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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 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...

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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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Mixing Dynamics and Synthesis Performance of Staggered Herringbone Micromixer for Limit Size Lipid Nanoparticles

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Journal of Beijing Institute of technology 2022年第3期31卷 293-301页

作者： Shuai Zhang Yunlong Fan Chenmu Xue Yuanzhan Yang Xiaoqiong Li Xiaodong Chen Yulin Deng School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Institute of Engineering Medicine Beijing Institute of TechnologyBeijing 100081China School of Life Science Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information TechnologyBeijing 100081China

Staggered herringbone micromixer has shown good efficiency of mixing and performance of synthesizing *** bring a detailed understanding of the mixing dynamics and syn-thesis performance of this kind of micromixer,this paper carries out a high-fidelity numerical simu-lation and a parametrial experimental study on a well-established design.A passive tracer is induced in the numerical simulation to analyze mixing dynamics induced by the staggered herring-bone *** effects are identified to reveal the underlying mechanisms,including folding,stretching,and *** the authors’knowledge,the splitting effect is identified for the first time by the isosurface of the passive tracer,to show the high efficiency of the staggered herring-bone *** micromixer is then used to synthesize lipid nanoparticles by mixing a mixture of lipid and poly(lactic-co-glycolic acid)(PLGA)solutions with deionized *** a wide mass ratio of lipid and PLGA solutions,nanoparticles with good monodispersity are synthesized to reflect the good compatibility of the micromixer and the *** addition,an optimized mass ratio is identified from the parametrical experiment.

关键词： mixing dynamics staggered herringbone micromixer folding stretching splitting

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Centrifugal microfluidic chip for multi-step fluid control at low rotational speed 4

Centrifugal microfluidic chip for multi-step fluid control a...

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4th International Conference on Biomedicine and Bioinformatics engineering, ICBBE 2024

作者： Lu, Shuyu Yang, Yuanzhan Cui, Siqi Li, Anyi Li, Xiaoqiong School of Medical Technology Beijing Institute of Technology 5 South Zhongguancun Street Haidian District Beijing100081 China Beijing Key Laboratory for Separation and Analysis in Biomedicine and Pharmaceuticals Beijing Institute of Technology 5 South Zhongguancun Street Haidian District Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology 5 South Zhongguancun Street Haidian District Beijing100081 China

ISBN: (纸本)9781510682443

Centrifugal microfluidic chips have excellent automation potential. Various detection technologies have been integrated into centrifugal microfluidic chips. To realize multi-step reaction processes, centrifugal microfluidic chips require the integration of several valves. Valve systems using only capillary valves may lead to excessively high rotational speeds. This is undesirable for manufacturing portable, low-power centrifugal microfluidic chip mating devices. Through valve mating and chamber layout, a valve system with low rotational speed characteristics was designed to overcome the dependence of centrifugal microfluidic chips on high rotational speed. The system includes 2 hydrophobic valves, 2 siphon valves and a Coriolis force structure. This study simulated the parametrically designed valve and Coriolis force structure by COMSOL and obtained the liquid control effect as expected. Using fluid simulation, the development cycle of the centrifugal microfluidic chip was shortened, saving time and expense. Through experiments, this study proved that our centrifugal microfluidic chip can accomplish 4-step reaction and 7-step pipetting control of 5 reagents. It has consistency and stability for the distribution of products. © 2024 SPIE.

关键词： Microfluidic chips

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Design and Characteristic Evaluation of a Novel Clamping Mechanism for Amphibious Spherical Bionic Robots 20

Design and Characteristic Evaluation of a Novel Clamping Mec...

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

作者： Gu, Chengchao Guo, Shuxiang Liu, Meng Yin, He Li, Ao Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

The motion function and control of amphibious robots is a hot topic at present. The multi-function of robot is the development trend of robot. In this paper, based on the existing prototype bionic robot in the laboratory, the structure of the robot's mechanical leg is updated, and the underwater grasping function is successfully added. The new mechanical leg integrates a mechanical claw device, which makes use of the geometric characteristics of the parallelogram to shrink the mechanical claw, maximizes the use of the limited space below the robot, and greatly extends the effective length of the grasping end of the mechanical claw. At the same time, through static stress analysis and motion simulation, the designed structure was evaluated and analyzed, and the appropriate servo specifications and structure size were obtained, which verified that the current designed structure can complete the grasping task of 3kg objects. Finally, 3D printing technology was used to complete the production of the first version of the new mechanical leg, and the functional verification experiment of grasping objects of two different sizes was completed by using the steering gear control. © 2023 IEEE.

关键词： Machine design

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Elastic Collision Based-Interactive Path Planning system for Vascular Intervention Robots

Elastic Collision Based-Interactive Path Planning System for...

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International Conference on Biomimetic Intelligence and Robotics & medical Robotics Forum, ICBIR+MRF 2024

作者： Cao, Sheng Guo, Shuxiang Guo, Jian Wang, Jian Wang, Bin Ding, Mingchao Aerospace Center Hospital The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Shenzhen Institute of Advanced Biomedical Robot Company Limited Guangdong Province Shenzhen518000 China Department of Electronic and Electrical Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China

As population aging intensifies, the incidence of cardiovascular and cerebrovascular diseases has continued to rise. Vascular interventional surgery, known for its minimal trauma, rapid recovery, and clear effectiveness, requires doctors to perform procedures in radiation environments while wearing lead aprons. The advent of vascular intervention robots has provided a system-level solution to protect doctors from radiation and enhance outcomes. Currently, preoperative path planning for these robots predominantly relies on automatically generated paths, calculated by setting constraints and minimizing costs. However, this method lacks incorporation of physicians' expertise and consideration of elastic collision. Therefore, this study has designed an interactive path planning system for vascular intervention robot based on elastic collision. By establishing a simulation environment, doctors can use a manipulator to control virtual catheters and guidewires. While considering deformations, they maneuver the guidewire to the target position and record the current motion trajectory to guide the procedure in actual surgeries. Experimental tests have been conducted, confirming the system's effectiveness and feasibility. © 2024 The Authors.

关键词： Robot programming

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