block or embolism existing in front of the guide *** driving torque for rotating the guide wire is developed at different *** the CT reconstruction image and extracted vessel paths,the path equation of the blood vessel is *** the shapes of the guide wire outside the blood vessel,the whole bending equation of the guide wire is *** is a risk criterion in the delivering *** process can make operations safer and man-machine interaction more reliable.A novel surgery robot for feeding guide wire is designed,and a risk criterion for the system is given.

关键词： minimally invasive wire feeder force analysis moment of inertia risk criterion

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Kinematics and Dynamics Analysis of a Quadruped Walking robot with Parallel Leg Mechanism

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

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Three dimensional robot laser welding of aluminum 6063-T6 pipes with filler wire

Three dimensional robot laser welding of aluminum 6063-T6 pi...

引用

ICALEO 2004 - 23rd International Congress on Applications of Laser and Electro-Optics

作者： Lee, Kyoung-Don Park, Ki-Young Ha, In-Chul Center for Robot and Manufacturing Technology Institute for Advanced Engineering Yongin-city Kyonggi-do Korea Republic of

ISBN: (纸本)0912035773

Nowadays, laser beam welding is one of the major joining technologies in automotive industry, especially for a vehicle constructed with Tailored Welded Blank. However, laser beam welding still suffers from difficulties in applying to aluminum alloys and automatic controlled equipment for mass production. Especially for aluminum space frame, joined by a robot and Nd:YAG laser, presents considerable challenges due to its 3-dimensional structure. This paper deals with a butt-welding for A6063-T6 pipes. A robot with a seam tracking system, including a CCD camera and a diode laser, is used for this welding process. Using a 6-axis industrial robot manipulator, a 3kW cw Nd:YAG laser, and a filler wire feeding device, rectangular and cylindrical pipes, as the basic primitives making up space frame structures, are joined through the 3-dimensional welding process.

关键词： Laser beam welding

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Control of a redundantly actuated power line inspection robot based on a singular perturbation model

Control of a redundantly actuated power line inspection robo...

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Wang, Ludan Cheng, Sheng Zhang, Jianwei Hu, Ying Center for Robot Engineering and Cognitive Technology Lab Shenzhen Institute of Advanced Technology China TAMS University of Hamburg Germany Germany

ISBN: (纸本)9781424426799

This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the "conflict" between the two wheels. To effectively damp the elastic vibration caused by the flexible manipulator, the control system was decomposed into two subsystems, a slowly-changing subsystem and a fast-changing subsystem based on a singular perturbation model. A hybrid control method, consisting of a RBF adaptive PD control which was applied to slow-changing subsystem and optimal control which was applied to fastchanging subsystem was presented. The RBF adaptive algorithm can estimate the unknown resistance on-line and keep the controller stable. Simulation results prove this method to be reasonable and effective. © 2008 IEEE.

关键词： Wheels

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Resonant frequencies of a piezoelectric drum transducer

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2009年第9期10卷 1313-1319页

作者： Jiang-bo YUAN Tao XIE Xiao-biao SHAN Wei-shan CHEN State Key Laboratory of Advanced Robot and System Harbin Institute of Technology Harbin 150001 China

This paper presents a piezoelectric-metal structure called a drum transducer. An equation for calculating the resonance frequency of the drum transducer is obtained based on thin plate elastic theory of piezoelectric and metal material combined with the Rayleigh-Ritz method. The finite element method (FEM) was used to predict the excitation frequency of the drum transducer. To verify the theoretical analysis, the input impedance characteristic of the drum transducer was measured using an experimental method. The results obtained from theoretical analysis were in very good agreement with those from the FEM and experimental results. The effect of geometrical changes to the thick-walled steel ring of the drum transducer at the first resonance frequency is also described. The calculated results were found to be in good agreement with the FEM results. The results indicate that the first resonance frequency of the drum decreases with the increasing inner diameter of the thick-walled steel ring.

关键词： Piezoelectric Drum transducer Resonance frequency

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Design,Modeling and Experimentation of a Biomimetic Wall-climbing robot for Multiple Surfaces

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Journal of Bionic Engineering 2020年第3期17卷 523-538页

作者： Jinfu Liu Linsen Xu Jiajun Xu Tao Li Shouqi Chen Hong Xu Gaoxin Cheng Marco Ceccarelli Institute of Advanced Manufacturing Technology Hefei Institutes of Physical ScienceCASChangzhou 213164China Department of Precision Machinery and Precision Instrumentation University of Science and Technology of ChinaHefei 230026China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei 230026China Department of Industrial Engineerings University of Rome Tor Vergata Via del Politecnico 100133RomaItaly

Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation ***,traditional single-mode robots cannot ensure the stable attachment on complex wall *** by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are *** at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration *** static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or *** on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform ***,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling ***,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall *** findings could provide practical reference for the robot’s application on walls.

关键词： wall-climbing robot spine wheel adhesive material adsorption system

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Development of a Wearable Upper Limb Rehabilitation robot Based on Reinforced Soft Pneumatic Actuators

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 182-190页

作者： Xinbo Chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

关键词： Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot Motion analysis

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