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Study on the influence of parameters of medical drill on bone drilling temperature

IOP Conference Series: Materials Science and Engineering 2018年第1期339卷

作者： Xianchun XU Yahui Hu Jingwang Han Lin Yue Wangbiao Jiang Tianjin Key Laboratory of Design and Intelligent Control of Advanced Mechatronical System Tianjin 300384 China Tianjin University of Technology 300384 China.

During surgical interventions, the temperature generated during cortical bone drilling can affect the activity of bone material, which may lead to necrosis. In this paper, with the purpose of reducing the temperature during cortical bone drilling, the influence of the parameters of medical drill were analyzed. The finite element model of the drilling process was established based on the parametric design of the dril. The relationship between the drill bit diameter, the point angle, and the helix angle to the drilling temperature was studied by the center composite experiment. The results showed that the drilling temperature is increased with the increase of drill diameter, vertex angle and helix angle in the range of certain research.

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Calculations of the Acceleration of Centrifugal Loading on Adherent Cells

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IOP Conference Series: Materials Science and Engineering 2017年第1期224卷

作者： Kang Chen Yang Song Qing Liu Chunqiu Zhang Tianjin Key Laboratory of the Design Intelligent Control of the Advanced Mechatronical System School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China

Studies have shown that the morphology and function of living cells are greatly affected by the state of different high acceleration. Based on the centrifuge, we designed a centrifugal cell loading machine for the mechanical biology of cells under high acceleration loading. For the machine, the feasibility of the experiment was studied by means of constant acceleration or variable acceleration loading in the Petri dish fixture and/or culture flask. Here we analyzed the distribution of the acceleration of the cells with the change of position and size of the culturing device quantitatively. It is obtained that Petri dish fixture and/or culture flask can be used for constant acceleration loading by experiments; the centripetal acceleration of the adherent cells increases with the increase of the distance between the rotor center of the centrifuge and the fixture of the Petri dish and the size of the fixture. It achieves the idea that the general biology laboratory can conduct the study of mechanical biology at high acceleration. It also provides a basis for more accurate study of the law of high acceleration on mechanobiology of cells.

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Design of control system for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal

Design of Control System for Lower Limb Rehabilitation Robot...

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IEEE International Conference on Mechatronics and Automation

作者： Shiqin Yu Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation.

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Study on Autonomous Surgical control system of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking

Study on Autonomous Surgical Control System of The Vascular ...

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IEEE International Conference on Mechatronics and Automation

作者： Zhimin Feng Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements.

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Study on 6D Pose Estimation system of Occlusion Targets for the Spherical Amphibious Robot based on Neural Network

Study on 6D Pose Estimation System of Occlusion Targets for ...

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IEEE International Conference on Mechatronics and Automation

作者： Chaofeng Du Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

The amphibious robot needs to accurately estimate the 6D pose of the target in tasks such as target tracking, docking with the recovery module, and target grasping. The current research on target 6D pose estimation is mainly applied to unoccluded targets, but when the target is occluded, the target’s pose cannot be accurately identified. Compared with other algorithms, the PVNet algorithm shows better robustness when target is occluded, but the accuracy is still low. To improve the accuracy of the PVNet algorithm, this paper adds the confidence score prediction of the prediction vector at the last layer of the PVNet network, and designs a vector confidence score loss function to train the network. Before generating the hypothetical keypoints, the pixels whose confidence score is lower than the set threshold are screened out, so that the generated hypothetical 2D keypoints are closer to the true 2D keypoints. Finally, the method in this paper is compared with the Tekin, PoseCNN, Oberweger and Pvnet algorithm, and demonstrate the superiority of the proposed method.

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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IEEE International Conference on Mechatronics and Automation

作者： Wei Tian Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process.

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Study on control Strategy of the Vascular Interventional Surgical Robot Based on LADRC

Study on Control Strategy of the Vascular Interventional Sur...

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IEEE International Conference on Mechatronics and Automation

作者： Wenqiang Zhang Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots.

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Antitumor Effects of Cds-Ppix Adducts for Nuclear-Targeted Sonodynamic Therapy

SSRN

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SSRN 2023年

作者： Xue, Juanjuan Jia, Muyue Sang, Shengbo Li, Huaqian Wang, Xiaojuan Guo, Li Duan, Qianqian Xi, Yanfeng Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Information and Computer Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan030024 China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science Taiyuan030024 China Department of Pathology Shanxi Cancer Hospital Shanxi Hospital Affiliated to CancerHospital Chinese Academy of Medical Sciences Cancer Hospital Affiliated to Shanxi Medical University Shanxi Taiyuan030013 China Shanxi Key Laboratory of Bone and Soft Tissue Injury Repair Department of Orthopaedics Second Hospital of Shanxi Medical University Taiyuan030001 China Department of Pathology Shanxi Tumor Hospital Taiyuan030013 China

To achieve high-efficiency treatment to diseases, accurate delivery of drugs with a carrier into the specific organelles is of great importance. The nucleus is the ultimate target for a large number of drugs and direct delivery of drugs into nucleus can greatly improve the therapeutic treatment. Whereas, in sonodynamic therapy (SDT), the fact that most drug delivery systems can only deliver drugs to the cytoplasm of the cells and cannot act directly on the nucleus. In this paper, nucleolus-targeted carbondots (CDs) are prepared. Also, the conjugate of CDs and PpIX is synthesized by amide cross-linking and then release singlet oxygen to kill cancer cells under ultrasound radiation. The resulting CDs-PpIX nanoparticles showed significant nuclear targeting properties, and greatly improved the efficiency of acoustic dynamics treatment, as the nucleus exhibited poor tolerance to reactive oxygen species (ROS) generated during acoustic dynamics treatment. In addition, ROS as an extracellular signal can activate the p38MAPK protein pathway, which is the main mechanism of ultrasound killing of cancer cells. Our results demonstrate the great potential of CDs-PpIX in targeting cell nuclei for acoustic dynamics treatment. © 2023, The Authors. All rights reserved.

关键词： Cancer cells

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Application of Digital Twin Technology in the Teaching of Engineering Drawing Course

Application of Digital Twin Technology in the Teaching of En...

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Information Science and Education (ICISE-IE), International Conference on

作者： Runfeng Zhang Yuxin Tang Zhenzhong Liu Yanfang Sun Jianguo Wu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China School of Language and Culture Tianjin University of Technology Tianjin China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin China

As an advanced technology that integrates virtuality and reality, digital twin technology has shown a wide range of application prospects in various fields. This paper aims to explore the potential application of digital twin technology in the teaching of engineering drawing courses, to improve students' theoretical knowledge and practical ability. By combining digital twin technology with traditional engineering drawing teaching, students can carry out practical operations and simulations in a virtual environment to better understand and apply drawing concepts and principles. Besides, taking the assembly drawing of thread connection as an actual teaching case, the specific application of digital twin technology in theoretical and experimental teaching is explained, respectively. The results show that digital twin technology is conducive to improving students' interest in engineering drawing courses and training students' spatial imagination ability, which is of great significance to reforming drawing courses.

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Self-Induced Backaction Optical Pulling Force

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Physical Review Letters 2018年第12期120卷 123901-123901页

作者： Tongtong Zhu Yongyin Cao Lin Wang Zhongquan Nie Tun Cao Fangkui Sun Zehui Jiang Manuel Nieto-Vesperinas Yongmin Liu Cheng-Wei Qiu Weiqiang Ding Department of Physics Harbin Institute of Technology Harbin 150001 China Department of Electrical and Computer Engineering National University of Singapore 4 Engineering Drive 3 Singapore 117583 Singapore Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan 030024 China Department of Biomedical Engineering Dalian University of Technology Dalian 116024 China Instituto de Ciencia de Materiales de Madrid Consejo Superior de Investigaciones Científicas Campus de Cantoblanco Madrid 28049 Spain Departments of Mechanical and Industrial Engineering and Electrical and Computer Engineering Northeastern University Boston Massachusetts 02115 USA

We achieve long-range and continuous optical pulling in a periodic photonic crystal background, which supports a unique Bloch mode with the self-collimation effect. Most interestingly, the pulling force reported here is mainly contributed by the intensity gradient force originating from the self-induced backaction of the object to the self-collimation mode. This force is sharply distinguished from the widely held conception of optical tractor beams based on the scattering force. Also, this pulling force is insensitive to the angle of incidence and can pull multiple objects simultaneously.

关键词： Electromagnetism Mechanical effects of light on material media Photonic crystals Optical microcavities Optical tweezers

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