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6th World Congress on Intelligent Control and Automation, WCICA 2006

作者： Jianxun, Zhang Huan, Tan Wenqin, Luo Tian, Yang Shumei, Wang Institute of Robot and Automatic Information System Nankai University Tianjin 300071 China

ISBN: (纸本)1424403324

robot technology is being broadly applied in medical area. Assistant microsurgery robot is an important branch of medical robot. This paper introduces the architecture of a robot assistant microsurgery system (RAMS) which is developed by University of Nankai and explains the design of the control software of the system. The architecture of electrical and electronic control sub-system of the robot assistant microsurgery system is emphasized and detailed in this paper. Moreover, some clinical experiment results of microsurgery on animals are reported which demonstrate that the RAMS satisfies the requirements of assistant microsurgeries with a high moving precision and high working reliability. © 2006 IEEE.

关键词： Surgical equipment

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A novel trajectory prediction approach for table-tennis robot based on nonlinear output feedback observer

A novel trajectory prediction approach for table-tennis robo...

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IEEE International Conference on robotics and Biomimetics

作者： Wang, Yingshi Sun, Lei Liu, Jingtai Yang, Qi Zhou, Lu He, Shan Institute of Robot and Automatic Information System Nankai University 300071 Tianjin China

ISBN: (纸本)9781424493173

It is a key issue for table tennis robot that the flight trajectory of ball could be rapidly predicted within a certain precision. Due to the nonlinear model of the ball's flight, only all state including the position and velocity at each event are catched, could its whole trajectory be obtained. However, since only the position could be measurable by cameras, the velocity should be predicted by the measured position. To solve this problem, this paper employs a novel output feedback observer to the ball's flight trajectory prediction for the velocity estimated. The stability and performance of the observer with exponential convergence is proven by Lyaponov method, and conditions for the stability of the observer are given. Compared with the traditional method, the approach proposed in the paper has some advantages of fast convergence and high precision. Finally, he experimental results shows the performance of the proposed approach. © 2010 IEEE.

关键词： Sports

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Design of under-layer control sub-system for robot assistant microsurgery system

Design of under-layer control sub-system for robot assistant...

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5th International Conference on Control and Automation, ICCA'05

作者： Tan, Huan Zhang, Jianxun Luo, Wenqin Institute of Robot and Information Automatic System College of Information Technical Science Nankai University Tianjin 300071 China

ISBN: (纸本)0780391381

robot applied in medical area is an important research field of special type robot. This paper first introduces the development of robot applied in medical area, and proposes the architecture of robot Assistant Microsurgery system (RAMS) with the technical requirement in microsurgery process. Then it describes hardware and software design in Under-layer Control sub-system (UCS) of RAMS's control system, and gives the experimental results of microsurgery on animal with this robot, which demonstrate that RAMS satisfies the technical requirements of motion character and precision in high security. This Under-layer Control sub-system can be used in many high precision required systems. It also refers some related important problems in the design of whole system. © 2005 IEEE.

关键词： robotics

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Design of DSP based multiple stepping-motors' micro-stepping driving controller

Design of DSP based multiple stepping-motors' micro-stepping...

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International Conference on Mechatronics (ICM)

作者： Huan Tan Jianxun Zhang Wenqin Luo Institute of Robot & Automatic Information System Nankai University Tianjin China

This paper proposes a design of a multiple stepping-motors' micro-stepping driving controller which based on DSP and CPLD circuits. It first introduces the principle of micro-stepping control and power driving of multiple stepping-motors. Then it explains the hardware and software that was particularly designed for micro-stepping driving controller of multiple stepping-motors with the technical requirements for the robot assistant microsurgery system. It also gives the experimental results in different situations. The experimental results demonstrate that the driving controller satisfies the technical requirements of a robot. At last, the paper summarizes the performances of the driving controller and briefly forecasts its further applications.

关键词： Digital signal processing Control systems Digital signal processing chips automatic control robots Microsurgery Surgery Motion control Energy consumption Position control

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robot Assistant Microsurgery system

Robot Assistant Microsurgery System

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World Congress on Intelligent Control and Automation (WCICA)

作者： Jianxun Zhang Huan Tan Wenqin Luo Tian Yang Shumei Wang Institute of Robot and Automatic Information System Nankai University Tianjin China

关键词： robots Microsurgery Surgery Medical robotics robotics and automation Read-write memory Control systems Force feedback Manipulators Computer architecture

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A robot-Assisted system for Minimally Invasive Spine Surgery of Percutaneous Vertebroplasty Based on CT Images

A Robot-Assisted System for Minimally Invasive Spine Surgery...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Hao Ju Jianxun Zhang Gang An Xiaoxu Pei Guansheng Xing Institute of Robot and Information Automatic System Nankai University Tianjin China

This paper presents a robot-assisted system developed for spine surgery of percutaneous vertebroplasty. The system plays roles of assisting surgeon for puncture. Compared to navigation systems as well as conventional methods for percutaneous vertebroplasty, it is able to achieve better accuracy. With the help of the surgical planning system based on CT images, the surgeon could easily obtain the information of the target point, orientation, and depth of the surgical needle. Unlike other system based on vision, this robot system could achieve the target point with the desired angle without optical tracking system. A new method of coordinate transformation from the CT images to the robot is developed to cope with the orientation for the robot-assisted system.

关键词： Minimally invasive surgery Computed tomography robot kinematics Surges Navigation Needles Machine vision robot vision systems Biomedical optical imaging Target tracking

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A novel trajectory prediction approach for table-tennis robot based on nonlinear output feedback observer

A novel trajectory prediction approach for table-tennis robo...

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IEEE International Conference on robotics and Biomimetics

作者： Yingshi Wang Lei Sun Jingtai Liu Qi Yang Lu Zhou Shan He Institute of Robot & Automatic Information System Nankai University 300071 Tianjin China

关键词： Trajectory robots Observers Atmospheric modeling Frequency modulation Accuracy Aerodynamics

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Design of under-layer control sub-system for robot assistant microsurgery system

Design of under-layer control sub-system for robot assistant...

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International Conference on Control and Automation (ICCA)

作者： Huan Tan Jianxun Zhang Wenqin Luo Institute of Robot & Information Automatic System College of Information Technical Science Nankai University Tianjin China

robot applied in medical area is an important research field of special type robot. This paper first introduces the development of robot applied in medical area, and proposes the architecture of robot assistant microsurgery system (RAMS) with the technical requirement in microsurgery process. Then it describes hardware and software design in under-layer control sub-system (UCS) of RAMS's control system, and gives the experimental results of microsurgery on animal with this robot, which demonstrate that RAMS satisfies the technical requirements of motion character and precision in high security. This under-layer control sub-system can be used in many high precision required systems. It also refers some related important problems in the design of whole system.

关键词： robot control Control systems Microsurgery Surgery Medical robotics Medical control systems Motion control Computer architecture Hardware Software design

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Method of path planning for home security robots based on genetic algorithm

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Gaojishu Tongxin/Chinese High Technology Letters 2007年第9期17卷 924-928页

作者： Ju, Hao Niu, Heming Zhang, Jianxun Institute of Robot and Information Automatic System Nankai University Tianjin 300071 China

By combining the field knowledge with the genetic algorithm, a path planning method was proposed for home security robots. The algorithm used an improved grid method to represent home environments, redefined the evaluation method for the fitness function of path planning, and designed the effective path genetic operators. The simulation result indicated that this method was valid and effective. It realized the path planning and dynamic obstacle-avoidance of home security robots under actual home environment.

关键词： Genetic algorithm Home security robots Path planning

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Research on micro-manipulation robot and its micro-visual servo control system

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IFAC Proceedings Volumes 1999年第2期32卷 773-777页

作者： Liu Lian-Chen Lu Gul-Zhang Zhang Jian-Xun Li Bin Tu Yu-Cheng Xue Da-Qing State CIMS Engineering Research Center Tsinghua University Beijing 100084 P.R.China Institute of Robot and Information Automatic System Nankai University TianJin 300071 P.R.China

This paper presents a new type of micro-manipulation robot system applied in bio-medical engineering to complete micro-cutting or gene-injection. A reasonable architecture of this robot with 7 DOF is also presented. Micro-vision servo control system can improve its operating precision; a method based on variance of gradient is used to recover the depth information of micro-images. Two human blood cells have been successfully separated by this robot system.

关键词： micro-manipulation robot micro image processing depth recovery vision servo control system

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