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Recognition and Filtering of Tremor Signals for Vascular Interventional Surgical Robot

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

引用

IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Liuqing Zhang Cheng Yang Rui Shen Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Automation 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

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.

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot system

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho 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 this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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A Two-channel Haptic Force Interface for Endovascular Robotic systems

A Two-channel Haptic Force Interface for Endovascular Roboti...

引用

IEEE International Conference on Mechatronics and Automation

作者： Peng Shi Shuxiang Guo Xiaoliang Jin Dapeng Song Faculty of Engineering and Design Kagawa University Hayashi-cho Takamatsu Japan Key Laboratory of Convergence Medical Engineering Sytem 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

Endovascular robotic systems are being developed to avoid radiation damage for surgeons and increase the accuracy of surgical operations. However, due to physically separated between operator and environment, intuitive haptic force feedback needs to be implemented to provide immersive operation for surgeon. In this paper, a two-channel haptic force interface is designed for endovascular robotic system. Through using a cylinder-based force generator and a torque generator based on magnetorheological fluid (MRF), the designed haptic force interface can realize the linear force feedback and torque feedback respectively. Two experiments have been done to calibrate the presented haptic force interface. The results showed that the designed haptic force interface has the potential using in the master console as well as training simulator for non-experience surgeon.

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Convolution Neural Network (CNN)-based Upper Limb Action Recognition

Convolution Neural Network (CNN)-based Upper Limb Action Rec...

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IEEE International Conference on Mechatronics and Automation

作者： Wenyang Gao Shuxiang Guo Dongdong Bu 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

Surface electromyography (sEMG) can directly reflect human neuromuscular activity, so sEMG is used to track and identify human joint movement in the field of rehabilitation medical engineering. For a large number of sEMG graphs, the results of using traditional classifiers to process the results are unsatisfactory. Using large classic convolution neural network (CNN) to process for a long time will cause a large delay in the control process. In order to make up for the shortcomings and deficiencies, the paper uses lightweight CNN to effectively classify and predict a large number of sEMGs in different parts. Since a lightweight network is used, low latency can be achieved for control effects. Theoretically, a training model with strong real-time performance and high accuracy can be achieved, and it also has a considerable effect in the control process.

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

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

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IEEE International Conference on Mechatronics and Automation

作者： Wei Zhou Shuxiang Guo Zhengyang Chen 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

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.

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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...

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

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

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

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

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IEEE International Conference on Mechatronics and Automation

作者： Yao Hu Huiming Xing Liwei Shi Shuxiang Guo Xihuan Hou He Yin Yu Liu Debin Xia Zan Li 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 Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China Faculty of Engineering Kagawa University Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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Irregular Motion Recognition of Guidewire in Vascular Interventional Surgery

Irregular Motion Recognition of Guidewire in Vascular Interv...

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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 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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