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A Portable Surgeon's Habits-based Master Manipulator for Vascular Interventional Surgery Robots 20

A Portable Surgeon's Habits-based Master Manipulator for Vas...

引用

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

作者： Zhao, Duohao Guo, Shuxiang Lyu, Chuqiao Yan, Yonggan Lin, Zhijun Beijing Institute of Technology The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

The emergence of vascular interventional surgery robot (VISR) has brought good news to patients. However, the current research on the master manipulator is still in its infancy. Nowadays, the shortcomings of the developed master manipulator include poor portability, lack of tactile feedback devices, not in line with surgeon's operating habits and so on. In order to solve the above problems, a novel master manipulator is proposed in this paper. In order to realize the linear displacement measurement of the operating handle, a linear displacement measurement (LDM) unit based on rollers was proposed. By using the brushed DC motor and the bevel gears, the angular displacement measurement (ADM) unit and the circumferential force feedback (CFF) unit were designed. The decoupling of the operating rod and the rotating rod facilitated the portability of the proposed manipulator. Evaluation experimental results showed that the maximum linear error of the master manipulator was 0.296mm and the maximum angular displacement error was 7.66 degrees, which is acceptable. Moreover, the mathematical relationship between the circumferential force generated by the CFF and the input current was also obtained. To sum up, compared with other master manipulators, the proposed master manipulator is shown to be better and more promising. © 2023 IEEE.

关键词： Manipulators

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Preliminary Bilateral Upper Limb Rehabilitation system Based on sEMG and Muscle Tone 20

Preliminary Bilateral Upper Limb Rehabilitation System Based...

引用

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

作者： Wang, Hanze Guo, Shuxiang Li, He Bu, Dongdong Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

In recent years, with the increasing number of stroke patients, master-slave telerehabilitation has become one of the research hotspots in the field of rehabilitation. However, when estimating the angle of the main end, the angle estimation model is difficult to be widely applicable due to the different muscle tension of the physiotherapist itself. During remote rehabilitation training, it is difficult for physical therapists to obtain the damage of the affected limb, so it is difficult to arrange appropriate training intensity and training volume, which affects the effect of remote rehabilitation to a certain extent. To address these issues, this paper proposes a novel master-slave rehabilitation system. The therapist obtains his own muscle tension level a priori through FSR402, and jointly estimates the movement angle through the (Surface Electromyography) sEMG signal collected by MYO, so as to control the slave end. While following the rehabilitation training, the patient at the slave end reflects real-time muscle force of the affected limb and the true feeling of the movement to the master end through the muscle tension measurement arm cuff and the relevant buttons on the PC end. The overall system realizes data transmission through (User Datagram Protocol) UDP, so as to realize more secure and personalized master-slave control. The experiment proves that the new master-slave rehabilitation system is real and feasible. © 2023 IEEE.

关键词： Muscle

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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...

引用

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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A Classification Method for ECG Signals Based on Convolutional Neural Network 20

A Classification Method for ECG Signals Based on Convolution...

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

作者： Yang, Yuan Guo, Jin Lyu, Fengze Guo, Shuxiang Beijing Institute of Technology The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Cardiovascular disease is a chronic disease with high incidence, high disability and high mortality, which poses a great threat to the life and health of people all over the world. At present, the incidence and mortality of cardiovascular disease are increasing year by year worldwide, so the prevention and treatment of cardiovascular disease has become a top priority. In recent years, with the development of computer technology in the field of auxiliary diagnosis and treatment, the research on automatic classification of Electrocardiogram (ECG) signals has ushered in new opportunities. In this study, ECG signals are taken as the research object, to analyze the auxiliary diagnosis needs of users such as patients and pathologists. This study mainly uses ECG data from MIT-BIH database, combined with relevant preprocessing knowledge and deep learning classification model, to achieve ECG reading, denoising, segmentation, classification and so on. It can effectively improve the efficiency of diagnosis. It has certain reference value for assisting users to diagnose arrhythmia. © 2023 IEEE.

关键词： Convolutional neural networks

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A Novel Capsule Robot Drive Module with Translational Motion Functions 20

A Novel Capsule Robot Drive Module with Translational Motion...

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

作者： Yao, Long Guo, Shuxiang The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Wireless endoscopic robots, which are often used in gastrointestinal diseases, are difficult to integrate multiple functions simultaneously due to their limited size. Based on the functional modular working concept of capsule robots previously proposed. The drive module supports and navigates the functional modules for specific diagnosis or treatment, and the two can form new structures through docking mechanisms. The drive module developed so far has a simple structure and can realize basic transportation work, but the motion state is only a single axial rotation. In this study, we will introduce a magnetic drive module of a gastrointestinal capsule robot with forward translation movement ability, which can ensure horizontal forward movement under the condition of maintaining stability at one end, and the rotation surface of the external control magnetic field is replaced from a plane perpendicular to the direction of motion to a plane parallel to it, which is conducive to the utilization of the rotation degrees of freedom of the vertical plane by the functional module that matches it. Experiments show that the drive module can advance stably within the error range. © 2023 IEEE.

关键词： Magnetic fields

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A Novel Steerable Catheter for Vascular Interventional Surgery 20

A Novel Steerable Catheter for Vascular Interventional Surge...

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

作者： Yan, Yonggan Guo, Shuxiang Lyu, Chuqiao Zhao, Duohao Lin, Zhijun Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

To improve the operation success rate, the steerable catheter is theoretically significant and practically valuable to design. However, it is still difficult for most existing catheters to realize this function. In this paper, to steer the catheter head, a novel spring-based tendon-drive structure was proposed with a diameter of 1.5mm. To obtain precise tip poses, based on the local force analysis, it is demonstrated that the contact force at each point between the tendon and spring is equal. And under the premise of frictionless, the curvature at each point of the tendon is equal, which is only related to the tension of the tendon. Then the proposed structure is simplified to a cantilever beam only subjected to bending moment. And the deformation of the catheter tip with the control parameters is expressed. Finally, the experimental setup is established and the experimental results showed that the proposed spring-based tendon-driven catheter deflected in a circular. And the results justified the feasibility of the cantilever beam assumption and the correctness of the deformation formulas. The proposed tendon-driven catheter has the potential in improving the success rate of the vascular approach and operation safety. © 2023 IEEE.

关键词： Tendons

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The Performance Evaluation of Static Obstacle Recognition by Underwater Pressure Characteristics for Underwater Spherical Robot 20

The Performance Evaluation of Static Obstacle Recognition by...

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

作者： Li, Ao Guo, Shuxiang The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Underwater spherical robots are flexible and often perform tasks in narrow, dark and complex environments. The artificial lateral line system inspired by the lateral line system of fish can recognize obstacles. However, currently, the recognition of obstacles under the artificial lateral line system is mainly based on the vibration characteristics of obstacles. Based on the blank recognition of static obstacles, this paper analyzes the feasibility of recognition static obstacles. A polynomial regression model is proposed to detect static obstacles (walls) by moving robots. Finally, the effectiveness of obstacle recognition is verified by experiment and simulation. © 2023 IEEE.

关键词： Regression analysis

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Preliminary Exploration of Haptic-enabled Therapist-in-the-Loop Telerehabilitation system for Exoskeleton-assisted Upper Limb Training 20

Preliminary Exploration of Haptic-enabled Therapist-in-the-L...

引用

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

作者： Li, He Guo, Shuxiang Wang, Hanze Bu, Dongdong Beijing Institute of Technology The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

Faced with the increase in upper limb hemiplegia caused by stroke, robotic exoskeleton-assisted home-based telerehabilitation has attracted increasing attention in recent years. Telerehabilitation is a viable alternative to traditional face-to-face rehabilitation training, which has many advantages. In this paper, a preliminary therapist-in-the-loop haptic-enable telerehabilitation system for upper limb training is presented. In the telerehabilitation system, a high-definition haptic device manipulated by the operator (served as the therapist) is the master side, and the designed upper limb rehabilitation exoskeleton worn by the subject (served as the stroke patient) is the slave side. The master-slave side realizes the operation and force data transmission through TCP/IP communication protocol. Through experiments, the angle error and time delay are analyzed, which proves the usability of the constructed system and lays the foundation for the subsequent research. © 2023 IEEE.

关键词： Feedback

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Two-Way Perceived Color Difference Saliency Algorithm for Image Segmentation of Port Wine Stains 1st

Two-Way Perceived Color Difference Saliency Algorithm for Im...

引用

1st BenchCouncil International Federated Intelligent Computing and Block Chain Conferences, FICC 2020

作者： Kang, Wenrui Wang, Xu Zhang, Jixia Hu, Xiaoming Li, Qin School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789811611599

The image segmentation of port wine stains (PWS) lesions is of great significance to assess PDT treatment outcomes. However, it mainly depends on the manual division of doctors at present, which is time-consuming and laborious. Therefore, it is urgent and necessary to explore an efficient and accurate automatic extraction method for PWS lesion images. A two-way perceived color difference saliency algorithm (TPCS) for PWS lesion extraction is proposed to improve the efficiency and accuracy, and is compared with other image segmentation algorithms. The proposed algorithm shows the best performance with 88.91% accuracy and 96.36% sensitivity over 34 test images of PWS lesions. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Image segmentation

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Static and Modal Analysis of Critical Components of a Natatores-like Amphibious Robot 37

Static and Modal Analysis of Critical Components of a Natato...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Niu, Yan Shi, Liwei Guo, Shuxiang 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 Beijing100081 China

ISBN: (纸本)9781665465366

The urgent need for marine resources exploration and development has gradually changed the focus of research in the field of robots. The research about robots working across multimedia is more important, including the amphibious robots. In this paper, a Natatores-like robot is designed, which has the characteristics of high environmental adaptability, concealment, propulsion efficiency and energy utilization. In order to study and verify the mechanical strength of the critical components of the robot when walking on land, the static and modal simulation analysis of the leg root, shank, and webbed foot of the leg design is carried out. The results show that the static strength and static stiffness of the leg root and shank meet the requirements, and the webbed foot needs to be optimized to make it have less deformation when loaded. None of them has danger of resonance with the motor. © 2022 IEEE.

关键词： Modal analysis

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