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MRI-guided robot intervention—current state-of-the-art and new challenges

Med-X 2023年第1期1卷 141-181页

作者： Shaoping Huang Chuqian Lou Ying Zhou Zhao He Xuejun Jin Yuan Feng Anzhu Gao Guang-Zhong Yang Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai 200240China National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy(NERC-AMRT) Shanghai Jiao Tong UniversityShanghai 200240China Materials and Technology Center of Robotics EmpaDübendorf 8600Switzerland State Key Lab of Metal Matrix Composites and School of Materials Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Magnetic Resonance Imaging(MRI)is now a widely used modality for providing multimodal,high-quality soft tissue contrast images with good spatiotemporal resolution but without subjecting patients to ionizing *** addition to its diagnostic potential,its future theranostic value lies in its ability to provide MRI-guided robot intervention with combined structural and functional mapping,as well as integrated instrument localization,target recognition,and in situ,in vivo monitoring of the therapeutic *** of current applications include neurosurgery,breast biopsy,cardiovascular intervention,prostate biopsy and *** applications in targeted drug delivery and MRI-guided chemoembolization are also being *** promising progress has been made in recent years,there are still significant basic science research and engineering *** paper provides a comprehensive review of the current state-of-the-art in MRI-guided robot intervention and allied technologies in actuation,sensing,new materials,interventional instruments,and interactive/real-time *** future research directions and new clinical developments are also discussed.

关键词： MRI-guided robot intervention Actuation Sensing Materials Interventional instruments Interactive/realtime MRI

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Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph

arXiv

引用

arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Mobility and Applied Load-Oriented Configuration Design Method of Hybrid and Parallel Mechanisms

SSRN

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SSRN 2022年

作者： Yuan, Bingbing Wang, Hongguang Yuan, Hui Dai, Jiansheng Pan, Xinan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China School of Mechanical Engineering and Automation Northeastern University Shenyang110004 China Advanced Kinematics and Reconfigurable Robotics Lab School of Natural and Mathematical Sciences King's College London Strand LondonWC2R 2LS United Kingdom

This paper proposed the mobility and applied load-oriented method(MALOM) to solve the collaborative design challenge of hybrid/parallel mechanisms involving mobility, force/motion, and topological parameters. Firstly, the mechanism's mobility is characterized by the orientation and position feature screw system (OPFSS) first defined. Then the applied load is represented by the wrench. Furthermore, the unit power, the power topology, unit power adjacency matrix, and unit power density indexes are newly defined and used to establish the mathematical relationship between mobility, applied load, and optimization indexes. Thirdly, The topology parameter design is based on the series, parallel and hybrid operations of OPFSS. These three steps establish the MALOM, which is verified by taking the configuration design of the three-translation mechanism as an example. Finally, a novel 5DOF hybrid manipulator has been designed and tested based on the MALOM. The manipulator has a large load-to-weight ratio and satisfactory kinematic characteristics. The MALOM is feasible and practical, which is illustrated by experimental results. © 2022, The Authors. All rights reserved.

关键词： Manipulators

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MAR: Masked Autoencoders for Efficient Action Recognition

arXiv

引用

arXiv 2022年

作者： Qing, Zhiwu Zhang, Shiwei Huang, Ziyuan Wang, Xiang Wang, Yuehuan Lv, Yiliang Gao, Changxin Sang, Nong The National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Alibaba Group Zhejiang Hangzhou311100 China Advanced Robotics Centre National University of Singapore Singapore

Standard approaches for video action recognition usually operate on the full input videos, which is inefficient due to the widely present spatio-temporal redundancy in videos. Recent progress in masked video modelling, i.e., VideoMAE, has shown the ability of vanilla Vision Transformers (ViT) to complement spatio-temporal contexts given only limited visual contents. Inspired by this, we propose propose Masked Action Recognition (MAR), which reduces the redundant computation by discarding a proportion of patches and operating only on a part of the videos. MAR contains the following two indispensable components: cell running masking and bridging classifier. Specifically, to enable the ViT to perceive the details beyond the visible patches easily, cell running masking is presented to preserve the spatio-temporal correlations in videos, i.e., it ensures the patches at the same spatial location can be observed in turn for easy reconstructions. Additionally, we notice that, although the partially observed features can reconstruct semantically explicit invisible patches, they fail to achieve accurate classification. To address this, a bridging classifier is proposed to bridge the semantic gap between the ViT encoded features for reconstruction and the features specialized for classification. Our proposed MAR reduces the computational cost of ViT by 53% and extensive experiments show that MAR consistently outperforms existing ViT models with a notable margin. Especially, we found a ViT-Large trained by MAR outperforms the ViT-Huge trained by a standard training scheme by convincing margins on both Kinetics-400 and Something-Something v2 datasets, while our computation overhead of ViT-Large is only 14.5% of ViT-Huge. Codes and models will be made available here. Copyright © 2022, The Authors. All rights reserved.

关键词： Classification (of information)

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A method for recognition of dynamic hand gestures based on wrist tendon sounds 22

A method for recognition of dynamic hand gestures based on w...

引用

22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： He, Bailin Wang, Can Wang, Hao Li, Mengyao Duan, Shengcai Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Samsung Electronics Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

Hand gesture recognition are widely applied in game industry and rehabilitation engineering. Some recognition methods based on physiological data are attracting attention. In this paper, a novel method for dynamic hand gesture recognition based on sounds of wrist tendon is proposed. Bone conduction sensors which automatically filter the ambient noise is utilized to collect the wrist tendon sounds of three types of dynamic hand gestures. Continuous Wavelet Transform(CWT) is utilized extract the features of sounds and Support Vector Machine(SVM) is utilized to train the classifier model. Five healthy subjects participated the experiment and the average test accuracy of three classes achieves 92.33%. The proposed method provides an effective perspective for hand gesture recognition. © 2021 IEEE.

关键词： Support vector machines

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A comprehensive channel and feature selection method for myoelectric pattern recognition 22

A comprehensive channel and feature selection method for myo...

引用

22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： Li, Mengyao Ma, Yue Zheng, Liangsheng Wang, Can Feng, Wei Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

The advent of myoelectric control schemes provides promising chances for locomotion empowerment and restoration of those with disabilities. Despite substantial efforts have been made into advancing sEMG-based motion recognition, it may be a little tricky to determine appropriate muscles and features for people with muscle disorders or different muscle use preferences. To mitigate it, an advantageous sEMG channel and feature selection method based on ReliefF algorithm was proposed. Related experiments were conducted on a eight able-bodied subject database to showcase the feasibility and efficiency of the proposed approach, that is, considerably high classification performance was maintained with the original feature set reduced by more than half. Ulteriorly, we also investigated the influences of different number of neighbors or features on classification accuracy for ascertaining the optimal values. The strengths of our proposed method lie in not only customizing channel and feature selection for individual users, but also offering preliminary insight for a general mapping mechanism between human muscles and corresponding motions. © 2021 IEEE.

关键词： Feature Selection

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The Intelligent Power Wheelchair Upgrade Kit

The Intelligent Power Wheelchair Upgrade Kit

引用

IEEE International Conference on Robotic Computing (IRC)

作者： Jesse Leaman Hung Manh La Advanced Robotics and Automation (ARA) Laboratory University of Nevada Reno NV USA

ISBN: (数字)9781728152370

ISBN: (纸本)9781728152387

This paper presents an update on the research and development of the Intelligent Power Wheelchair (IPW) upgrade kit. First, we review the last three years of trials, then we describe the improvements proposed for the next prototype. The 2020 IPW edition is designed to be more light weight, modular, and multi-functional than it's predecessor. The assembly process has been streamlined, and there is now greater ability to tailor the system to the needs of the individual user. The brand new, self-leveling scanner has broader applications as an aid for people with visual impairment. Keywords: Smart Wheelchair, Human Trials.

关键词： Visualization Wheelchairs Prototypes Tools Robot sensing systems Collision avoidance Research and development

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NeRF in robotics: A Survey

arXiv

引用

arXiv 2024年

作者： Wang, Guangming Pan, Lei Peng, Songyou Liu, Shaohui Xu, Chenfeng Miao, Yanzi Zhan, Wei Tomizuka, Masayoshi Pollefeys, Marc Wang, Hesheng The University of Cambridge ETH Zurich Switzerland The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China ETH Zurich Zurich Switzerland Mechanical Systems Control Laboratory University of California Berkeley United States

Meticulous 3D environment representations have been a longstanding goal in computer vision and robotics fields. The recent emergence of neural implicit representations has introduced radical innovation to this field as implicit representations enable numerous capabilities. Among these, the Neural Radiance Field (NeRF) has sparked a trend because of the huge representational advantages, such as simplified mathematical models, compact environment storage, and continuous scene representations. Apart from computer vision, NeRF has also shown tremendous potential in the field of robotics. Thus, we create this survey to provide a comprehensive understanding of NeRF in the field of robotics. By exploring the advantages and limitations of NeRF, as well as its current applications and future potential, we hope to shed light on this promising area of research. Our survey is divided into two main sections: The Application of NeRF in robotics and The Advance of NeRF in robotics, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in the field of robotics from the perception and interaction perspectives. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRF in the field of robotics. In the discussion section of the review, we summarize the existing challenges and provide some valuable future research directions for reference. © 2024, CC BY-NC-ND.

关键词： robotics

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MCC-EKF for Autonomous Car Security

MCC-EKF for Autonomous Car Security

引用

IEEE International Conference on Robotic Computing (IRC)

作者： Ashutosh Singandhupe Hung Manh La Advanced Robotics and Automation (ARA) Laboratory University of Nevada Reno NV USA

ISBN: (数字)9781728152370

ISBN: (纸本)9781728152387

This work attempts to answer two problems. (1) Can we use the odometry information from two different Simultaneous Localization And Mapping (SLAM) algorithms to get a better estimate of the odometry? and (2) What if one of the SLAM algorithms gets affected by shot noise or by attack vectors, and can we resolve this situation? To answer the first question we focus on fusing odometries from Lidar-based SLAM and Visual-based SLAM using the Extended Kalman Filter (EKF) algorithm. The second question is answered by introducing the Maximum Correntropy Criterion - Extended Kalman Filter (MCC-EKF), which assists in removing/minimizing shot noise or attack vectors injected into the system. We manually simulate the shot noise and see how our system responds to the noise vectors. We also evaluate our approach on KITTI dataset for self-driving cars.

关键词： Simultaneous localization and mapping Autonomous systems Trajectory Autonomous automobiles Security Kalman filters Multi-robot systems

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Impedance control for a novel composite modular lower-limb hemiplegic exoskeleton

Impedance control for a novel composite modular lower-limb h...

引用

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Bao, Ruoyu Li, Pengbo He, Bailin Wang, Can Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical and Automation Engineering Chinese University of Hong Kong College of Mechanical and Electrical Engineering Shaanxi University of Science and Technology Shaanxi Xi'an710021 China

ISBN: (纸本)9781665436786

This paper proposes a control scheme based on impedance control for the smoothing control of the operating movements of a lower-limb hemiplegic exoskeleton robot on the basis of a new composite modular lower-limb hemiplegic ex-oskeleton(CMLHE) structure. The CMLHE has good structural performance and can be used in the rehabilitation of patients with hemiplegia caused by stroke and other diseases. At the same time, the smoothing control by means of impedance control ensures that patients with lower limb hemiplegia can use the CMLHE to achieve smooth walking movements without additional injuries caused by the CMLHE during the rehabilitation training. This paper analyses the performance of this CMLHE robot based on walking movements and demonstrates through kinematic and kinetic modelling and simulation that the impedance control scheme of this CMLHE robot is feasible and effective and can be more widely used in the rehabilitation training of patients with lower limb hemiplegia. © 2021 IEEE.

关键词： Exoskeleton (robotics)

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