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Biosyncretic robotic systems:Comprehensive construction,application,and future challenges

Science China(Technological Sciences) 2025年第4期68卷 1-23页

作者： Qi ZHANG Chuang ZHANG Lianchao YANG Hengshen QIN Yiwei ZHANG Ying ZHAO Lianqing LIU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang 117004China

Owing to the deep integration of biological and electromechanical systems,biosyncretic robotic systems have emerged as a significant research interest in *** study presents the latest related research featuring various biological *** the classification of biosyncretic robotic systems,the key technologies for construction are elucidated and summarized,including comprehensive structural design,fabrication,and behavior control ***,emphasis has been placed on their applications,particularly within the biomedical ***,the challenges are summarized,and their future developments are envisioned.

关键词： biosyncretic robots biohybrid robots bioactuators cell actuation living machines

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Toward Cable-Driven Continuum Robots: Micro-Motion Augmentation Using Eccentrically Arranged Fibres with Eccentric Lumens

Toward Cable-Driven Continuum Robots: Micro-Motion Augmentat...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Lin, Zecai Zhou, Cheng Zou, Yun Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Micro-motion augmentation of macro-motion continuum robot can largely enhance its micro-operation capability during surgery. However, most existing micro-motion continuum robots have non-compact mechanical structure or non-smooth micro tip motion, which leads to complicated control in micro lumens. This paper proposes a micro-motion augmentation method by rotating eccentrically arranged fibres with eccentric lumens for cable-driven continuum robots. Two thermal drawn polymer fibres with an eccentric lumen on each are inserted into its eccentric lumens of the continuum robot. The micro-motion mechanism relies on small changes in the neutral axis of the continuum robot due to the rotation of the eccentrically arranged fibres. A kinematic model considering variable neural axis is built to describe the micro motion, and a simulation is conducted to investigate the deformation characteristics. The resolution and micro motion with respect to different structural parameters are also analysed. Detailed experiments are performed to validate the effectiveness of the proposed method, and results indicate that the repeatability of micro-motion is 10.1 μm (4.0 %). © 2024 IEEE.

关键词： Robotic surgery

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Emerging biotechnologies for screening electromechanical signals of cardiomyocytes

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Aggregate 2024年第6期5卷 6-22页

作者： Si Tang Lingyu Sun Huiyao Shi Kaixuan Wang Jialin Shi Chanmin Su Yuanjin Zhao Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyangChina University of Chinese Academy of Sciences BeijingChina Department of Cardio-Thoracic Surgery Institute of Translational MedicineNanjing Drum Tower HospitalThe Affiliated Hospital of Nanjing University Medical SchoolNanjingChina State Key Laboratory of Bioelectronics School of Biological Science and Medical EngineeringSoutheast UniversityNanjingChina

Cardiac diseases threaten human health and burden the global healthcare ***(CMs)are considered the ideal model for studying the signal transduction and regulation of cardiac *** on the principle of the rhythmical beating process(excitation‒contraction coupling mechanism of CMs),investigating the mechanical and electrophysiological signals offered new hope for cardiac disease detection,prevention,and *** technological success has been achieved in electromechanical signal ***,most drug assessment platforms attach importance to high-throughput and dynamic monitoring of mechanical or electrical signals while overlooking the measuring principles and physiological significance of the *** this review,the development of biosensing platforms for CMs,sensing principles,key measured parameters,measurement accuracy,and limitations are ***,various approaches for the stimulation and measurement of CMs in vitro are discussed to further elucidate the response of these cells to external ***,disease modeling and drug screening are used as examples to intuitively demonstrate the contribution of in vitro CM measurement platforms to the biomedical field,thereby further illustrating the challenges and prospects of these sensing platforms.

关键词： biosensing platform cardiomyocyte electrical signal mechanical signal

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Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots

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National Science Review 2023年第8期10卷 222-231页

作者： Wenjun Tan Chuang Zhang Ruiqian Wang Yuanyuan Fu Qin Chen Yongliang Yang Wenxue Wang Mingjun Zhang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Histology and Embryology Basic Medical CollegeChina Medical University Chengdu Institute of Biology Chinese Academy of Sciences Department of Biomedical Engineering School of Medicine Tsinghua University Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong Kong

The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish（Beaufortia kweichowensis） that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding(7.83 body lengths per second（BL/S）) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force（0.1 mN/mm2） generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish's micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.

关键词： bioinspired underwater adhesion crawling robots rock-climbing fish Stefan adhesion underwater robots

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Query Attack by Multi-Identity Surrogates

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第2期5卷 684-697页

作者： Chen, Sizhe Huang, Zhehao Tao, Qinghua Huang, Xiaolin Department of Automation and Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China MOE Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China ESAT-STADIUS Katholieke Universiteit Leuven Leuven3000 Belgium

Deep neural networks (DNNs) are acknowledged as vulnerable to adversarial attacks while the existing black-box attacks require extensive queries on the victim DNN to achieve high success rates. For query-efficiency, surrogate models of the victim are used to generate transferable adversarial examples (AEs) because of their gradient similarity (GS), i.e., surrogates' attack gradients are similar to the victim's ones. However, it is generally neglected to exploit their similarity on outputs, namely the prediction similarity (PS), to filter out inefficient queries by surrogates without querying the victim. To jointly utilize and also optimize surrogates' GS and PS, we develop QueryNet, a unified attack framework that can significantly reduce queries. QueryNet creatively attacks by multi-identity surrogates, i.e., crafts several AEs for one sample by different surrogates and also uses surrogates to decide on the most promising AE for the query. After that, the victim's query feedback is accumulated to optimize not only surrogates' parameters but also their architectures, enhancing both the GS and the PS. Although QueryNet has no access to pretrained surrogates' prior, it reduces queries by averagely about an order of magnitude compared to alternatives within an acceptable time, according to our comprehensive experiments: 11 victims (including two commercial models) on MNIST/CIFAR10/ImageNet, allowing only 8-b image queries, and no access to the victim's training data. The code is available at https://***/Sizhe-Chen/QueryNet. © 2023 IEEE.

关键词： Deep neural networks

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An Affordable Telerobotic System Architecture for Grasp Training and Object Grasping for Human-Machine Interaction

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Journal of Engineering and Science in medical Diagnostics and Therapy 2024年第1期71卷 011201页

作者： Hazra, Sudip Abdul Rahaman, Abdul Hafiz Shiakolas, Panos S. Mars Lab Mechanical & Aerospace Engineering The University of Texas at Arlington ArlingtonTX76019 United States Micro Medical Manufacturing Automation Robotics Systems Laboratory Mechanical & Aerospace Engineering The University of Texas at Arlington ArlingtonTX76019 United States

Due to mobility impairment, a person might rely on wheelchairs, canes, and crutches for assistance but could face challenges when performing tasks such as grasping and manipulating objects due to limitations in reach and capability. To overcome these challenges, a multidegree-of-freedom robotic arm with an anthropomorphic robotic hand (ARH) could be used. In this research, we propose an architecture and then implement it toward the development of an assistive system to assist a person with object grasping. The architecture interlinks three functional modules to provide three operation modes to calibrate the system, train a user on how to execute a grasp, synthesize grasps, and execute a grasp. The developed system consists of a user input and feedback glove capable of capturing user inputs and providing grasp-related vibrotactile feedback, a COPPELIASIM virtual environment emulating the motions of the ARH, and an underactuated ARH capable of executing grasps while sensing grasp contact locations. The operation of the developed system is evaluated to determine the ability of a person to operate it and perform a grasp using two control methods;using a synthesized grasp or under real-time continuous control. The successful evaluation validates the architecture and the developed system to provide the ability to perform a grasp. The results of the evaluation provide confidence in expanding the system capabilities and using it to develop a database of grasp trajectories of objects with different geometries. Copyright © 2023 by ASME.

关键词： Human robot interaction

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Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile

Thermally Drawn Monolithic Polymer Continuum Robot with Lase...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Huanghua Zou, Yun Xu, Zheng Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350325706

Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots. © 2023 IEEE.

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Augmented Reality Enabled Telepresence Framework for Intuitive Robotic Teleoperation

Augmented Reality Enabled Telepresence Framework for Intuiti...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xu, Zheng Lin, Zecai Liu, Huanghua Ren, Qingsong Gao, Anzhu Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China

ISBN: (纸本)9798350325706

In terms of telepresence for robotic teleoperation, the existing remote surgery provides the patient's side real-time videos to remote operators. Its effectiveness is limited due to the lack of depth information, occlusion, and restricted viewing angles. To address it, this paper develops a robotic telepresence framework integrating augmented reality (AR) and 3D reconstruction technology, providing a 3D virtual patient's side environment for remote operators. The real scene of the patient's side is reconstructed by a monocular camera with a manipulator before the operation, and the manipulator is teleoperated by the operator at the remote's side. The manipulator's pose is fused into the classic SVO+REMODE algorithm to improve the reconstructed accuracy. On the remote's side, an AR head-mounted display (HMD) is deployed to provide telepresence for operators under a similar environment, and the reconstructed scene of the patient's side is registered to the remote room, from which the operator can see the whole scene of the patient body and surrounding objects. An ArUco cube is used to evaluate the superimposed error between virtual and real displays, and the effectiveness is validated in an experimental platform for remote surgery. © 2023 IEEE.

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A reliable elasticity sensing method for analysis of cell entosis using microfluidic cytometer

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Biomedical Engineering Letters 2023年第2期13卷 175-183页

作者： Ren, Jifeng Fan, Lei School of Biomedical Engineering Capital Medical University Beijing100069 China Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application Capital Medical University Beijing100069 China Centre for Robotics and Automation Shenzhen Research Institute of City University of Hong Kong Shenzhen518057 China

Cell entosis is a novel cell death process starting from cell-in-cell invasion. In general, cancer cells own higher incidence rate of cell entosis comparing to non-cancerous cells. Studies arguing whether cell entosis is a tumor suppressing process or a tumor accelerating process can deepen our understanding of tumor development. Cell elasticity is recognized as one of tumor malignant biomarkers. There have been some researchers studying cell elasticity in cell entosis. However, existing cell elasticity sensing technique (i.e. micropipette aspiration) can hardly be reliable neither high-throughput. In this work, we introduce an elasticity sensing method for quantifying both cell elasticity in cell-in-cell structures and single floating cells using a microfluidic cytometer. We not only argue our cell elasticity sensing method is reliable for already occurred entosis but also apply such method on predicting the "outer" cells in entosis of different cell types. The elasticity sensing method proposed in this manuscript is able to provide an effective and reliable way to further study deeper mechanism in cell entosis. © 2023, Korean Society of medical and Biological Engineering.

关键词： Tumors

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Research on Force Control Strategy for Spinal Surgery Robots Based on Adaptive Impedance and Virtual Stiffness 4

Research on Force Control Strategy for Spinal Surgery Robots...

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4th IEEE International Conference on Power, Electronics and Computer Applications, ICPECA 2024

作者： Yang, Rui Liu, Zhaoming Zhu, Yue Cong, Lin Cui, Long State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China The First Hospital of China Medical University Department of Orthopedic Surgery Shenyang110016 China

ISBN: (纸本)9798350359589

Spinal stenosis is one of the leading causes of lower back and leg pain, and effective treatment often involves the removal of lamina and ligamentum flavum. However, the surgical procedures are characterized by prolonged durations and demand a high level of precision from the operating surgeon. Therefore, this paper proposes a direct force control method for robotic grinding of lamina. This method involves an analysis of the force variations during bone grinding, leading to the development of force control strategies suitable for two different lamina grinding scenarios. For the lamina leveling operation, a constant force control strategy is introduced. For the drilling operation, a strategy involving the implementation of virtual gradient stiffness during grinding is proposed. The expression for virtual gradient stiffness is derived, considering the end-effector force smooth control. A compliance controller is employed to regulate the end-effector force. Finally, the proposed control algorithms are subjected to numerical simulations using MATLAB software. The simulation results demonstrate the efficacy of the control algorithms in addressing the challenges of maintaining constant force on complex surfaces and handling force discontinuities during grinding of objects with different stiffness. © 2024 IEEE.

关键词： force control spinal canal stenosis spine robot

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