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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Gao, Hongyan Zou, Yun Huang, Shaoping Chen, Weidong 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 Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Cochlear implant surgery is one of the most challenging surgeries due to the limited workspace and delicate inner structure. A traditional electrode implant instrument is a passive elastic forceps, which needs another forceps to help grip or release the electrode. It is not convenient to achieve delicate operations in a confined space. This paper develops a miniaturized pneumatic electrode gripper at the tip of forceps to achieve active gripping. It transmits the pressurized air through 3D-printed inner lumens to form two inflated soft bubbles to push the electrode to the rigid shell for accurate positioning. The finite element analysis is carried out to evaluate the shape of inflated soft bubbles with variable soft films. A prototype of a gripper with inner tortuous airways is fabricated using micro 3D printing technique, and experiments are carried out to validate its accuracy and demonstrate its ability to grip and release. Finally, robotic teleoperation using a robotic arm and a joystick is implemented for cochlear implant surgery. Results demonstrate that the developed miniaturized pneumatic gripper has successfully achieved electrode implantation in a 3D-printed cochlear phantom. © 2022 IEEE.

关键词： Electrodes

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PI2-CMA Based Trajectory Planning Method for the Tractor-Trailer Vehicle 6

PI2-CMA Based Trajectory Planning Method for the Tractor-Tra...

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6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, You Wang, Zehao Wang, Jingchuan Guo, Rui Xiao, Peng 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 State Grid Intelligence Technology CO. LTD China

ISBN: (纸本)9798350325485

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-Trailer vehicles can easily fall into "jackknife phenomenon"when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-Trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI2-CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon"avoidance and curvature compared to traditional motion primitive-based state lattice planning methods. © 2023 IEEE.

关键词： Trajectories

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A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 169-181页

作者： Jianhua Li Chongyang Wang Zhenxing Wang Xiong Zheng Zhidong Wang Jichun Tan Hao Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Shenyang Jianzhu University Shenyang 110168China Chiba Institute of Technology Chiba 275-0016Japan Shengjing Hospital of China Medical University Shenyang 110016China

Surgical robots have been widely used in diferent procedures to improve and facilitate the ***,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem *** regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the *** this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the *** center of motion(RCM)constraint is required to protect the cervix of the ***,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are ***,a task-decoupled method is used to improve the robustness of the RCM *** confrm that the proposed method is more robust and achieves higher RCM *** addition,the master-slave control of a robot with RCM constraint is also *** study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

关键词： Endometrial regeneration Surgical robot Remote center of motion Task decoupled

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Dynamic degradation patterns of porous polycaprolactone/β-tricalcium phosphate composites orchestrate macrophage responses and immunoregulatory bone regeneration

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Bioactive Materials 2023年第3期21卷 595-611页

作者： Hao Wu Xinghui Wei Yichao Liu Hui Dong Zhen Tang Ning Wang Shusen Bao Zhigang Wu Lei Shi Xiongfei Zheng Xiaokang Li Zheng Guo Department of Orthopaedics Tangdu HospitalFourth Military Medical UniversityXi’anShaanxi710038PR China Department of Orthopaedics Xijing HospitalFourth Military Medical UniversityXi’anShaanxi710032PR China Department of Orthopaedics The 63750 Hospital of People’s Liberation ArmyXi’anShaanxi710038PR China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangLiaoning110000PR China

Biodegradable polycaprolactone/β-tricalcium phosphate(PT)composites are desirable candidates for bone tissue engineering applications.A higherβ-tricalcium phosphate(TCP)ceramic content improves the mechanical,hydrophilic and osteogenic properties of PT scaffolds in *** a dynamic degradation reactor,we estab-lished a steady in vitro degradation model to investigate the changes in the physio-chemical and biological properties of PT scaffolds during ***46 and PT37 scaffolds underwent degradation more rapidly than PT scaffolds with lower TCP *** vivo studies revealed the rapid degradation of PT(PT46 and PT37)scaffolds disturbed macrophage responses and lead to bone healing *** co-culture assays and a subcutaneous implantation model indicated that the scaffold degradation process dynamically affected macro-phage responses,especially ***-Seq analysis indicated phagocytosis of the degradation products of PT37 scaffolds induces oxidative stress and inflammatory M1 polarization in ***,this study reveals that the dynamic patterns of biodegradation of degradable bone scaffolds highly orchestrate immune responses and thus determine the success of bone ***,through evaluation of the biological effects of biomaterials during the entire process of degradation on immune responses and bone regeneration are necessary in order to develop more promising biomaterials for bone regeneration.

关键词： Polycaprolactone/β-TCP Dynamic degradation Macrophage response Bone healing

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Teleoperated Navigation of a Robotically Steerable Guidewire under Fluoroscopy in a Flow Environment

Teleoperated Navigation of a Robotically Steerable Guidewire...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Timothy A. Brumfiel Sharan R. Ravigopal Namrata U. Nayar Mesum Zaidi Jaydev P. Desai Wallace H. Coulter Department of Biomedical Engineering Medical Robotics and Automation (RoboMed) Laboratory Georgia Institute of Technology Atlanta GA USA

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

A chronic total occlusion (CTO) is a complete blockage that impedes blood flow in the coronary artery. Minimally invasive procedures for treating CTOs typically involve manually steering a guidewire to the occlusion. However, navigating the guidewire throughout arteries can be challenging due to bifurcations and narrow vessels. This paper introduces a novel robotic guidewire design that is specifically engineered to navigate the aortic bifurcation, into peripheral branches of the right common iliac artery. We present a detailed description of the design and outline the procedure for determining the notch parameters to reduce motion coupling between the flexible joints. Lastly, we demonstrate remote control of the guidewire as it traverses through a phantom vasculature under different pulsatile flow rates to validate the feasibility of the guidewire.

关键词： Couplings Minimally invasive surgery Navigation Phantoms Bifurcation Engineering in medicine and biology Arteries Robots Remote control Blood flow

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A Novel Deep Learning Approach for Precise Myocardial Segmentation Using Attention Mechanisms

A Novel Deep Learning Approach for Precise Myocardial Segmen...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Ying, Yuhan Zhao, Yiwen Zhao, XinGang Sun, Dandan Fang, Xingyu Li, Andi Gao, Tian Song, Guoli Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110016 China University of Chinese Academy of Sciences Beiing100049 China The People's Hospital of China Medical University The People's Hospital of Liaoning Province Department of Ultrasound Shenyang Clinical Medical Research Center for Ultrasound Shenyang110016 China Shenyang Ligong University Shenyang110159 China

ISBN: (纸本)9798350372601

The accurate segmentation of myocardial structure is crucial for heart disease diagnosis. With the rapid advancements in computer-aided diagnosis, deep learning has surfaced as a promising instrument for segmenting cardiac ultrasound images. Nevertheless, the limited imaging quality and structural complexity of these images often hinder achieving optimal segmentation accuracy, particularly in edge regions. To address this issue, this paper innovatively proposes a deep learning segmentation method based on attention mechanism. The method adopts a cascade network structure, first using a deep convolutional neural network to obtain feature maps and preliminary prediction results. Subsequently, by introducing a difference analysis module, it deeply analyzes the difference information between the preliminary prediction results and the rough labels generated by ordinary network. Then, using attention mechanism, it enhances the feature vectors generated in the preliminary prediction stage, and generates more accurate prediction labels on this basis. To verily the effectiveness of this method, experiments were conducted on a private myocardial dataset and achieved remarkable results. It is anticipated that this approach will offer robust assistance in achieving precise segmentation of cardiac ultrasound images, subsequently furnishing crucial technical backing for the auxiliary diagnosis of cardiac diseases. © 2024 IEEE.

关键词： Convolutional neural networks

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PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

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Machine Learning for Improving Immunotherapy Outcomes in Lung Adenocarcinoma

SSRN

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SSRN 2024年

作者： Chen, Shuang Yu, Dongzhi Lyu, Pengfei Li, Xi Shi, Jialin Dong, Siyuan China Medical University China The First Hospital of China Medical University Department of Thoracic Surgery China Affiliated Hospital China The State Key Laboratory of Robotics Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China

Background: Patients with autoimmune diseases (AD) are at an increased risk of developing malignant diseases. Immunotherapy is a novel treatment for lung adenocarcinoma (LUAD). However, the immune-related markers are ***: We calculated the AD scores of samples from The Cancer Genome Atlas-LUAD dataset based on AD-related genes. Next, we identified 107 hub genes from AD-related genes using machine learning and bioinformatics approaches to develop a LUAD prognostic model grouped by risk score (RS). A single-cell RNA sequencing analysis of the GSE31907 sample identified eight cell types and analyzed the expression of hub genes in these eight cell types. We conducted a pseudo-temporal analysis and presented the developmental trajectories of the eight-cell states through differentiation and developmental trajectory ***: The AD Score was significantly correlated with prognosis. The low RS group demonstrated a significantly lower microsatellite instability, tumor mutation burden score, mutation count, fragment genomic alteration score, and a higher survival rate. The high-RS group showed higher stromal and immune scores. The low-RS group was more sensitive to immunotherapy. Paclitaxel and BI-2536 were more sensitive for the high-RS group. A single-cell RNA sequencing analysis results showed significant differences in cell proportions among the different samples. Quasi-temporal analysis showed that the developmental start point was State 1, and the developmental endpoints were States 2 and ***: Our model has promising prospects for clinical practice and could improve the prognosis of patients with ***: National Science Foundation of *** of Interest: The authors declare that they have no competing interests. © 2024, The Authors. All rights reserved.

关键词： Machine learning

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Soft robotics:Morphology and Morphology-inspired Motion Strategy

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IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1500-1522页

作者： Fan Xu Hesheng Wang Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China

robotics has aroused huge attention since the *** of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental ***,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured *** decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing *** presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific *** paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关键词： Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics

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Preliminary Design of Robotic System for Closing Incision by Rotating Bandage Method∗ 5

Preliminary Design of Robotic System for Closing Incision by...

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5th World Robot Conference Symposium on Advanced robotics and automation, WRC SARA 2023

作者： Chen, Anqi Ma, Xudong Sun, Yixin Liu, Wenyong Wang, Junchen Li, Changsheng Hu, Yida David Su, Bai-Quan Beijing University of Posts and Telecommunications Medical Robotics Laboratory School of Automation Beijing100876 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States

ISBN: (纸本)9798350307320

Wound treatment is routine work in hospital and bandaging of wound happens numerous even in a hospital scale. However, manual bandaging is accompanied with potential infection and it is tedious and manpower-wasting besides. This paper proposed a customized bandaging mechatronic system for avoiding bacteria from hand contact. The design of the propose bandaging system is developed and the working procedure of the by the system is given step by step. To the best knowledge of the authors, the customized mechatronic system is the first bandaging robotic system for bandaging purpose. After loading a customize bandage package, the proposed system lays a solid foundation for automatous bandaging method without human intervention during bandaging. © 2023 IEEE.

关键词： Hospitals

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