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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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MEMS inductor fabrication and emerging applications in power electronics and neurotechnologies

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Microsystems & Nanoengineering 2021年第4期7卷 1-22页

作者： Hoa Thanh Le Rubaiyet I.Haque Ziwei Ouyang Seung Woo Lee Shelley I.Fried Ding Zhao Min Qiu Anpan Han The Rowland Institute at Harvard Harvard UniversityCambridgeMAUSA Department of Mechanical Engineering Technical University of DenmarkLyngbyDenmark Department of Electrical Engineering Technical University of DenmarkLyngbyDenmark Department of Neurosurgery Massachusetts General HospitalHarvard Medical SchoolBostonMAUSA Boston VA Healthcare System BostonMAUSA Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province School of EngineeringWestlake UniversityHangzhouChina Institute of Advanced Technology Westlake Institute for Advanced StudyHangzhouChina

MEMS inductors are used in a wide range of applications in micro-and nanotechnology,including RF MEMS,sensors,power electronics,and *** technologies set the boundary conditions for inductor design and their electrical and mechanical *** review provides a comprehensive overview of state-of-the-art MEMS technologies for inductor fabrication,presents recent advances in 3D additive fabrication technologies,and discusses the challenges and opportunities of MEMS inductors for two emerging applications,namely,integrated power electronics and *** the four top-down MEMS fabrication approaches,3D surface micromachining and through-substrate-via(TSV)fabrication technology have been intensively studied to fabricate 3D inductors such as solenoid and toroid in-substrate TSV *** 3D inductors are preferred for their high-quality factor,high power density,and low parasitic capacitance,in-substrate TSV inductors offer an additional unique advantage for 3D system integration and efficient thermal *** features make in-substrate TSV inductors promising to achieve the ultimate goal of monolithically integrated power *** another perspective,3D bottom-up additive techniques such as ice lithography have great potential for fabricating inductors with geometries and specifications that are very challenging to achieve with established MEMS ***,we discuss inspiring and emerging research opportunities for MEMS inductors.

关键词： inductor power lithography

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Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot

Mechanism Design, Kinematics and Hydrodynamics Simulation of...

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IEEE International Conference on Robotics and Biomimetics

作者： Zhongyin Zhang Liwei Shi Shuxiang Guo Pengxiao Bao 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 Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Faculty of Engineering Kagawa University Kagawa Japan

ISBN: (纸本)9781665405362

With the gradual development of the Marine field, the underwater robot has gradually entered people's perspective. However, the structure and control of the current amphibious robot is too complex, and most of them need to switch two sets of structures to adapt to the amphibious environment. Therefore, a simple and reliable robot that can adapt to two environments with seven sets of structures is urgently needed. Based on the undulation motion principle of ray's pectoral fin, the undulation mechanism driven by 6 groups of crank rocker mechanism on both sides is designed, and the rocker mechanism is connected by rubber material to form the fin driven by rocker. The structure modeling and kinematics simulation of the robot are carried out, and it is confirmed that the mechanism of the ray can move effectively and the fin can realize regular fluctuation, which verifies the feasibility of the bionic ray underwater robot.

关键词： Autonomous underwater vehicles Analytical models Biological system modeling Fluid dynamics Kinematics Switches Production

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Study on a Two-layer Path Planning Method of Spherical Multi-robot

Study on a Two-layer Path Planning Method of Spherical Multi...

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IEEE International Conference on Mechatronics and Automation

作者： Chenqi Li Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering Systems and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system.

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A CNN-based Method for Guidewire Tip Collisions Detection in Vascular Interventional Surgery 17

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

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

作者： Lyu, Chuqiao Guo, Shuxiang Ma, Youchun Wang, Yue 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 Beijing100081 China

ISBN: (纸本)9781728164151

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. © 2020 IEEE.

关键词： Convolutional neural networks

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A Novel Axial Force Feedback Device for the Master Manipulator of the Vascular Interventional Surgical Robot 17

A Novel Axial Force Feedback Device for the Master Manipulat...

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

作者： Zhou, Wei Guo, Shuxiang Chen, Zhengyang 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 Beijing100081 China

ISBN: (纸本)9781728164151

Based on the recent research, the force feedback equipment with non-contact displacement measure device is helpful and valuable, which can reduce the size and increase flexibility of master manipulator largely, and so on. In this paper, a novel axil force feedback device with non-contact displacement measure equipment is designed. Firstly, the design theory based on electromagnetics and the working principle are elaborated in detail. Secondly, the calibration experiment of non-contact displacement measure equipment is done, which is used to build the relationship between the displacement and the pixel values. Lastly, Motion interference of moving parts are analyzed simply, and the experiments are done to verify the performance of displacement measurement. By analyzing the experimental results, this axial force feedback device is helpful and valuable for miniaturization of the master manipulator. © 2020 IEEE.

关键词： Displacement measurement

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Research on Real-time Simulation Method of Vascular Interventional Surgery Based on Model Order Reduction 17

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

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

作者： Gao, Baofeng Shang, Lamei 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 Beijing100081 China

ISBN: (纸本)9781728164151

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. © 2020 IEEE.

关键词： Blood vessels

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Design of a Novel Balloon Catheter Delivery Mechanism for the Vascular Interventional Robotic system 17

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

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

作者： Yuan, Hang Wang, Kaidi Zeng, Yuwen Xiao, Nan 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 Beijing100081 China

ISBN: (纸本)9781728164151

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. © 2020 IEEE.

关键词： Machine design

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A Replaceable Vascular Model-based Platform for Experience Acquisition in Interventional Surgery 17

A Replaceable Vascular Model-based Platform for Experience A...

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

作者： Wang, Yue Guo, Jin Guo, Shuxiang Lyu, Chuqiao Ma, Youchun 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 Beijing100081 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

Vascular interventional surgery has been gradually conducted to cure cerebrovascular diseases due to its advantages of smaller incisions and quicker recovery. However, due to the small size and fragile properties of vasculars in human brain, iatrogenic and interventional vascular damages could occur during the surgery. Thus, the operation experience of clinicians is very important. However, for inexperienced novice surgeons, the costs of training surgical experience are high. In order to solve the problems mentioned above, this paper attempts to design an experience acquisition platform for vascular interventional surgery. First, a simple model of vascular was made with wax plates. Then, guidewire transport was carried out in the vascular model through the existing operating platform to simulate the interventional surgery experiment. We use Python to write the Graphical User Interface (GUI) to design the visual operating platform, and import the simulated interventional surgery video into the interface. These operations were carried out based on the model of the patient's real vascular shape, and the frames with dangerous actions in the video were marked and counted, so that the surgeons could analyse the dangerous operation after the operation and improve the operation. From the experimental results, the experience acquisition platform has the ability to mark the dangerous operation of surgeons during surgery. Also, it can provide a low-cost method for the training of novice surgeons. © 2020 IEEE.

关键词： Graphical user interfaces

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A Structural Design of the Assembling Multi-functional Capsule Robot Driving Module 17

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

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

作者： Zhang, Lining Guo, Shuxiang Bu, Dongdong Ma, Youchun 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 Beijing100081 China

ISBN: (纸本)9781728164151

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. © 2020 IEEE.

关键词： Robots

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