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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Gu, Yalun Lin, Gao Zhang, Daohui Zhao, Xingang The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110016 China University of Chinese Academy of Sciences Beijing China China Medical University Shenyang China

ISBN: (纸本)9781665481090

This paper studies the continuous force estimation method under the pulling action mode in handling operations. By collecting the surface electromyography signal (sEMG) data and synchronous force data of the forearm on both sides, and selecting the appropriate sEMG features for feature extraction through performance comparison, the long-short-term memory neural network model (LSTM) is used to establish the estimation model of continuous pulling force. Finally, the estimation model is used to estimate the test data and compare the performance with other regression models to verify the feasibility of the method and the advantages of the LSTM model. © 2022 IEEE.

关键词： Long short-term memory

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SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds

arXiv

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arXiv 2024年

作者： Wang, Yanbo Zhao, Wentao Cao, Chuan Deng, Tianchen Wang, Jingchuan Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

Although LiDAR semantic segmentation advances rapidly, state-of-the-art methods often incorporate specifically designed inductive bias derived from benchmarks originating from mechanical spinning LiDAR. This can limit model generalizability to other kinds of LiDAR technologies and make hyperparameter tuning more complex. To tackle these issues, we propose a generalized framework to accommodate various types of LiDAR prevalent in the market by replacing window-attention with our sparse focal point modulation. Our SFPNet is capable of extracting multi-level contexts and dynamically aggregating them using a gate mechanism. By implementing a channel-wise information query, features that incorporate both local and global contexts are encoded. We also introduce a novel large-scale hybrid-solid LiDAR semantic segmentation dataset for robotic applications. SFPNet demonstrates competitive performance on conventional benchmarks derived from mechanical spinning LiDAR, while achieving state-of-the-art results on benchmark derived from solid-state LiDAR. Additionally, it outperforms existing methods on our novel dataset sourced from hybrid-solid LiDAR. Code and dataset are available at https://***/Cavendish518/SFPNet and https://***. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantic Segmentation

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

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

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Power Electronics, Computer Applications (ICPECA), IEEE International Conference on

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

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.

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Synthesized colonoscopy dataset from high-fidelity virtual colon with abnormal simulation

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Computers in Biology and Medicine 2025年 186卷 109672-109672页

作者： He, Dongdong Liu, Ziteng Yin, Xunhai Liu, Hao Gao, Wenpeng Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Gastroenterology The First Affiliated Hospital of Harbin Medical University Harbin150001 China

With the advent of the deep learning-based colonoscopy system, the need for a vast amount of high-quality colonoscopy image datasets for training is crucial. However, the generalization ability of deep learning models is challenged by the limited availability of colonoscopy images due to regulatory restrictions and privacy concerns. In this paper, we propose a method for rendering high-fidelity 3D colon models and synthesizing diversified colonoscopy images with abnormalities such as polyps, bleeding, and ulcers, which can be used to train deep learning models. The geometric model of the colon is derived from CT images. We employed dedicated surface mesh deformation to mimic the shapes of polyps and ulcers and applied texture mapping techniques to generate realistic, lifelike appearances. The generated polyp models were then attached to the inner surface of the colon model, while the ulcers were created directly on the inner surface of the colon model. To realistically model blood behavior, we developed a simulation of the blood diffusion process on the colon's inner surface and colored vertices in the traversed region to reflect blood flow. Ultimately, we generated a comprehensive dataset comprising high-fidelity rendered colonoscopy images with the abnormalities. To validate the effectiveness of the synthesized colonoscopy dataset, we trained state-of-the-art deep learning models on it and other publicly available datasets and assessed the performance of these models in abnormal classification, detection, and segmentation. Notably, the models trained on the synthesized dataset exhibit an enhanced performance in the aforementioned tasks, as evident from the results. © 2025 Elsevier Ltd

关键词： Digital elevation model

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Modeling of a Robotic Transcatheter Delivery System

Modeling of a Robotic Transcatheter Delivery System

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IEEE International Conference on robotics and automation (ICRA)

作者： Namrata U. Nayar Ronghuai Qi Jaydev P. Desai Wallace H. Coulter Department of Biomedical Engineering Medical Robotics and Automation (RoboMed) Laboratory Georgia Institute of Technology Atlanta GA USA

Intracardiac transcatheter systems guided by advanced imaging modalities are gaining popularity in treating mitral regurgitation in non-surgical candidates. Robotically steerable transcatheter systems must use model-based control strategies to ensure safer and more effective transcatheter procedures with less trauma while using smaller control gains. In this paper, a 4-DoF robotically steerable tendon-driven robot was fabricated, and the relationship between the tendon displacement and the joint angle was derived. This relation was derived in two parts to make this approach applicable to any other catheter system. A model was derived to determine the tendon tensions needed to achieve desired joint angles. Then, the tendon characteristics were studied, and a tendon elongation (TE) model was derived as a function of tendon length. Executing the modeling process in two steps makes it easy to introduce additional parameters like length, friction, and pose, to characterize complex systems like catheters. The TE model was used to actuate the joints of the robot and RMSE was computed to characterize its performance. Also, PID control was used along with the TE model to improve the system's performance, and the contribution of the model and the controller in the system was recorded.

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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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IEEE International Conference on robotics and Biomimetics

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

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

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 %).

关键词： Deformation Thermal variables control Biomimetics Surgery Kinematics Lumen Structural engineering Continuum robots Polymers

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Task scheduling for transport and pick robots in logistics:a comparative study on constructive heuristics

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Autonomous Intelligent Systems 2021年第1期1卷 273-285页

作者： Hanfu Wang Weidong Chen Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of EducationDepartment of AutomationShanghai Jiao Tong UniversityShanghai 200240China

We study the Transport and Pick Robots Task Scheduling(TPS)problem,in which two teams of specialized robots,transport robots and pick robots,collaborate to execute multi-station order fulfillment tasks in logistic *** objective is to plan a collective time-extended task schedule with the minimization of ***,for this recently formulated problem,it is still unclear how to obtain satisfying results *** this research,we design several constructive heuristics to solve this problem based on the introduced sequence ***,we give time complexity analysis or feasibility guarantees of these heuristics;empirically,we evaluate the makespan performance criteria and computation time on designed *** results demonstrate that coupled append heuristic works better for the most cases within reasonable computation *** heuristics work better than decoupled heuristics prominently on instances with relative few pick robot numbers and large work *** law of diminishing marginal utility is also observed concerning the overall system performance and different transport-pick robot numbers.

关键词： Multi-robot task allocation Multi-robot system Complex-schedule constraints Heterogeneous robotic order fulfillment system

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Teleoperation of Multi-functional Neurosurgical Tool∗ 5

Teleoperation of Multi-functional Neurosurgical Tool∗

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

作者： Ma, Xudong Yao, Lechen Chen, Anqi Wang, Junchen Li, Changsheng Liu, Wenyong Hu, Yida David Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Affiliated High School of Peking University Beijing100190 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 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 Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States

ISBN: (纸本)9798350307320

Fluid removal and electrotome coagulation are routine procedures in neurosurgery operations, and the doctor's remote control can reduce physical fatigue. In this paper, an integrated multi-functional surgical tool which can realize electrocoagulation and liquid aspiration is designed. At the same time, the multi-functional integrated surgical device is combined with the remote operation method to realize the remote operation of the instrument. This multifunctional instrument includes CCD-imaging, suction and electrical coagulation. The system can complete the remote operation function of the special design tool, and can isolate the doctor from the operation. The teleoperation of this instrument is integrated with the teleoperation of other functional instruments to realize the teleoperation of the complete surgical process. © 2023 IEEE.

关键词： Remote control

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Semantic-aware knowledge distillation with parameter-free feature uniformization

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Visual Intelligence 2023年第1期1卷 1-12页

作者： Guo, Guangyu Han, Longfei Wang, Le Zhang, Dingwen Han, Junwei Brain and Artificial Intelligence Laboratory School of Automation Northwestern Polytechnical University Xi’an China Beijing Technology and Business University Beijing China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an China Xijing Hospital The Fourth Military Medical University Xi’an China Hefei Comprehensive National Science Center Institute of Artificial Intelligence Hefei China

Knowledge distillation aims to distill knowledge from teacher networks to train student networks. Distilling intermediate features has attracted much attention in recent years as it can be flexibly applied in various fields such as image classification, object detection and semantic segmentation. A critical obstacle of feature-based knowledge distillation is the dimension gap between the intermediate features of teacher and student, and plenty of methods have been proposed to resolve this problem. However, these works usually implement feature uniformization in an unsupervised way, lacking guidance to help the student network learn meaningful mapping functions in the uniformization process. Moreover, the dimension uniformization process of the student and teacher network is usually not equivalent as the mapping functions are different. To this end, some factors of the feature are discarded during parametric feature alignment, or some factors are blended in some non-parametric operations. In this paper, we propose a novel semantic-aware knowledge distillation scheme to solve these problems. We build a standalone feature-based classification branch to extract semantic-aware knowledge for better guiding the learning process of the student network. In addition, to avoid the inequivalence of feature uniformization between teacher and student, we design a novel parameter-free self-attention operation that can convert features of different dimensions into vectors of the same length. Experimental results show that the proposed knowledge distillation scheme outperforms existing feature-based distillation methods on the widely used CIFAR-100 and CINIC-10 datasets. © The Author(s) 2023.

关键词： Feature uniformization Feature-based Knowledge distillation Parameter-free Self-attention Semantic-aware

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