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共 217 条记录，以下是21-30 订阅

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An Optical Tracking system with Defaced Marker Detection 4

An Optical Tracking System with Defaced Marker Detection

引用

4th International Conference on Sensors, Signal and Image Processing, SSIP 2021

作者： Qiu, Yu Zheng, Zhao Ou, Ruidi Hu, Xiaoming Fan, Jingfan Yang, Jian Beijing Engineering Research Center Of Mixed Reality And Advanced Display School Of Optics And Photonics Beijing Institute of Technology China Key Laboratory Of Convergence Medical Engineering System And Healthcare Technology School Of Life Science Beijing Institute of Technology China

ISBN: (纸本)9781450385725

Optical tracking systems (OTSs) have been widely used in clinical practice to fulfill the high precision needs of contemporary surgery. The markers that are defaced in the production or surgery reduce the accuracy and tracking range of OTS. This effect was not considered in current products from either industry or academia. In this paper, we propose an OTS which can detect the defaced markers automatically. A stereo camera module is set to track surgical instruments by locating the markers affixed to them. An adaptive threshold approach is suggested to locate the markers. The typical fiducial localization error of our OTS reaches 0.28 mm, which is totally comparable to commercial devices. A defaced marker detection method based on the luminous energy model of OTS is proposed and can be used to recognize the defaced markers regardless of their relative positions to the OTS. © 2021 ACM.

关键词： Stereo image processing

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An interventional surgical robot system with force feedback

An interventional surgical robot system with force feedback

引用

IEEE International Conference on Robotics and Biomimetics

作者： Feiyu Jia Shuxiang Guo Yuan Wang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology

ISBN: (纸本)9781467396769

The interventional surgery is a kind of minimally invasive treatment. To achieve the real-time diagnosis and strengthen the doctor operation sense of reality and the operation efficiency, the accurate control of force feedback plays an important role. Based this, we utilize the Phantom Omni as the master manipulator and construct the master-slave robot system with the force feedback closed-loop control. We put forward tracking control strategy and realtime force feedback control strategy. By measuring the proximal guide wire force and the force between the surgeon's hand and the handle used on the Phantom, the force feedback closed-loop control can effectively eliminate the loss of mechanical impedance of force feedback information. And the novel interventional surgical robot system will simulate the procedure of the doctor's hand to operate the guide wire, and providing haptic feedback to the doctor. In this paper, the experimental results show that the accuracy control of force feedback is greatly enhanced in the aspect of security and the operation efficiency.

关键词： Wires Force feedback Catheters Force medical services Phantoms Robots

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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...

引用

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...

引用

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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A Phase-Dependent and EMG-Driven Variable Stiffness Control Strategy for Upper Limb Rehabilitation Robot

A Phase-Dependent and EMG-Driven Variable Stiffness Control ...

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Li, Pengcheng Guo, Shuxiang Li, Chunying Southern University of Technology and Science Department of Electronic and Electrical Engineering Shenzhen China Aerospace Center Hospital School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665481090

Bilateral training is a widely adopted approach in upper limb rehabilitation due to its effectiveness and ease of implementation. Variable stiffness actuators enhance this approach by facilitating compliant human-machine interaction, ensuring both comfort and safety. However, optimizing stiffness levels for individual subjects to maximize training effectiveness remains a significant challenge. The difficulty of different task phases varies across subjects, necessitating customized robotic assistance. This paper proposes an adaptive stiffness modulation strategy that leverages the cyclic nature of rehabilitation tasks. An adaptive frequency oscillator is employed for real-time phase detection, while a tuning rule, based on motion tracking error and muscular activation, dynamically adjusts stiffness levels. Experimental validation with two participants demonstrated that the proposed strategy effectively promotes affected arm motion and tailors assistance to the user's specific needs. © 2024 IEEE.

关键词： Human robot interaction

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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 ...

引用

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...

引用

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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A Portable Surgeon's Habits-based Master Manipulator for Vascular Interventional Surgery Robots 20

A Portable Surgeon's Habits-based Master Manipulator for Vas...

引用

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

作者： Zhao, Duohao Guo, Shuxiang Lyu, Chuqiao Yan, Yonggan Lin, Zhijun 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

The emergence of vascular interventional surgery robot (VISR) has brought good news to patients. However, the current research on the master manipulator is still in its infancy. Nowadays, the shortcomings of the developed master manipulator include poor portability, lack of tactile feedback devices, not in line with surgeon's operating habits and so on. In order to solve the above problems, a novel master manipulator is proposed in this paper. In order to realize the linear displacement measurement of the operating handle, a linear displacement measurement (LDM) unit based on rollers was proposed. By using the brushed DC motor and the bevel gears, the angular displacement measurement (ADM) unit and the circumferential force feedback (CFF) unit were designed. The decoupling of the operating rod and the rotating rod facilitated the portability of the proposed manipulator. Evaluation experimental results showed that the maximum linear error of the master manipulator was 0.296mm and the maximum angular displacement error was 7.66 degrees, which is acceptable. Moreover, the mathematical relationship between the circumferential force generated by the CFF and the input current was also obtained. To sum up, compared with other master manipulators, the proposed master manipulator is shown to be better and more promising. © 2023 IEEE.

关键词： Manipulators

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