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

A Novel Clamping Mechanism for Circumferential Force Feedbac...

引用

IEEE International Conference on Mechatronics and Automation

作者： Zhengyang Chen Shuxiang Guo Wei Zhou 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 Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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Irregular Motion Recognition of Guidewire in Vascular Interventional Surgery

Irregular Motion Recognition of Guidewire in Vascular Interv...

引用

IEEE International Conference on Mechatronics and Automation

作者： Youchun Ma Shuxiang Guo Chuqiao Lyu Yue Wang 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 Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

With the increasing incidence and prevalence of cardiovascular and cerebrovascular diseases, cardiovascular and cerebrovascular diseases have become one of the biggest causes of human death, and the diagnosis and treatment of cardiovascular and cerebrovascular diseases are mainly completed by minimally invasive interventional surgery. The operation requires high safety, high control precision, and high level of experience of surgeons. However, in the actual cardio-cerebrovascular interventional procedure, due to the complexity of the intravascular environment and doctors' operation of the guidewire with reference to the 2D contrast image, the guidewire might present some irregular motion with risks, such as bounce, which is very dangerous for cerebral blood vessels. Therefore, it is very critical to locate the bounce motion accurately. In this paper, transfer learning on VGG16 is used to train the bouncing motion data collected by the vascular interventional surgery robot. The problems of less bouncing motions and limited data volume affect the recognition of guidewire bouncing motions. Therefore, by processing, refining and integrating the guidewire bounce data, the accuracy rate of the guidewire bounce action classification in the test set is increased to 93.2%, which realizes the accurate recognition of the guidewire bounce action.

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A CNN-based Method for Guidewire Tip Collisions Detection in Vascular Interventional Surgery

A CNN-based Method for Guidewire Tip Collisions Detection in...

引用

IEEE International Conference on Mechatronics and Automation

作者： Chuqiao Lyu Shuxiang Guo Youchun Ma Yue Wang 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 Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In vascular interventional surgery, the tips of the guidewire or catheter are easy to collide the vascular wall and cause rupture or harm. These risky actions are difficult to track and can only be memorized by the surgeons. In this paper, we designed a convolutional neural network (CNN) model to identify whether the tips of guidewire collide the vessel wall. Finally, through the training and testing, our model got 95.9% accuracy in simulated vascular model. In addition, we also found some samples which the guidewire closed to the vascular wall were misdiagnosed by our models. If the images preprocessing accuracy can be improved, the results of the model will be increased in the future.

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A Structural Design of the Assembling Multi-functional Capsule Robot Driving Module

A Structural Design of the Assembling Multi-functional Capsu...

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IEEE International Conference on Mechatronics and Automation

作者： Lining Zhang Shuxiang Guo Dongdong Bu Youchun Ma 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 Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Medical capsule robot, as a painless, non-invasive human gastrointestinal diagnosis scheme, has attracted more and more attention in modern medical treatment. At present, in the medical system, the capsule robot enters the human body orally and starts to carry out specific single functional movement through the esophagus to the intestines and stomach, until it is discharged from the body, with low working efficiency. Therefore, this paper presents a new concept of assembling multifunctional capsule robot, and designs the structure of its driving module. The robot consists of a detachable function module and a driving module. Function modules according to the clinical needs to install different modules, such as visual module, drug delivery module. The driving module is a helical structure, which is powered by a rotating electromagnetic field generated by a triaxial Helmholtz coil. The robot can realize multi-module cooperative work after assembly. The simulation result shows that the robot driving module can move stably in the pipe by rotating magnetic field.

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Comparison of Isometric Force Estimation Methods for Upper Limb Elbow Joints

Comparison of Isometric Force Estimation Methods for Upper L...

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IEEE International Conference on Mechatronics and Automation

作者： Ziyi Yang Shuxiang Guo Yi Liu Graduate School of Engineering Engineering Kagawa University Hayashi-cho Takamatsu Japan 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 Haidian District Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

For post-stroke patient, the interaction force between the impaired limb and the rehabilitation robotic system is an important issue for patient safety in clinical treatment. The surface electromyographic signals is generated from the center nervous system which can present the muscle activity for predicting the muscle force without force/torque sensors. For predicting the isometric joint force, there are two kinds of methods, the model-based approach and the model-free approach. In the model-based method, a musculoskeletal model would be usually used for calculating the individual muscle force. The interaction force would be calculated by a bio-mechanical model based on the individual muscle force. Conversely, the model-free would establish an approximate model by directly mapping the relationship between the force data and the sEMG signals. The purpose of this paper is to compare these two kinds of prediction method for interaction force between human and contacting environment by the sEMG signals. In this study, the isometric elbow joint extension motions are focused. Two muscles of the upper limb were selected to record EMG signals. The Hill-type musculoskeletal model was employed as the model-based approach and the neural network was selected as the model-free approach. The experimental results show that the model-free method have the better prediction performance which can provide acceptable prediction results with root-mean-square error (RMSE) error below 2.20 N.

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Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots

Distributed Edge-based Event-driven Consensus Formation Stra...

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IEEE International Conference on Mechatronics and Automation

作者： He Yin Shuxiang Guo Liwei Shi Huiming Xing Xihuan Hou Zan Li Debin Xia Mugen Zhou 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 Haidian District Beijing China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots.

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Modeling and Simulation of the Drug Delivery Function for a Magnetic Driven Capsule Robot

Modeling and Simulation of the Drug Delivery Function for a ...

引用

IEEE International Conference on Mechatronics and Automation

作者： Zixu Wang Shuxiang Guo Wei Wei Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science and Technology Beijing Institute of Technology Haidian District Beijing China Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The capsule robot was developed to detect various intestinal diseases and mainly used in the minimally invasive procedures. Among them, commercial capsule robots can already suit the general inspection requirements. But just having the inspection function is increasingly unable to keep up with the pace of the new era, so developers are working hard to integrate some functional modules into traditional endoscope robots. In this research, we proposed a new type of robot capable of delivering drugs in the affected area, and analyze the rationality of structural design in combination with Ansys Fluent simulation, some improvements in drug delivery structure will be proposed. Finally, the experiment will be carried out for motion stability evaluation of the new type microrobot movement by a custom 6-DOF interial measurement unit. Through the above methods to improve the structural design of the robot and finally get a robot with high performance and stable operation.

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Modeling and Experimental Verification of a New Spherical Underwater Robot

Modeling and Experimental Verification of a New Spherical Un...

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IEEE International Conference on Mechatronics and Automation

作者： Ruochen An Shuxiang Guo Liang Zheng Tendeng Awa Wenbo Sui Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science and Technology Beijing Institute of Technology Haidian District Beijing China Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Underwater robots provide great possibilities for people to detect the marine environment. Robots need to keep moving stability, need to ensure the safety of the robot during the movement. A novel spherical underwater robot (SUR V) with hybrid propulsion devices that divided into two parts- vectored water-jet and propeller thrusters. A camera is added at robot to monitor the environments. To analyze the motion characteristics of the SUR V, the computational simulation is calculated in ADAMS and ANSYS CFX respectively. The simulation results verify the performance of the improved spherical underwater robot. Finally, the thrust experiments were conducted that evaluate the performance of the hybrid thruster. The thrust experiment proves that in the improved hybrid thruster proposed in this paper, the maximum thrust of the propeller thruster has increased by 4 times than before.

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Performance Evaluation of an Outer Spiral Microrobot in Pipes in Different Environments

Performance Evaluation of an Outer Spiral Microrobot in Pipe...

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IEEE International Conference on Mechatronics and Automation

作者： Lingling Zheng Shuxiang Guo Zixu Wang Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Kagawa University Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science and Technology Beijing Institute of Technology Haidian District Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Capsule microrobot has the potential to replace traditional endoscopy as a means of diagnosis and treatment. We proposed an outer spiral microrobot actuated by the magnetically actuated system in our previous research. A set of three-axes Helmholtz coil is used as the magnetically actuated system to generate the uniform rotating magnetic field. The outer spiral microrobot has a variety of movement methods because of its outer shape characters. This characteristic improves the feasibility of microrobot when it moves in multiple environments of the gastrointestinal (GI) tract. This paper analyzes the movement mode of the microrobot under different conditions. An outer spiral microrobot was fabricated and evaluated through two experiments with different environments. Experimental results show that the outer spiral microrobot has different speeds in the pipe with and without fluids. This study preliminarily explores the influence on the velocity control of the outer spiral microrobot and can be used as a reference for design and control of the microrobot in the GI tract.

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A Method for Obtaining Contact Force between Catheter Tip and Vascular Wall in Master-slave Robotic system

A Method for Obtaining Contact Force between Catheter Tip an...

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IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan 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 Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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