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

作者： Guo, Shuxiang Cm, Jinxin Xiao, Nan Bao, Xianqiang Key Laboratory of Convergence Biomedical 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 Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Vascular interventional surgery has played an important role in the treatment of cardiovascular and cerebrovascular diseases. The corresponding vascular interventional robots are also developed. In our previous work, the interventional operation robot was developed to operate catheter or guidewire. However, in the process of conveying the catheter, the surgical accuracy will be affected by the inevitable bending deformation of the catheter in the sleeve. In this paper, in order to improve the accuracy of position control, we simulated the deformation of the catheter and obtains the displacement error caused by the catheter based on the ANSYS software. The results proved that the deformation of the catheter affects the precision of position control, and simulation results are prepared for the later compensation algorithm. © 2018 IEEE.

关键词： Catheters

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Pattern recognition of continuous elbow joint movements using bispectrum-based sEMG 15

Pattern recognition of continuous elbow joint movements usin...

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

作者： Bu, Dongdong Guo, Shuxiang Ma, Hongdao Xu, Hao Wei, Chao Key Laboratory of Convergence Biomedical 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 Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Due to the fact the sEMG can directly reflect the human neuromuscular activity, motion pattern recognition with surface electromyographic signal (sEMG) have been used to achieve human joint motions tracking in the rehabilitation medical engineering filed. However, the sEMG signal is non-Gaussian signal and the non-Gaussian component contains rich information of sEMG signal. Time-domain and frequency-domain features based lower order statistics joint sEMG commonly used cannot characterize the non-Gaussian information of signal. In this paper, we utilized the bispectrum estimators containing non-Gaussian information and the integral of bispectrum slice combined with time-domain features is extracted as features to recognize the elbow motion intention hidden in the filtered sEMG signals from the biceps muscle with good performance compared to other mothods in terms of classification accuracy. © 2018 IEEE.

关键词： Gaussian distribution

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A novel master-slave robotic system with close loop control for vascular interventional surgery 15

A novel master-slave robotic system with close loop control ...

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

作者： Guo, Shuxiang Wang, Yuxin Xiao, Nan Zhao, Yan Zeng, Yuwen Wu, Jiaqing Key Laboratory of Convergence Biomedical 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 Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Cardiovascular and cerebrovascular diseases have become the first threat of human health. With the development of interventional surgery, minor trauma, safety and high efficiency have become the focus of today's technological development. However, doctors are exposed to a large amount of X-ray radiation during surgery, which causes great damage to the doctors. So master-slave interventional surgical robot systems have developed rapidly. And the accuracy of the interventional robot directly determines the safety and reliability of the operation. Therefore, this paper designs a new type of slave device and control algorithm to improve the control accuracy of the interventional robot. This paper proposes a novel master-slave robotic system with close loop control for vascular interventional surgery. By adding a rotary encoder coaxial with the guide wire holder, it is used to detect the actual rotation angle of the guidewire and a linear position sensor fixedly connected with the guidewire clamper detects the axial displacement of the guide wire to form a closed-loop control to improve guidewire rotation and linear control accuracy. The results show that with the closed loop control of the guide wire, the average following error of the linear control of the guide wire is 0.912 mm, and the linear control average error is reduced by 63.96% compared to the system without feedback. The average following error of the rotation control is 1.311°, and the mean error of the rotation control is reduced by 43.47% compared to the non-feedback system. It indicates that the closed-loop control system has a good effect on improving the control accuracy of the surgery robot. © 2018 IEEE.

关键词： Robotic surgery

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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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Real-Time Collision Avoidance of a Redundant Dual-Arm Robot Based on Distance Function Method

Real-Time Collision Avoidance of a Redundant Dual-Arm Robot ...

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

作者： Zeng, Yuwen Xiao, Nan Guo, Shuxiang Zhao, Yan Wang, Yuxin Key Laboratory of Convergence Biomedical 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 Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa760-8521 Japan

ISBN: (纸本)9781538660720

Nowadays the morbidity and mortality of cardiovascular and cerebrovascular diseases are increasing year by year. Vascular interventional surgery has been considered as the most widely treatment to these diseases and it is developing rapidly for its minimally invasive procedure, safety and short recovery time. However, due to the low signal-to-noise ratio (SNR) and pipe-like structures in the human body, the resolution of fluoroscopic sequences can be too low for surgeons to recognize the catheter in some cases, which impose restrictions on the performance and efficiency of this surgery in clinic. Therefore, enhancing and tracking the catheter in the endovascular interventions have become a crucial part. This paper proposes a morphologic method based on multiscale filter and direction-oriented method, which can enhance and detect the catheter from sequences in real-time. And finally this method takes 0.064s per frame with an accuracy of 89.39%, which can meet the requirements of clinic operations. © 2018 IEEE.

关键词： Morphology

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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

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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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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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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