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2021 4th International Conference on Sensors, Signal and Image Processing

作者： Yu Qiu Zhao Zheng Ruidi Ou Xiaoming Hu Jingfan Fan Jian Yang Beijing Engineering Research Center of Mixed Reality and Advanced Display School of Optics and Photonics Beijing Institute of Technology China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science Beijing Institute of Technology China

ISBN: (纸本)9781450385725

Optical tracking systems (OTSs) have been widely used in clinical practice to fulfill the high precision needs of contemporary surgery. The markers that are defaced in the production or surgery reduce the accuracy and tracking range of OTS. This effect was not considered in current products from either industry or academia. In this paper, we propose an OTS which can detect the defaced markers automatically. A stereo camera module is set to track surgical instruments by locating the markers affixed to them. An adaptive threshold approach is suggested to locate the markers. The typical fiducial localization error of our OTS reaches 0.28 mm, which is totally comparable to commercial devices. A defaced marker detection method based on the luminous energy model of OTS is proposed and can be used to recognize the defaced markers regardless of their relative positions to the OTS.

关键词： Defaced Marker Detection Optical Tracking system Surgical Instrument Tracking

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Attention Field Size Alters Patterns of Population Receptive Fields in the Early Visual Cortex

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Neuroscience Bulletin 2022年第2期38卷 205-208页

作者： Bo Liu Xiaochun Wang Le Wang Qiaojun Qu Wei Zhang Bin Wang Jie Xiang Ting Yan Tianyi Yan Hui Zhang College of Medical Imaging Shanxi Medical UniversityTaiyuan 030001China Department of Radiology First Clinical Medical CollegeShanxi Medical UniversityTaiyuan 030001China College of Information and Computer Taiyuan University of TechnologyTaiyuan 030001China Intelligent Imaging Big Data and Functional Nano-imaging Engineering Research Center of Shanxi Province Shanxi Medical UniversityTaiyuan 030001China Translational Medicine Research Center Shanxi Medical UniversityTaiyuan 030001China School of Life Science Beijing Institute of TechnologyBeijing 100081China Ministry of Industry and Information Technology Key Laboratory of Convergence Medical Engineering System and Healthcare TechnologyBeijing Institute of TechnologyBeijing 100081China

Dear Editor,Visual spatial attention is a cognitive process by which prior information about the relevance of spatial locations is used to improve perceptual performance[1].Visual attention is spread across the attention field(AF),a range within visual *** AF reshapes the distribution of activity throughout the visual pathway,including the early visual cortex(EVC)and all areas along the dorsal and ventral visual cortical pathways[2,3].Importantly,the effect of attention depends not only on the spatial position of the AF but also on its size[4].

关键词： Visual Cortex visual

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Effective irradiance calculation on irregular surface for photodynamic therapy treatment device

Effective irradiance calculation on irregular surface for ph...

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2019 International Conference on Optical Instruments and technology: Optical systems and Modern Optoelectronic Instruments

作者： Li, Dan Zhang, Jixia Hu, Xiaoming Li, Qin School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (纸本)9781510636460

Port wine stains is a congenital vascular malformation disease, which occurs mostly on the face and neck. Photodynamic therapy is an effective treatment for port wine stains, which utilizes photodynamic reaction between light, photosensitizer and oxygen in the tissue to produce phototoxic substance singlet oxygen to destroy the lesion. However, the irradiance dose is simply described by the irradiance on a specific plane instead of the irradiance on the lesion with curve shape. The clinician has little knowledge about the effective irradiance value on the lesion, which limits the understanding between the effect and the dosage. To get the effective irradiance on the lesion, a two-steps algorithm is proposed in this paper. Firstly, the point cloud data of lesion are constructed, and the normal vector of each point of the point cloud is calculated based on the least square method. Secondly, according to the first and second laws of irradiance, the effective irradiance on the lesion can be obtained when the parameters of the light source are available. Several typical port wine stains lesions are used to verify the difference between the irradiance on the plane and the lesion. The algorithm can not only help the clinician to make the preoperative planning of photodynamic therapy, but also provide a method for the study on the relationship between the effective irradiance dose on the lesions and the treatment effect of photodynamic therapy for port wine stains. © 2020 SPIE.

关键词： Photodynamic therapy

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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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A Novel Clamping Mechanism for Circumferential Force Feedback Device of the Vascular Interventional Surgical Robot 17

A Novel Clamping Mechanism for Circumferential Force Feedbac...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Chen, Zhengyang Guo, Shuxiang Zhou, Wei Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing China

ISBN: (纸本)9781728164151

At present, vascular intervention technique is the most effective way to treat cardio-cerebrovascular diseases. Vascular interventional surgical robot is applied to assist surgeons to done surgical operation effectively, and the study on this kind of robot is become a research hotspot. In vascular interventional surgery, surgeons mainly judge the state of catheter and guide wire in the blood vessel through vision and touch. Therefore, accurate force feedback is helpful for surgeons to operate interventional surgery better. However, most interventional surgery robots focus on the realization of axial force feedback and few robot systems can accurately feedback the circumferential force of the guidewire and the catheter. In this paper, a clamping mechanism for circumferential force feedback device is designed and calibrated. Firstly, the clamping mechanism is designed based on the friction theory and the control method of this mechanism is described in details. Secondly, the calibration methods of the clamping mechanism are proposed. Lastly, the calibration of the mechanism is verified by experiments, and the mechanism is optimized by analyzing the experimental results. The experimental results show that the mechanism can provide an accurate clamping force for the circumferential force feedback device. © 2020 IEEE.

关键词： Robotic surgery

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Design of a Capsule Robot system for Gastric Hemorrhage Detection using Luminol

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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IEEE International Conference on Mechatronics and Automation

作者： Yuchen Mao Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Application Complicated Systems and Intelligent Robot Laboratory School of Electrical Engineering and Automation 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

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system.

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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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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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