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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Liu, Huikang Shi, Liwei Guo, Shuxiang Xing, Huiming Hou, Xihuan Liu, Yu Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-Cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

With the exploration of the ocean, the conventional underwater or the terrestrial robot cannot meet the needs of the work in the littoral amphibious environment. Therefore the study of amphibious robots has great significance. This paper presents a platform design that aims at constructing a natatores-like amphibious robot. Inspired by the movement of natatores, this robot is designed to be suitable for multi-mode locomotion both on land and in water, which even can dive underwater. On the base of investigations about the natatores' swimming stroke and dynamic analysis, a novel robot prototype is constructed adopting the bionic structure and movement mode to generate force to push its body forward. The description of the robot includes mechanical design, system design, as well as ADAMS modeling. Meanwhile, multi-function motion modes will be adopted under dynamically changing environments with the sensor subsystem processing the gathered robotic and environmental information effectively. Preliminary testing partly verifies the feasibility of the amphibious robotic prototype. © 2018 IEEE.

关键词： Robots

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Centrifugal microfluidic chip for multi-step fluid control at low rotational speed 4

Centrifugal microfluidic chip for multi-step fluid control a...

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4th International Conference on Biomedicine and Bioinformatics engineering, ICBBE 2024

作者： Lu, Shuyu Yang, Yuanzhan Cui, Siqi Li, Anyi Li, Xiaoqiong School of Medical Technology Beijing Institute of Technology 5 South Zhongguancun Street Haidian District Beijing100081 China Beijing Key Laboratory for Separation and Analysis in Biomedicine and Pharmaceuticals Beijing Institute of Technology 5 South Zhongguancun Street Haidian District Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology 5 South Zhongguancun Street Haidian District Beijing100081 China

ISBN: (纸本)9781510682443

Centrifugal microfluidic chips have excellent automation potential. Various detection technologies have been integrated into centrifugal microfluidic chips. To realize multi-step reaction processes, centrifugal microfluidic chips require the integration of several valves. Valve systems using only capillary valves may lead to excessively high rotational speeds. This is undesirable for manufacturing portable, low-power centrifugal microfluidic chip mating devices. Through valve mating and chamber layout, a valve system with low rotational speed characteristics was designed to overcome the dependence of centrifugal microfluidic chips on high rotational speed. The system includes 2 hydrophobic valves, 2 siphon valves and a Coriolis force structure. This study simulated the parametrically designed valve and Coriolis force structure by COMSOL and obtained the liquid control effect as expected. Using fluid simulation, the development cycle of the centrifugal microfluidic chip was shortened, saving time and expense. Through experiments, this study proved that our centrifugal microfluidic chip can accomplish 4-step reaction and 7-step pipetting control of 5 reagents. It has consistency and stability for the distribution of products. © 2024 SPIE.

关键词： Microfluidic chips

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Adaptive clamping mechanism-based a novel slave manipulator for endovascular catheterization 15

Adaptive clamping mechanism-based a novel slave manipulator ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zhang, Linshuai Guo, Shuxiang Yu, Huadong Song, Yu Song, Dapeng Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing100081 China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan School of Mechatronical Engineering Changchun University of Science and Technology Changchun Jilin China

ISBN: (纸本)9781538660720

Robot-assisted catheter systems can obviously reduce the radiation exposure to the surgeon and lessen the fatigue caused by standing for long time in protective clothing. However, few designs have taken the adaptive clamping of a catheter/guidewire manipulator into consideration. Additionally, limited research has been conducted in the damage of the clamping mechanism to the catheter. This paper presents an adaptive clamping mechanism based on the electromagnetic braking for a catheter/guidewire manipulator which can be used in vascular interventional surgeries training system. A valuable contribution is that the proposed clamping structure can adaptively clamping catheters or guidewires of different diameters without replacing the corresponding clamping structure, thus reducing operation time and improving the safety of the surgery. In addition, the force measurement experiments for different clamping objects were conducted. The experimental results show that the contract force can be measured for each bending region of the vascular model without using the corresponding clamping structure. Therefore, the presented clamping structure hinge-based provides important insights into the development of safe and reliable robotic catheter manipulators incorporating effective and convenience clamping for endovascular catheterization. © 2018 IEEE.

关键词： Catheters

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Deep Sleep Detection Using Only Respiration

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Journal of Beijing Institute of technology 2018年第3期27卷 459-467页

作者： Yanjun Li Xiaoying Tang Zhi Xu Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of Technology State Key Laboratory of Space Medicine Fundamentals and Application China Astronaut Research and Training Center

Although polysomnogram(PSG)is the gold standard method for the evaluation of sleep quality,it becomes very difficult to clean the residual conductive gel in the hair after collecting brain electricity in the space weightlessness *** paper explores the feasibility of detecting deep sleep by using respiratory signal *** signals of oronasal airflow and abdomen movements were analyzed on ten healthy subjects from an open-access sleep dataset,namely *** sleep segments were detected by linear support-vector machine(LSVM)with three indices,including the amplitude variability in the time domain,the energy ratio of main respiratory band in the frequency domain,and the information entropy in the time-frequency *** Cohen's Kappa coefficients were 0.43,0.41 and0.45 by general LSVM with feature vectors derived from oronasal airflow,abdomen movements and both respiration above,***,the corresponding Cohen's Kappa coefficients were0.48,0.41 and 0.49 by individual LSVM,***-based method can achieve a moderate accuracy for the detection of deep sleep,with individual LSVM a little better than the general *** this approach,detecting deep sleep automatically is attainable by respiratory signals from unconstrained and contact-free *** can be applied to the sleep monitoring for astronauts on orbit.

关键词： sleep quality sleep scoring sleep stage classification deep sleep detection time-frequency analysis

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Research on Real-time Simulation Method of Vascular Interventional Surgery Based on Model Order Reduction

Research on Real-time Simulation Method of Vascular Interven...

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IEEE International Conference on Mechatronics and Automation

作者： Baofeng Gao Lamei Shang Key Laboratory of Convergence Biomedical 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 Haidian District Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the vascular interventional surgery virtual simulation training system, there is a high demand for the real-time nature of the simulation. However, the amount of storage and calculation required by the current system is very large. We need some methods that can increase the calculation rate and speed up the system simulation rate. In this study, for the existing simulation training system, we improved the two parts of the blood vessel local simulation and the entire system simulation. First, the blood vessel is simulated and modeled using a model-based order reduction method. After a set of offline simulations based on the entire model, eigen-orthogonal decomposition is applied to greatly reduce the number of states of the robot model, and super-reduction is used to perform integration on the simplified domain. Then, a multi-threaded parallel operation method is adopted. The movement between the blood vessel and the guide wire and between the guide wire and the tactile force feedback device are calculated in parallel to increase the calculation rate. Finally, CUDA is used for GPU computing to accelerate the simulation modeling speed of the system. The experimental results show that the method proposed in this paper can speed up the system simulation rate and improve the real-time performance of the system simulation.

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Reciprocating Operation Method for Vascular Intervention Surgery Robot

Reciprocating Operation Method for Vascular Intervention Sur...

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IEEE International Conference on Mechatronics and Automation

作者： Kaidi Wang Hang Yuan Yuwen Zeng Nan Xiao Key Laboratory of Convergence Biomedical 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 Haidian District Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

With the continuous development of Vascular interventional surgery robot (VISR), VISR has gradually become an important tool for assisting doctors to complete interventional surgery. However, the research of VISR is not yet fully mature. The emergence of many problems caused inconvenience when doctors use VISR. The control methods and operation logic of VISR are still constantly improving. Aiming at some problems faced by VISR, this study developed a set of motion logic, which is suitable for direct push vascular VISR based on the control method of the joystick.

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Design of a Novel Balloon Catheter Delivery Mechanism for the Vascular Interventional Robotic system

Design of a Novel Balloon Catheter Delivery Mechanism for th...

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IEEE International Conference on Mechatronics and Automation

作者： Hang Yuan Kaidi Wang Yuwen Zeng Nan Xiao Key Laboratory of Convergence Biomedical 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 Haidian District Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Minimally Invasive Vascular Interventional Robots can effectively improve the safety and accuracy of surgical operations, reducing the cumulative radiation damage received by doctors. In the previous research of our lab, a Minimally Invasive Vascular Interventional Surgery Robot system was developed, which can achieve accurate delivery of catheters and guidewires. Nevertheless, this system lacks some surgical operations such as balloon catheter delivery. This paper presents a novel delivery device for the balloon catheter and its performance is evaluated by a series of experiments. On the basis of the adhesion hypothesis, this device uses the conveyor to drive the balloon catheter forward and backward. Finally, the performance evaluation experiments prove that the mechanism meets the operational requirements of the balloon catheter during operation.

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment 20

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

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Tian, Wei Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

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. © 2023 IEEE.

关键词： Reinforcement learning

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Vessel enhancing for a continuous DSA method towards endovascular interventional surgery 15

Vessel enhancing for a continuous DSA method towards endovas...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zhao, Yan Guo, Shuxiang Xiao, Nan Wang, Yuxm Zeng, Yuwen Iiu, Xmke Ge, Huijian Jiang, Yuhua Liu, Peng Li, Youxiang Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan No.5 Zhongguancun South Street Haidian District Beijing100081 China Department of Interventional Neuroradiology Beijing Neurosurgical Institute Beijing Tiantan Hospital Capital Medical University Beijing100050 China

ISBN: (纸本)9781538660720

Recently, research on endovascular interventional surgery (EIS) and robot assisted EIS attracts much attention. However the main visual navigation method, DSA, cannot provide full time vessel shadow information. It leads to long surgical time and high surgical risk. A vessel shadow enhancing algorithm is proposed for a continuous DSA method during Ell aiming at provide full time visual navigation information. To overcome the lack of X-ray images without injecting contrast during continuous DSA method. A heart-and-breathe-rate based subtracting method is proposed to obtain the subtracted image. The eroding and dilating method are used to denoising the subtracted images. In addition, the threshold method along the raw and column is adopted to further weaken the noise in the images. Experiments are conducted with the X-ray images obtained during clinical angiography using continuous DSA method. The experimental resulls indicate that the final processed images reach the requirement of surgeon and robot system about full time visual navigation information, the processing speed in the experiments is 125fps. © 2018 IEEE.

关键词： Angiography

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Study on Autonomous Surgical Control system of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking 20

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

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Feng, Zhimin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

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. © 2023 IEEE.

关键词： Three term control systems

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