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Significantly reducing the presurgical preparation time for anterior pelvic fracture surgery by faster creating patient-specific curved plates

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Journal of Orthopaedic Surgery and Research 2023年第1期18卷 265-265页

作者： Xu, Sendren Sheng-Dong Yeh, Tsu-Te Chen, Jia-En Li, Yuan-Ta Graduate Institute of Automation and Control National Taiwan University of Science and Technology No. 43 Keelung Rd. Sec. 4 Da’an Dist. Taipei City 106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology No. 43 Keelung Rd. Sec. 4 Da’an Dist. Taipei City 106335 Taiwan Department of Orthopedic Surgery Tri-Service General Hospital National Defense Medical Center No. 325 Chenggong Rd. Sec. 2 Neihu Dist. Taipei City 114202 Taiwan Medical 3D Printing Center Tri-Service General Hospital National Defense Medical Center No. 325 Chenggong Rd. Sec. 2 Neihu Dist. Taipei City 114202 Taiwan Department of Biomedical Engineering National Defense Medical Center No. 325 Chenggong Rd. Sec. 2 Neihu Dist. Taipei City 114202 Taiwan Department of Surgery Tri-Service General Hospital Penghu Branch No. 90 Qianliao Penghu County Magong City 880026 Taiwan

Background: To shorten the preoperative preparation time, reconstruction plates were designed using the computed tomography (CT)-based three-dimensional (3D) medical imaging surgical planning software OOOPDS. In addition, 3D printing was used to generate curved plates for anterior pelvic fracture surgeries. Methods: This study analyzed two groups with the same 21 patients who underwent surgery for traumatic anterior pelvic ring fractures. In Group 1, the direct reconstruction plates were preoperatively contoured according to the anatomical 3D-printed pelvic model. In Group 2, the fixation plates were contoured according to the 3D printed plate templates, which were created based on the simulated plate templates by the OOOPDS software. The processing time, including the 3D printing time for the pelvic models in Group 1, the 3D printing time for the fixation plate templates in Group 2, and the pre-contouring time for the plates in both groups, was recorded. Results: The mean time of pre-contouring for the curved reconstruction plates in Group 2 was significantly less than in Group 1 (−55 min;P < 0.01). The mean time of 3D printing for the 3D plate template model in Group 2 was significantly less than that for the 3D pelvic model in Group 1 (−869 min;P < 0.01). Experimental results showed that the printing time for the plate pre-contouring and the 3D plate templates could be effectively reduced by approximately 93% and 90%, respectively. Conclusion: This method can shorten the preoperative preparation time significantly. © 2023, The Author(s).

关键词： Anterior pelvic ring fracture surgery Computed tomography (CT)-based 3D medical imaging Curved reconstruction plates Preoperative surgical planning Three-dimensional (3D) printing

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Predictive Modeling of Surface Roughness Based on Response Surface Methodology after WAAM

Predictive Modeling of Surface Roughness Based on Response S...

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International Conference on Electronical, Mechanical and Materials Engineering

作者： Hongyu Tian Zhenyang Lu Fang Li Shujun Chen College of Robotics Beijing Union University Welding Research Institute and Engineering Research Center of Advanced Manufacturing Technology For Automotive Components-Ministry of Education Beijing University of Technology

ISBN: (纸本)9781510882584

A hybrid technique of additive manufacturing and subtractive process has provided a new solution combining product design and control by software. Wire Arc Additive manufacturing(WAAM) process wins well-respected because of its low cost and high efficiency of deposition, nevertheless the process has its limitation of high heat input and low forming accuracy. A new process of additive manufacturing with high efficiency of modeling is urgent needed which can control heat transfer, mass transfer and force transfer. To overcome the disadvantage upon, various hybrid manufacturing techniques have been developed with high efficiency and controlled modeling in recently. The machining process in hybrid manufacturing has more different characteristics from traditional material removal processes, such as residual stress and heat in the blank. These influence the whole efficiency of the hybrid manufacturing. The essential task of this paper is to explore the feasibility of thermal machining during this process and make rational use of AM in order to obtain optimal accuracy.

关键词： surface roughness predictive parameters optimization response surface methodology WAAM

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Probabilistic learning vector quantization on manifold of symmetric positive definite matrices

arXiv

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arXiv 2021年

作者： Sonna, Fengzhen Tang Feng, Haifeng Tino, Peter Si, Bailu Ji, Daxiong 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 computer Science University of Birmingham BirminghamB15 2TT United Kingdom School of Systems Science Beijing Normal University Beijing100875 China Institute of Marine Electronics and Intelligent Systems Ocean College Zhejiang University Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of Education Zhoushan316021 China

In this paper, we develop a new classification method for manifold-valued data in the framework of probabilistic learning vector quantization. In many classification scenarios, the data can be naturally represented by symmetric positive definite matrices, which are inherently points that live on a curved Riemannian manifold. Due to the non-Euclidean geometry of Riemannian manifolds, traditional Euclidean machine learning algorithms yield poor results on such data. In this paper, we generalize the probabilistic learning vector quantization algorithm for data points living on the manifold of symmetric positive definite matrices equipped with Riemannian natural metric (affine-invariant metric). By exploiting the induced Riemannian distance, we derive the probabilistic learning Riemannian space quantization algorithm, obtaining the learning rule through Riemannian gradient descent. Empirical investigations on synthetic data, image data, and motor imagery EEG data demonstrate the superior performance of the proposed method. © 2021, CC BY-NC-SA.

关键词： Learning algorithms

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Magnetic Continuum Robot for Intelligent Manipulation in Medical Applications

SmartBot

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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. Key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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Spherical interpolated convolutional network with distance-feature density for 3D semantic segmentation of point clouds

arXiv

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arXiv 2020年

作者： Wang, Guangming Yang, Yehui Zhang, Huixin Liu, Zhe Wang, Hesheng Department of Automation Insititue of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China Department of Computer Science and Technology University of Cambridge United Kingdom

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because of the unstructured property of point clouds. In this paper, a spherical interpolated convolution operator is proposed to replace the traditional grid-shaped 3D convolution operator. This newly proposed feature extraction operator improves the accuracy of the network and reduces the parameters of the network. In addition, this paper analyzes the defect of point cloud interpolation methods based on the distance as the interpolation weight and proposes the self-learned distance-feature density by combining the distance and the feature correlation. The proposed method makes the feature extraction of spherical interpolated convolution network more rational and effective. The effectiveness of the proposed network is demonstrated on the 3D semantic segmentation task of point clouds. Experiments show that the proposed method achieves good performance on the ScanNet dataset and Paris-Lille-3D dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Dual Null-Space Based Controller Design with Signal Compensation for Formation with Conflicted Tasks

Dual Null-Space Based Controller Design with Signal Compensa...

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Control technology and Applications (CCTA),

作者： Yen Cheng Huang Jui-Ting Shen Ming-Li Chiang Yu-Wen Chen Tuan Lian Chua Li-Chen Fu Department of Electrical Engineering National Taiwan University Graduate Institute of Automation Technology National Taipei University of Technology Department of Electrical Engineering and Center for Artificial Intelligence and Advanced Robotics National Taiwan University

In this paper, we consider the multi-agent formation problem with trajectory tracking and obstacle avoidance. Out of all the controllers proposed to solve the multi-task problem, null-space based controller stood out for its ability of task priority appointment, priority interchangeability, and the simplicity in Lyapunov stability analysis. However, the advantages above are mainly based on the assumption that the considered tasks are mutually non-conflicted, which is not always the case. We propose a null-space based controller that takes the lower-rank task's control signal as the higher-rank controller's input, and redesign higher-rank controller so that the eliminated control signal is partially compensated and the tasks' aggregated error is decreased. We also design a dual null-space controller in order to apply virtual leader for path planning, which enables obstacle avoidance and tracking while the target tracking point is in an inadmissible condition. We verify the performance of formation and tracking control with and without dynamic obstacles, and show the decrease in aggregated error compared with the traditional null-space controller.

关键词： Task analysis Collision avoidance Target tracking Jacobian matrices Artificial intelligence Robots Lyapunov methods

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Fabrication of a Bionic Fibrous Sinusoidally-architected Helicoidal Structure Inspired from the Stomatopod Dactyl Clubs

Fabrication of a Bionic Fibrous Sinusoidally-architected Hel...

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第六届国际仿生工程学术大会暨2019年自然启迪科技国际研讨会

作者： Yupu Yan Deyuan Zhang Shicai Zhao Xiangyu Zhang School of Mechanical Engineering and Automation Beihang University Bionics and Micro/Nano/Bio Manufacturing Technology Research Center Beihang University Beijing Advanced Innovation Center for Biomedical Engineering Beihang University

Stomatopod dactyl clubs can produce a remarkably high impact when preying on mineralized shells. The high damage tolerance of dactyl clubs is closely related with fibrous herringbone-modified helicoidal architecture on exocuticle. To prevent crack propagation and avoid catastrophic failure, the biological prototype has been imitated to apply in aviation, auto industry and body armor. Even though the previous researches have shown some improvement, the study of the key sinusoidally-architected helicoidal structure remains at a preliminary stage. Herein, inspired by delicate biological impact-resistant structure, biomimetic are designed and assembled with common aeronautical bulk material carbon/epoxy resin composite. Firstly, a 3D printed sinusoidal surface mold is manufactured to control the overall sinusoidally-architected structure. Then, based on a helicoidal structure, the unidirectional epoxy resin base carbon fiber prepreg clothes are stacked according to the design of the layer distribution angle array [0,15,30,45,60,75,90,105,120,135,150,165,180]°. Finally, a hierarchical helicoidal structures is successfully fabricated in sinusoidal shape through a following hot-pressing process with mold limitation. The impact test shows that the specimen has a high performance on penetration resistance and energy absorption, which can improve damage tolerance. This design strategy allows for convenient and reliable macroscopic control at 3D helicoidal level. Furthermore, it can be easily extended to the fabrication of the other analogous impact-resistant aviation composite materials.

关键词： bionics impact-resistance sinusoidally-architected helicoidal structure carbon/epoxy resin composite

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Kinematics and mechanics analysis of mandible strike of Odontomachus monticola

Kinematics and mechanics analysis of mandible strike of Odon...

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第六届国际仿生工程学术大会暨2019年自然启迪科技国际研讨会

作者： Shicai Zhao Deyuan Zhang Yupu Yan Xiangyu Zhang School of Mechanical Engineering and Automation Beihang University Bionics and Micro/Nano/Bio Manufacturing Technology Research Center Beihang University Beijing Advanced Innovation Center for Biomedical Engineering Beihang University

Impact is a common phenomenon in our daily life and can lead to an irretrievable losses in aviation and industry field. Therefore, the analysis of impact-resistant structure is crucial. The Odontomachus monticola owes a huge striking velocity and acceleration compared to its weight in nature. When its mandibles bite, the left and right jaw tips are subjected to strong collision and strike. In this way, studies were conducted to obtain the kinematics and force of *** when the mandibles striked. High-speed Visualization was used to characterize the velocity, acceleration, position change and strained condition of the left and right mandible strikes. And then, its strike kinematics and mechanics can be revealed. Finite element simulation(Abaqus) was used to analyze the strike force and observe the strained condition in details. The results showed that the mandibles could withstand strong collision and strike. The main mandibles of *** were firstly impacted, and the strike force was the highest. After reciprocating closing, the strike force was gradually decelerated. In addition, the mandible strike force can lead it to bounce. The main and secondary mandibles were be easy to break. As a contrast, the blunt mandibles were relatively stable. Mechanics analysis showed that the combination of mandible strikes and head rotation led to the bounce behavior of ***. These researches can provide some reference for the manufacture of bionic impact-resistant structures.

关键词： Odontomachus monticola Mandible strike Kinematics Mechanics

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Design and Modeling of a Parallel Shifted-Routing Cable-Driven Continuum Manipulator for Endometrial Regeneration Surgery

Design and Modeling of a Parallel Shifted-Routing Cable-Driv...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jianhua Li Yuanyuan Zhou Jichun Tan Zhidong Wang Hao Liu Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Assisted Reproduction Center Shengjing Hospital affiliated to China Medical University Shenyang China Chiba Institute of Technology Narashino Japan Key Laboratory of Minimally Invasive Surgical Robot Shenyang China

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Endometrial regeneration surgery is a new therapy for intrauterine adhesion (IUA). However, existing instruments lacking dexterity and compliance are with difficulty to successfully perform the tasks of generating transplant wounds and transplanting stem cells during endometrial regeneration surgery. This paper presents a novel shifted-routing continuum manipulator which is driven by only two cables but has high dexterity, simple structure and small size. The design of the continuum manipulator with novel actuation strategy is introduced and the manipulator's kinematic model is also derived. The analysis and simulation imply that shifted-routing strategy improves the dexterity of manipulators under limited actuation numbers and enhances the ability of reaching targets on fundus and corpus of the uterus. Finally, the shifted-routing continuum manipulator is used to reach targets in a planner endometrium model. The experimental results show that the tip of the manipulator can reach all the area of endometrium from proper directions.

关键词： Instruments Two dimensional displays Surgery Stem cells Wounds Manipulators Task analysis

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Real-time Obstacle Avoidance using Supervised Recurrent Neural Network with Automatic Data Collection and Labeling

Real-time Obstacle Avoidance using Supervised Recurrent Neur...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Shao-Hung Chan Xiaoyue Xu Ping-Tsang Wu Ming-Li Chiang Li-Chen Fu Department of Electrical Engineering National Taiwan University Taipei Taiwan Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan NTU Center for Artificial Intelligence Advanced Robotics Taipei Taiwan

The following topics are dealt with: learning (artificial intelligence); medical signal processing; neurophysiology; electroencephalography; mobile robots; feature extraction; brain-computer interfaces; neural nets; c... 详细信息

关键词： Collision avoidance Training Robot sensing systems Robot kinematics Path planning Labeling

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