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IEEE International Conference on Mechatronics and Automation

作者： Chengchao Gu Shuxiang Guo He Yin Ao Li Bin Wang Mingchao Ding The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Robots replacing divers to collect and search underwater is a widely concerned field at present. In order to enable the robot to better complete the grasping task underwater, building a grasp perception system suitable for the robot is helpful for the robot to complete the autonomous grasping task. This paper presents a grasp perception system based on an amphibious robot platform. This system mainly uses four kinds of sensors. They are IMU, pressure sensor, binocular camera, and ultrasonic distance sensor. In order to control the robot to maintain the balance posture in grasping, we combine the data of IMU and pressure sensor, so that the robot can get more posture information. The accurate relative position information between the robot and the target is obtained in real time by fusing the data of binocular camera and ultrasonic ranging. Underwater experiments showed that the robot had good perception ability.

关键词： Pressure sensors Robot vision systems Grasping Cameras Distance measurement Acoustics Sensor systems

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Lightweight Method for Interactive 3D medical Image Segmentation with Multi-Round Result Fusion

arXiv

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arXiv 2024年

作者： Shen, Bingzhi Chang, Lufan Chen, Siqi Guo, Shuxiang Liu, Hao Aerospace Center Hospital School of Life Science The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Yizhun Medical AI Co. Ltd Beijing100081 China Shenzhen Key Laboratory of Ubiquitous Data Enabling Tsinghua Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China

In medical imaging, precise annotation of lesions or organs is often required. However, 3D volumetric images typically consist of hundreds or thousands of slices, making the annotation process extremely time-consuming and laborious. Recently, the Segment Anything Model (SAM) has drawn widespread attention due to its remarkable zero-shot generalization capabilities in interactive segmentation. While researchers have explored adapting SAM for medical applications, such as using SAM adapters or constructing 3D SAM models, a key question remains: CAN TRADITIONAL CNN NETWORKS ACHIEVE THE SAME STRONG ZERO-SHOT GENERALIZATION IN THIS TASK? In this paper, we propose the Lightweight Interactive Network for 3D medical Image Segmentation (LIM-Net), a novel approach demonstrating the potential of compact CNN-based models. Built upon a 2D CNN backbone, LIM-Net initiates segmentation by generating a 2D prompt mask from user hints. This mask is then propagated through the 3D sequence via the Memory Module. To refine and stabilize results during interaction, the Multi-Round Result Fusion (MRF) Module selects and merges optimal masks from multiple rounds. Our extensive experiments across multiple datasets and modalities demonstrate LIM-Net’s competitive performance. It exhibits stronger generalization to unseen data compared to SAM-based models, with competitive accuracy while requiring fewer interactions. Notably, LIM-Net’s lightweight design offers significant advantages in deployment and inference efficiency, with low GPU memory consumption suitable for resource-constrained environments. These promising results demonstrate LIM-Net can serve as a strong baseline, complementing and contrasting with popular SAM models to further boost effective interactive medical image segmentation. The code will be released at https://***/goodtime-123/LIM-Net. Copyright © 2024, The Authors. All rights reserved.

关键词： Image segmentation

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A Preliminary Study of Vibration Feedback for Robot-assisted Endovascular Surgery

A Preliminary Study of Vibration Feedback for Robot-assisted...

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IEEE International Conference on Mechatronics and Automation

作者： Xinming Li Shuxiang Guo Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu Japan The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China 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 Haidian District China

The study of haptic perception is significant and general for robot-assisted endovascular surgery. During actual surgical procedure, feedback information has advantages in monitoring the insertion process, providing direct instruction for surgeons, and improving operation safety. In this work, a new implementation of haptic perception named vibration feedback is concepted and proposed based on micro vibration motor. Related working principles and kinetic analysis of vibration feedback are descripted based on three kinds of vibration patterns. Two kinds of experiments are conducted to determine suitable parameters of duty cycle for vibration feedback and test the using performance in human model. Experimental results indicate that the proposed vibration feedback is feasible and helpful to offer a haptic perception. Moreover, benefiting from the micro size of vibration motor, this study also has potential value for some research fields like small wearable device, micro haptic feedback, multi-level feedback perception for robotic systems.

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Premilitary Performance Evaluation of Model-mediated Telerehabilitation system with Task Stiffness Estimation

Premilitary Performance Evaluation of Model-mediated Telereh...

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IEEE International Conference on Mechatronics and Automation

作者： Ziyi Yang Shuxiang Guo Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu Japan The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China 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 Haidian District Beijing China

For the telerehabilitation robotic system, the stable and transparent remote therapist-patient interaction under the internet communication latency remains an open challenge. In this paper, we proposed a model-mediated telerehabilitation system to avoid the delayed force feedback on the therapist side. Moreover, a variable stiffness robot is employed in the proposed telerehabilitation system to improve the patient-robot interaction on the slave side. On the slave side, a performance-based variable stiffness interactive assistance control law was utilized and the task stiffness estimation method is designed for master-side interaction model updating. On the master side, the master subsystem was implemented by a haptic device with visual and force feedback. The overall telerehabilitation was realized by the TCP/IP internet communication method. From the premilitary experimental results, the therapist subject could conduct the therapy with the aid of visual and force feedback, and the patient subject could complete the training task with their active efforts.

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Evaluation of Detection system for Bioinspired Spherical Underwater Robots Based on the Pressure Sensor Array

Evaluation of Detection System for Bioinspired Spherical Und...

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IEEE International Conference on Mechatronics and Automation

作者： Chunying Li Shuxiang Guo Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu Japan The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Due to the particularity and complexity of the underwater environment, the perception ability of Autonomous Underwater Vehicles (AUVs) has become a hot issue in recent years. In this paper, the detection system was developed for bioinspired Spherical Underwater Robots (SURs) based on the pressure sensor array. Firstly, the sensor array based on the SUR model was proposed using pressure sensors, adding new dimension to near-flow detection and perception method. Then, the detection system was constructed and the hydrodynamic pressure variables are analyzed. Next, the data acquisition of the pressure sensor array was described. Furthermore, the SUR prototype was assembled carrying the pressure sensor array. Finally, a series of locomotion experiments were performed to verify its performance. The experimental results validated the effectiveness of the proposed detection system, which had a certain reference value for AUV underwater detection and state estimation.

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An Optical Tracking system with Defaced Marker Detection 2021

An Optical Tracking System with Defaced Marker Detection

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

作者： Yu Qiu Zhao Zheng Ruidi Ou Xiaoming Hu Jingfan Fan Jian Yang 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.

关键词： Defaced Marker Detection Optical Tracking system Surgical Instrument Tracking

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Effective irradiance calculation on irregular surface for photodynamic therapy treatment device

Effective irradiance calculation on irregular surface for ph...

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2019 International Conference on Optical Instruments and technology: Optical systems and Modern Optoelectronic Instruments

作者： Li, Dan Zhang, Jixia Hu, Xiaoming Li, Qin 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)9781510636460

Port wine stains is a congenital vascular malformation disease, which occurs mostly on the face and neck. Photodynamic therapy is an effective treatment for port wine stains, which utilizes photodynamic reaction between light, photosensitizer and oxygen in the tissue to produce phototoxic substance singlet oxygen to destroy the lesion. However, the irradiance dose is simply described by the irradiance on a specific plane instead of the irradiance on the lesion with curve shape. The clinician has little knowledge about the effective irradiance value on the lesion, which limits the understanding between the effect and the dosage. To get the effective irradiance on the lesion, a two-steps algorithm is proposed in this paper. Firstly, the point cloud data of lesion are constructed, and the normal vector of each point of the point cloud is calculated based on the least square method. Secondly, according to the first and second laws of irradiance, the effective irradiance on the lesion can be obtained when the parameters of the light source are available. Several typical port wine stains lesions are used to verify the difference between the irradiance on the plane and the lesion. The algorithm can not only help the clinician to make the preoperative planning of photodynamic therapy, but also provide a method for the study on the relationship between the effective irradiance dose on the lesions and the treatment effect of photodynamic therapy for port wine stains. © 2020 SPIE.

关键词： Photodynamic therapy

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Collaborative Searching Strategy for Multi-Amphibious Spherical Robots in 3D underwater environments

Collaborative Searching Strategy for Multi-Amphibious Spheri...

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IEEE International Conference on Mechatronics and Automation

作者： Shilong Feng Shuxiang Guo Dan Yang Ao Li He Yin Meng Liu The 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 The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

An improved multi-robot cooperative strategy based on the improved artificial bee colony algorithm is proposed for the task of underwater multi-robot cooperative area target search. The strategy consists of three stages: cruising stage, building capture alliance stage, and cooperative search stage. In the cruising stage, robot adopts the improved random walk algorithm for aimless cruising. In the building capture alliance stage, robot uses an auction algorithm for the assignment of search tasks. In the cooperative search stage, robot adopts the improved artificial bee colony algorithm for cooperative search of targets. Furthermore, simulations are conducted, and the results demonstrate that the proposed strategy can effectively guide multiple robots to perform area target search in unknown 3D underwater environments.

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A Novel Wearable Master Manipulator for the Remote Vascular Interventional Surgery

A Novel Wearable Master Manipulator for the Remote Vascular ...

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IEEE International Conference on Mechatronics and Automation

作者： Zhijun Lin Shuxiang Guo Yonggan Yan Chenzhihang Li Duohao Zhao Chuqiao Lyu 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 The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Vascular interventional surgery (VIS) mainly relies on the surgeon’s clinical experience and the image assistance of digital subtraction angiography (DSA). However, DSA will damage the surgeon’s health. A master-slave vascular interventional surgical robotic system averts the threat of the X-ray, whereas most master manipulators of the system still have some problems, such as the different operating modes compared to the convention and the large inertia of the device itself. Therefore, a wearable device with precise measurement function, SurGlove, is developed in this study. The surgeon can wear SurGolve as the common medical glove and handle the catheter and guidewire directly. The film pressure sensor on the glove can judge the grasping signal and enable the optical tracking system to measure the markers on the device. The spatial rotation angle and displacement distance of the SurGolve are calculated in real-time. By wearing SurGlove, the surgeon can manipulate the guidewire and the catheter cooperatively. Furthermore, the evaluation experiments showed that the proposed device had a mean absolute error of 1.88° and a maximum error of less than 3° in rotation angle measurement. The maximum displacement error was less than 5 mm and the mean absolute error was 1.53 mm. This study preliminarily verified the feasibility of the proposed wearable SurGlove for the VIS robotic system.

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Design of Clutch Units of the Propulsion system for the Three-Dimension Triphibian Robot

Design of Clutch Units of the Propulsion System for the Thre...

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IEEE International Conference on Mechatronics and Automation

作者： Yingduo Chen Shuxiang Guo He Yin Ao Li Meng Liu The 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 The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Robots capable of traversing various environments have stringent design requirements for their drive structures. To add flight capabilities to the existing amphibious spherical quadruped robot, enhance its mobility space, and optimize its propulsion strategies, this paper designs a clutch units for the propulsion system of the three-dimension triphibian robot (3DTR). The article first introduces the concept of the 3DTR and its significant importance, and explains the critical role of the clutch units for the propulsion system of the 3DTR. Then, according to the design requirements for functionality upgrade, the types of clutches and motors are selected, and the mechanical model of the clutch units is designed. Subsequently, performance tests and function verification of the clutch units were conducted, demonstrating the effectiveness of the clutch units design, laying the foundation for the subsequent overall design and experiment of the 3DTR propulsion system.

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