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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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An efficient recharging task planning method for multi-robot autonomous recharging problem

An efficient recharging task planning method for multi-robot...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Xu, Jingwen Wang, Jingchuan Chen, Weidong Key Laboratory of System Control and Information Processing Ministry of Education of China Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781728163215

As robots are increasingly employed in the warehouse operation, an important problem that needs to be solved is the Autonomous Recharging Problem (ARP);that is deciding when and where to recharge robots. Former research in ARP is disjoint that only focuses on one of above two questions, considering the high computation time. In this paper, we describe an efficient recharging task planning method to solve ARP and it includes two phases: In the first phase, recharging task planning based on task sequence segmentation is proposed for individual robot, in which both when to recharge and where to recharge are considered to maximize operational efficiency. And it also improves the computation efficiency by segmenting task sequence and planning each recharging task recursively. In the second phase, all robots task sequences with planned recharging tasks are centralized and selected recharging stations of some planned recharging tasks are reallocated, using maximum bipartite graph matching to reduce waiting time for other robots recharging and improve overall task execution efficiency. The proposed method is validated by means of simulation in a real warehouse environment. © 2019 IEEE.

关键词： Computational efficiency

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Progress of AFM single-cell and single-molecule morphology imaging

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Chinese Science Bulletin 2013年第26期58卷 3177-3182页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Mechanical and Biomedical Engineering City University of Hong Kong Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences

Atomic force microscopy (AFM) can probe single living cells and single native membrane proteins in natural fluid environments with label-free high spatial resolution. It has thus become an important tool for cellular and molecular biology that significantly complements traditional biochemical and biophysical techniques such as optical and electron microscopy and X-ray crystallog-raphy. Imaging surface topography is the primary application of AFM in the life sciences. Since the early 1990s, researchers have used AFM to investigate morphological features of living cells and native membrane proteins with impressive results. Steady improvements in AFM techniques for imaging soft biological samples have greatly expanded its applications. Based on the authors' own research in AFM imaging of living cell morphologies, a review of sample preparation procedures for single-cell and single-molecule imaging experiments is presented, along with a summary of recent progress in AFM imaging of living cells and native membrane proteins. Finally, the challenges of AFM high-resolution imaging at the single-cell and single-molecule levels are discussed.

关键词：原子力显微镜成像实验分子形态单个活细胞生物物理技术高空间分辨率高分辨率成像生物样品

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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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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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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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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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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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Evaluation of a robotic targeting device for interventional radiology

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International Congress Series 2004年第C期1268卷 486-491页

作者： Kronreif, Gernot Kettenbach, Joachim Figl, Michael Kleiser, Ludwig Ptacek, Wolfgang Fürst, Martin ARC Seibersdorf Research GmbH Mechatronic Automation Systems Robotics Laboratory A-2444 Seibersdorf Austria Department of Diagnostic Radiology Vienna Medical University Vienna Austria Department of Biomedical Engineering Physics Vienna Medical University Vienna Austria

Image-guided percutaneous interventions seem to be an application field where concepts and tools from robotics technology could contribute to higher accuracy of the intervention, to an improved workflow and thus to a possible re-definition of the gold standard. This paper describes several evaluation steps for a robotic targeting device developed by the authors. Beside of evaluation of the functionality of the system, accuracy and compatibility to clinical workflow is being analysed in a series of in vitro tests using a needle penetrable phantom. Results achieved and outlined in the paper are showing sufficient accuracy of the system and thus confirming the approach of robot assisted interventions. © 2004, Elsevier Science B.V. All rights reserved.

关键词： Computer-aided surgery Image-guided intervention Interventional radiology Localisation medical robotics

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