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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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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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Structure improvement and stability for an amphibious spherical robot 15

Structure improvement and stability for an amphibious spheri...

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

作者： Zheng, Liang Guo, Shuxiang Gu, Shuoxin Graduate School of Engineering Kagawa University Takamatsu Kagawa761-0396 Japan JiLin Agricultural Science and Technology University Jilin Jilin132101 China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology Ministry of Industry Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9781538660720

This paper proposed a novel mechanical design method of stability system and structure improvement for the new underwater robot is discussed, and also describes the key technologies and methods in detail of the robot to achieve multiple degrees of freedom. The new robot has ability of adjusting direction and perform specific mission goals. The ANSYS water pressure test and resistance test were performed on the mechanical structure under water intent to evaluate the design rationality of the robot leg and the overall robot. The article also introduced the stability system of the underwater robot and the installation and control method of the servo motors. Finally, the speed and gait stability of the robot underwater and land are analyzed through lots of experiments. © 2018 IEEE.

关键词： Degrees of freedom (mechanics)

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Performance evaluation of a multi-vectored water-jet propellers device for an amphibious spherical robot 15

Performance evaluation of a multi-vectored water-jet propell...

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

作者： Xing, Huiming Guo, Shuxiang Shi, Liwei Hou, Xihuan Su, Shuxiang Chen, Zhan Liu, Yu Liu, Huikang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China School of Automation 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

This paper presents a performance evaluation of the multi-vectored water-jet propellers system (MVWPS) for the amphibious spherical robot IV (ASR-IV), which will contribute to the real-time dynamic thrust vectoring of ASR-IV. This work extends the 2D modeling into 3D space, which benefits the 4DoFs control of ASR-IV more. The dynamic modeling (forces and moments) of ASR-IV can be obtained by synthesizing the propulsive vectors of four propellers. Thus, a novel experimental mechanism was developed to evaluate the MVWPS. This mechanism was designed with the mass distribution centered for the robot. Using a six-axis force/torque sensor at the equivalent mass center, we obtained the direct propulsive effect of the system for the robot. Experiments of one propeller were conducted to establish the relationship between the pulse width module (PWM) signal and the thrust. Then, experiments of MVWPS were carried out to evaluate the performance of MVWPS. © 2018 IEEE.

关键词： Spheres

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Structure Improvement and Stability for an Amphibious Spherical Robot

Structure Improvement and Stability for an Amphibious Spheri...

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IEEE International Conference on Mechatronics and Automation

作者： Liang Zheng Shuxiang Guo Shuoxin Gu JiLin Agricultural Science and Technology University Jilin Jilin China Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology Institute of Technology Haidian District Beijing China Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan

关键词： Biological inspiration Amphibious Spherical Underwater Robot Multifunction Robot engineering Simulation (ANSYS)

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Simulation study on the mass transport in PCL based on the ciliated dynamic system of the respiratory tract

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Journal of Physics: Conference Series 2019年第1期1300卷

作者： Pengfei Zhu Duanduan Chen Yuanqing Xu School of Life Science Beijing Institute of Technology Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

In this paper, a two-dimensional dynamic model of human respiratory cilia is established by immersed boundary-lattice Boltzmann method. In the model, periciliary liquid and mucus layer with different flow characteristics are considered, in which the non-Newtonian fluid in the viscous layer is described by Oldroyd-B model; the area between two layers is dynamically divided by a virtual membrane. By changing the cilium beat amplitude and the depth of periciliary liquid, this paper focuses on the removal of particle impurities by cilium beat. The results show that when the initial position is near the top of cilium, the particle tends to migrate upward to approach the mucus layer. However, if the initial position is near the middle or at lower part of the cilia, most of the particles will not be transferred to the vicinity of mucus layer by the swinging cilium. It is also found that by increasing the beat amplitude of cilia, particles are more likely to approach the mucus layer. By conducting this study, the migration of the particle in periciliary liquid is discussed in detail. The results are significant to help us to know the material transport law of human respiratory tract.

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Simulation study on bubble motion in capillaries based on lattice boltzmann method

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Journal of Physics: Conference Series 2019年第1期1300卷 012008-012008页

作者： Wang, Xinyu Li, Ruosong Li, Hanjun Xu, Yuanqing School of Life Science Beijing Institute of Technology Beijing 100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing 100081 China

The lattice Boltzmann method with mesoscopic properties can conveniently describe the interaction of multiphase molecules and has wide application prospects in the field of multiphase flow. In this paper, the improved Shan-Chen pseudo-potential multiphase model in lattice Boltzmann method was used to simulate the process of bubble passing through stenotic capillaries during the pathogenesis of decompression sickness, and the velocity variation of the fluid in the process of flow was studied. According to the research results, it can be concluded that: (1) in the direct channel, the velocity of the fluid slows down with the increase of the gas composition, and the clogging can cause a more obvious trend of deceleration; (2) in the narrow channel, the fluid velocity changes abruptly when the gas enters and leaves the narrow area, and with the increase of the gas composition, the velocity change tends to be stable when the gas can completely fill the narrow area. This research provides a theoretical basis for further understanding the pathogenesis of decompression sickness.

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MedShapeNet - A Large-Scale Dataset of 3D Medical Shapes for Computer Vision

arXiv

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arXiv 2023年

作者： Li, Jianning Zhou, Zongwei Yang, Jiancheng Pepe, Antonio Gsaxner, Christina Luijten, Gijs Qu, Chongyu Zhang, Tiezheng Chen, Xiaoxi Li, Wenxuan Wodzinski, Marek Friedrich, Paul Xie, Kangxian Jin, Yuan Ambigapathy, Narmada Nasca, Enrico Solak, Naida Melito, Gian Marco Vu, Viet Duc Memon, Afaque R. Schlachta, Christopher De Ribaupierre, Sandrine Patel, Rajnikant Eagleson, Roy Chen, Xiaojun Mächler, Heinrich Kirschke, Jan Stefan de la Rosa, Ezequiel Christ, Patrick Ferdinand Li, Hongwei Bran Ellis, David G. Aizenberg, Michele R. Gatidis, Sergios Küstner, Thomas Shusharina, Nadya Heller, Nicholas Andrearczyk, Vincent Depeursinge, Adrien Hatt, Mathieu Sekuboyina, Anjany Löffler, Maximilian Liebl, Hans Dorent, Reuben Vercauteren, Tom Shapey, Jonathan Kujawa, Aaron Cornelissen, Stefan Langenhuizen, Patrick Ben-Hamadou, Achraf Rekik, Ahmed Pujades, Sergi Boyer, Edmond Bolelli, Federico Grana, Costantino Lumetti, Luca Salehi, Hamidreza Ma, Jun Zhang, Yao Gharleghi, Ramtin Beier, Susann Sowmya, Arcot Garza-Villarreal, Eduardo A. Balducci, Thania Angeles-Valdez, Diego Souza, Roberto Rittner, Leticia Frayne, Richard Ji, Yuanfeng Ferrari, Vincenzo Chatterjee, Soumick Dubost, Florian Schreiber, Stefanie Mattern, Hendrik Speck, Oliver Haehn, Daniel John, Christoph Nürnberger, Andreas Pedrosa, João Ferreira, Carlos Aresta, Guilherme Cunha, António Campilho, Aurélio Suter, Yannick Garcia, Jose Lalande, Alain Vandenbossche, Vicky Van Oevelen, Aline Duquesne, Kate Mekhzoum, Hamza Vandemeulebroucke, Jef Audenaert, Emmanuel Krebs, Claudia van Leeuwen, Timo Vereecke, Evie Heidemeyer, Hauke Röhrig, Rainer Hölzle, Frank Badeli, Vahid Krieger, Kathrin Gunzer, Matthias Chen, Jianxu van Meegdenburg, Timo Dada, Amin Balzer, Miriam Fragemann, Jana Jonske, Frederic Rempe, Moritz Malorodov, Stanislav Bahnsen, Fin H. Seibold, Constantin Jaus, Alexander Marinov, Zdravko Jaeger, Paul F. Stiefelhagen, Rainer Santos, Ana Sofia Lindo, Mariana Ferreira, André Alves, Victor Kamp, Michael Abourayya, Amr Nensa, Felix Hörst, Fabian Brehmer, Alexander Hein Girardetstraße 2 Essen45131 Germany Graz University of Technology Inffeldgasse 16c Graz8010 Austria Graz Austria The Department of Computer Science Johns Hopkins University Malone Hall 3400 N Charles St BaltimoreMD21218 United States Rte Cantonale Lausanne1015 Switzerland The Department of Measurement and Electronics AGH University of Science and Technology Krakow Poland Sierre Switzerland Department of Biomedical Engineering University of Basel Hegenheimermattweg Allschwil167C CH-4123 Switzerland The Boston College 140 Commonwealth Ave Chestnut HillMA02467 United States University Hospital B7-200 339 Windermere Road LondonN6A 5A5 Canada The Department of Radiology Renji Hospital School of Medicine Shanghai Jiao Tong University Shanghai200240 China The Research Center for Connected Healthcare Big Data ZhejiangLab Zhejiang Hangzhou311121 China The Faculty of Statistics Technical University Dortmund August-Schmidt-Straße 1 Dortmund44227 Germany The Institute of Mechanics Graz University of Technology Kopernikusgasse 24/IV Graz8010 Austria The Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai200240 China The Department of Cardiac Surgery Medical University Graz Auenbruggerplatz 29 Graz8036 Austria The Department of Diagnostic and Interventional Radiology University Hospital Giessen Justus-Liebig-University Giessen Klinikstraße 33 Giessen35392 Germany The Department of Mechanical Engineering Mehran University of Engineering and Technology Jamshoro Sindh76062 Pakistan The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China The Geschäftsführender Oberarzt Abteilung für Interventionelle und Diagnostische Neuroradiologie Universitätsklinikum der Technischen Universität München Ismaningerstr. 22 München81675 Germany icometrix Kolonel Be

Prior to the deep learning era, shape was commonly used to describe the objects. Nowadays, state-of-the-art (SOTA) algorithms in medical imaging are predominantly diverging from computer vision, where voxel grids, meshes, point clouds, and implicit surface models are used. This is seen from numerous shape-related publications in premier vision conferences as well as the growing popularity of ShapeNet (about 51,300 models) and Princeton ModelNet (127,915 models). For the medical domain, we present a large collection of anatomical shapes (e.g., bones, organs, vessels) and 3D models of surgical instrument, called MedShapeNet, created to facilitate the translation of data-driven vision algorithms to medical applications and to adapt SOTA vision algorithms to medical problems. As a unique feature, we directly model the majority of shapes on the imaging data of real patients. As of today, MedShapeNet includes 23 datasets with more than 100,000 shapes that are paired with annotations (ground truth). Our data is freely accessible via a web interface and a Python application programming interface (API) and can be used for discriminative, reconstructive, and variational benchmarks as well as various applications in virtual, augmented, or mixed reality, and 3D printing. Exemplary, we present use cases in the fields of classification of brain tumors, skull reconstructions, multi-class anatomy completion, education, and 3D printing. In future, we will extend the data and improve the interfaces. The project pages are: https://***/ and https://***/Jianningli/*** Codes 68T01 © 2023, CC BY.

关键词： Large dataset

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An IB-LBM study of continuous cell sorting in deterministic lateral displacement arrays

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Acta Mechanica Sinica 2016年第6期32卷 1023-1030页

作者： Qiang Wei Yuan-Qing Xu Xiao-Ying Tang Fang-Bao Tian School of Life Science Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology School of Engineering and Information Technology University of New South Wales

The deterministic lateral displacement (DLD) is an important method used to sort particles and cells of different sizes. In this paper, the flexible cell sorting with the DLD method is studied by using a numerical model based on the immersed boundary-lattice Boltzmann method (IB-LBM). In this model, the fluid motion is solved by the LBM, and the cell membrane-fluid interaction is modeled with the LBM. The proposed model is validated by simulating the rigid particle sorted with the DLD method, and the results are found in good agreement with those measured in experiments. We first study the effect of flexibility on a single cell and multiple cells continuously going through a DLD device. It is found that the cell flexibility can significantly affect the cell path, which means the flexibility could have significant effects on the continuous cell sorting by the DLD method. The sorting characteristics of white blood cells and red blood cells are further studied by varying the spatial distribution of cylinder arrays and the initial cell-cell distance. The numerical results indicate that a well concentrated cell sorting can be obtained under a proper arrangement of cylinder arrays and a large enough initial cell-cell distance.

关键词： IB-LBM Cell sorting Deterministic lateral displacement

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