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A Novel Misoperation Preventing Device for the Interventional Surgical Robot 17

A Novel Misoperation Preventing Device for the Interventiona...

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

作者： Yang, Cheng Guo, Shuxiang Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Automation No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

As a solution for remote interventional surgery, interventional surgery robots can not only protect surgeons from radiation, but also make surgical control more precise. Based on previous research in our laboratory, this paper proposes a novel misoperation preventing device for the robot operation safety during interventional surgery and evaluates its gripping performance through experiments. Compared with our previous research, the novel misoperation preventing device is less affected by voltage and can be operated more accurately. Experiments show that the novel misoperation gripping device can complete the clamping of guidewire by applying a pressure of more than 17.5N. © 2020 IEEE.

关键词： Robotic surgery

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Recognition and Filtering of Tremor Signals for Vascular Interventional Surgical Robot 17

Recognition and Filtering of Tremor Signals for Vascular Int...

引用

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

作者： Guo, Shuxiang Zhang, Liuqing Yang, Cheng Shen, Rui Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Automation No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

During the operation of vascular intervention surgery, the surgeon may cause an involuntary tremor of hand due to a long time operation. However, during the actual surgical operation, when the surgeon performs complicated operations on same vascular area (such as selecting a blood vessel and pushing the catheter/guide wire into the thrombus), he needs to actively perform tremor to achieve the catheter/guidewire tremor in order to pass the catheter/guidewire. It is difficult to push or select the part of the blood vessel. This article is to eliminate the tremor of the operator's hand, and accurately identify the tremor signal in the signal through a support vector machine (SVM). The signal is filtered after identification, so that the signal received by the manipulator arm during the operation of the guide wire of the surgical robot does not contain the tremor signal This paper verifies the performance of tremor suppression algorithm design experiments and evaluates the algorithm as a whole. The results show that the algorithm has good tremor recognition and suppression effect. © 2020 IEEE.

关键词： Support vector machines

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Formating Reshape Control Strategy for Multiple Amphibious Spherical Robots 17

Formating Reshape Control Strategy for Multiple Amphibious S...

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

作者： Li, Zan Guo, Shuxiang Shi, Liwei Xing, Huiming Hou, Xihuan Liu, Yu Xia, Debin Zhou, Mugen School of Automation Beijing Institute of Technology No.5 Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

It is difficult for a rigid formation composed of multiple robots to pass through a narrow waterway, which needs to be realized by formation reshape. The virtual linkage structure is used to solve the problem that the conventional virtual structure is not easy to deform. In order to ensure the robustness of formation control, a discrete information consistency algorithm is added to provide the desire trajectory, then controller will be used to track it. At the same time, due to the difficulty of hydrodynamic modeling and the large overshoot of PID (proportional integral differential) controller, the double loop controller based on ADRC (Auto Disturbance Rejection Controller) include position loop and speed loop is used to adjust the position, and the single loop controller is used to adjust the heading angle and depth. The results of simulation show that the three combined methods of 3D virtual linkage structure, discrete consensus and ADRC realize the formation reshape. © 2020 IEEE.

关键词： Controllers

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Underwater Obstacle Avoiding Trajectory Tracking Approach for Amphibious Spherical Robots 17

Underwater Obstacle Avoiding Trajectory Tracking Approach fo...

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

作者： Hou, Xihuan Guo, Shuxiang Shi, Liwei Xing, Huiming Li, Zan Xia, Debin Zhou, Mugen Liu, Yu Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Automation No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

As real environment is complex and unstable, obstacles need to be considered when a robot tracks a trajectory. In view of this, the problem of tracking a path with obstacle avoiding is addressed. A two-layer control system is designed, which contains a re-planning controller and a trajectory tracking controller. In the re-plannng controller, nonlinear Model Predictive Control (NMPC) and avoiding obstacle function are combined to realize trajectory re-planning and obstacle reliable avoidance. In addition, a reference point of re-planning path next to the final point on a global reference path is chosen, which prevents the robot from going back to realize obstacle avoidance. 5 times multiform fitting is adopted for transferring the local trajectory information to the trajectory tracking controller. In the trajectory tracking controller, Model Predictive Control (MPC) based on kinematics and dynamics of the amphibious spherical robot (ASR) is designed. Simulation results illustrate that the designed two-layer control system is able to track a desired trajectory and avoid obstacles reliably at the same time. © 2020 IEEE.

关键词： Model predictive control

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Design and evaluation of an artificial lateral line for an amphibious spherical robots 17

Design and evaluation of an artificial lateral line for an a...

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

作者： Hu, Yao Xing, Huiming Shi, Liwei Guo, Shuxiang Hou, Xihuan Yin, He Liu, Yu Xia, Debin Li, Zan Zhou, Mugen Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

The underwater environment is complex and diverse, and it is difficult to explore the ocean, especially in the deep sea area. The lack of light, high pressure, and lack of oxygen make it difficult for humans to work in such extreme environments. Therefore, people are beginning to hand over the burden of exploring the ocean to underwater robots. The underwater robot's perception of the underwater environment is very important for controlling the motion of the underwater robot. However, in the environment where the light is lacking at night and in the deep sea, and in the narrow space, the robot vision consisting of infrared and camera is traditionally used. The system is difficult to function, so a new sensing system is needed to assist the underwater robot in recognizing the surrounding environment. In nature, real fish use their lateral line system to sense the surrounding environment. Based on the principle of bionics, we have developed an artificial lateral line system on a bionic spherical robot. The basic principle of this artificial lateral line system is to use the pressure sensor to sense the water flow pressure around the robot when the robot swims under water, thus establishing a relationship model between the robot swimming speed and the water flow pressure to realize the relative speed of identifying the underwater robot and the water flow. © 2020 IEEE.

关键词： Robots

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Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots 17

Quadrotor Location-based Target Hunting Strategy for Multipl...

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

作者： Xia, Debin Guo, Shuxiang Shi, Liwei Xing, Huiming Hou, Xihuan Li, Zan Zhou, Mugen Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

In order to realize the underwater functions of amphibious spherical robots and complete the task in water, a multi-robot cooperative hunting strategy is proposed. With the global observation of the quadrotor, the robots and the target can be found, which meets the conditions for modeling a composite system. In the target hunting process, multiple robots converge uniformly when they are hunting target, and they form a triangle formation. The cost function evaluates the hunting efficiency and energy consumption of the hunting strategy. Finally, the optimal path of each amphibious spherical robot was calculated. The simulation results show the effectiveness of this target hunting method based on ROS/Gazebo simulation platform. © 2020 IEEE.

关键词： Energy utilization

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Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots 17

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

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

作者： Yin, He Guo, Shuxiang Shi, Liwei Xing, Huiming Hou, Xihuan Li, Zan Xia, Debin Zhou, Mugen Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing100081 China

ISBN: (纸本)9781728164151

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. © 2020 IEEE.

关键词： Energy utilization

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A Multi-Binocular Camera-based Localization Method for Amphibious Spherical Robots 17

A Multi-Binocular Camera-based Localization Method for Amphi...

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

作者： Zhou, Mugen Guo, Shuxiang Shi, Liwei Xing, Huiming Hou, Xihuan Yin, He Liu, Yu Hu, Yao Xia, Debin Li, Zan Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

This paper presents a novel multi-binocular camera based localization method with panoramic view and high precision for amphibious spherical robots. In our previous work, the proposed approach based on RGB-D camera and inertial measurement unit (IMU) realized a cooperative and relatively close-range localization. While, position drifts caused by the rotation movement and short positioning range of RGB-D camera in underwater environments are the drawbacks of the previous approach. This paper designs a multi-binocular camera system on the amphibious spherical robot, which makes the robot observe targets in a nearly 360-degree visual range without rotation movement. Meanwhile, through the stereo vision model, the robot obtains the position information about the target robot. Then, according to the position information and the relative position of the binocular cameras, the cooperative localization model is established. To validate the proposed approach, experiments were performed in gazebo simulator with varying distances and relative degree. Compared with the previous works, the proposed localization method reveals higher accuracy and robustness. © 2020 IEEE.

关键词： Cameras

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Modeling and Simulation of the Drug Delivery Function for a Magnetic Driven Capsule Robot 17

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

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

作者： Wang, Zixu Guo, Shuxiang Wei, Wei Kagawa University Graduate School of Engineering Takamatsu Kagawa761-0396 Japan Beijing Institute of Technology Haidian District Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science and Technology Beijing100081 China

ISBN: (纸本)9781728164151

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. © 2020 IEEE.

关键词： Robots

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Modeling and Experimental Verification of a New Spherical Underwater Robot 17

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

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

作者： An, Ruochen Guo, Shuxiang Zheng, Liang Awa, Tendeng Sui, Wenbo Kagawa University Graduate School of Engineering Takamatsu Kagawa761-0396 Japan Beijing Institute of Technology Haidian District Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science and Technology Beijing100081 China

ISBN: (纸本)9781728164151

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. © 2020 IEEE.

关键词： Robots

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