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Quantitative characterization of cell physiological state based on dynamical cell mechanics for drug efficacy indication

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Journal of Pharmaceutical Analysis 2023年第4期13卷 388-402页

作者： Shuang Ma Junfeng Wu Zhihua Liu Rong He Yuechao Wang Lianqing Liu Tianlu Wang Wenxue Wang 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 Department of Thoracic Surgery Cancer Hospital of China Medical UniversityLiaoning Cancer Hospital and InstituteShenyang 110042China Department of Radiotherapy Cancer Hospital of China Medical UniversityLiaoning Cancer Hospital and InstituteShenyang 110042China

Cell mechanics is essential to cell development and function,and its dynamics evolution reflects the physiological state of ***,we investigate the dynamical mechanical properties of single cells under various drug conditions,and present two mathematical approaches to quantitatively characterizing the cell physiological *** is demonstrated that the cellular mechanical properties upon the drug action increase over time and tend to saturate,and can be mathematically characterized by a linear timeinvariant dynamical *** is shown that the transition matrices of dynamical cell systems significantly improve the classification accuracies of the cells under different drug ***,it is revealed that there exists a positive linear correlation between the cytoskeleton density and the cellular mechanical properties,and the physiological state of a cell in terms of its cytoskeleton density can be predicted from its mechanical properties by a linear regression *** study builds a relationship between the cellular mechanical properties and the cellular physiological state,adding information for evaluating drug efficacy.

关键词： Cellular mechanical properties Cytoskeleton Drug efficacy evaluation Cell system modelling Linear regression

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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis

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Journal of Bionic Engineering 2023年第3期20卷 992-1007页

作者： Ning Li Tie Yang Yang Yang Wenyuan Chen Peng Yu Chuang Zhang Ning Xi Ying Zhao Wenxue Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong999077China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang110004China

Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.

关键词： Unpowered exoskeleton Health-paralysis combination Energy transfer Self-rehabilitation Shoulder mechanism design

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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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A Microrobot with an Attached Microforce Sensor for Transurethral Access to the Bladder Interior Wall

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Journal of Engineering and Science in medical Diagnostics and Therapy 2023年第3期6卷 031001页

作者： Adejokun, Samson A. Kumat, Shashank S. Shiakolas, Panos S. MARS Lab Mechanical and Aerospace Engineering The University of Texas at Arlington ArlingtonTX76019 United States Micro Medical Manufacturing Automation Robotics Systems Laboratory Mechanical and Aerospace Engineering The University of Texas at Arlington ArlingtonTX United States

We present the conceptual design and limited functionality prototype and characterization of a system for application in transurethral palpation of any targeted area of the bladder interior wall tissue consisting of a robotic manipulator and a microforce sensor attached at its tip all less than 3.5 mm in diameter. A hyper-redundant ten-joint six degrees-of-freedom (6DOF) manipulator (5DOF rigid and five-joint continuum segments) is presented along with the forward and inverse kinematics analyses based on a Jacobian formulation to prevent configuration singularities. Simulated motion studies demonstrate the ability of the proposed manipulator to attain a desired pose (normal to the tissue) with any area in the bladder including the difficult to reach trigone area. A strain gauge-based microforce sensor is designed using finite element analysis (safety factor > 3), prototyped using additive manufacturing, and characterized. The characterized sensor was used to acquire in vivo measurements to evaluate human palm tissue viscoelastic properties. A single module of the continuum segment is designed and prototyped using additive manufacturing, and used to characterize its tension-bend angle behavior. Finite element analysis is used to improve structurally weak regions of the vertebra. A three-joint four-vertebrae prototype was successfully actuated to reach a bend state using tendons. The developed robot and sensor prototypes demonstrate capabilities of the proposed concept which could be a possible solution to quantitatively evaluate localized biomechanical properties of the bladder tissue to improve treatment and provide better patient care. Copyright © 2023 by ASME.

关键词： Inverse kinematics

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Design and Implementation of a Behavioral Sequence Framework for Human-Robot Interaction Utilizing Brain-Computer Interface and Haptic Feedback

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Journal of Engineering and Science in medical Diagnostics and Therapy 2023年第4期6卷 041003页

作者： Hazra, Sudip Whitaker, Shane 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

In assistive robotics, research in Brain Computer Interface aims to understand human intent to enhance Human-Robot interaction and augment human performance. In this research, a framework to enable a person with an upper limb disability to use an assistive system toward maintaining self-reliance is introduced and its implementation and evaluation are discussed. The framework interlinks functional components and establishes a behavioral sequence to operate the assistive system in three stages;action classification, verification, and execution. An action is classified based on identified human intent and verified through haptic and/or visual feedback before execution. The human intent is conveyed through facial expressions and verified through head movements. The interlinked functional components are an electro-encephalogram (EEG) sensing device, a head movement recorder, a dual-purpose glove, a visual feedback environment, and a robotic arm. Five volunteers are used to evaluate the ability of the system to recognize a facial expression, the time required to respond using head movements, convey information through vibrotactile feedback effects, and the ability to follow the established behavioral sequence. Based on the evaluation, a personalized training dataset should be used to calibrate facial expression recognition and define the time required to respond during verification. Custom vibrotactile effects were effective in conveying system information to the user. The volunteers were able to follow the behavioral sequence and control the system with a success rate of 80.00%, thus providing confidence to recruit more volunteers to identify and address improvements and expand the operational capability of the framework. © 2023 by ASME.

关键词： Human robot interaction

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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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Development of a single port dual arm robotically steerable endoscope for neurosurgical applications

npj Robotics

引用

npj robotics 2025年第1期3卷 1页

作者： Ronghuai Qi Nidhi Malhotra Timothy A Brumfiel Kimberly Hoang Jaydev P Desai Department of Mechanical Engineering University of Nevada Las Vegas (UNLV) Las Vegas NV 89154 USA. Medical Robotics and Automation (RoboMed) Laboratory Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology Atlanta GA 30332 USA. Department of Neurosurgery Emory University 1365 Clifton Rd Atlanta GA 30332 USA.

Single-port surgical robots have gained popularity due to less patient trauma and quicker post-surgery recovery. However, due to limited access provided by a single incision, the miniaturization and maneuverability of these robots still needs to be improved. In this paper, we propose the design of a single-port, dual-arm robotically steerable endoscope containing one steerable major cannula and two steerable minor cannulas. By integrating the proposed nine degrees-of-freedom (DoFs) robotically steerable endoscope with an industrial robotic arm and a joystick controller, this robotic system can potentially achieve intuitive, and remote multi-arm manipulation capability. We present the design of the robotically steerable endoscope consisting of tendon-driven joints controlled by a compact actuation system and derive the kinematic and static models. We validate the derived models using different kinematic trajectories with an average RMSE value of 0.98 mm and 0.66 mm for the distal tip position errors of the two steerable minor cannulas.

关键词： Biomedical engineering Mechanical engineering

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Towards the Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant

Towards the Development of a Robotic Transcatheter Delivery ...

引用

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Namrata Nayar Seokhwan Jeong Jaydev P. Desai Medical Robotics and Automation (RoboMed) Laboratory Georgia Center for Medical Robotics (GCMR) Georgia Institute of Technology Atlanta GA USA

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Mitral regurgitation is one of the most common heart diseases caused by ventricular dysfunction or anatomic abnormality of the mitral valve. The fundamental treatment for mitral regurgitation is to repair/replace the mitral valve through open-heart surgery which is risky and requires more time to recover or through minimally invasive approaches, which have significant challenges and limitations. Through the transcatheter approach, the mitral valve implant is minimally invasively delivered directly to the mitral valve and is clamped onto the leaflet to mitigate or prevent regurgitation. However, this procedure requires delicate manipulation of the catheter in a constrained space and remains a challenging problem. In this work, we present a robotically steerable cathether design for the transcatheter procedure to address mitral regurgitation. The proposed catheter consists of two bending joints, one torsion joint, and implant delivery module at the distal end of the robot. Kinematic models for each joint design are derived and compared with experimental results. Finally, we experimentally demonstrate the feasibility of the proposed catheter to navigate in a phantom heart model. In this demonstration, the bending joint was actuated by 75°, the torsion joint was actuated by 90° and the implant was pushed out by 1.8 mm to deliver the implant.

关键词： Heart Navigation Phantoms Implants Bending Valves Catheters

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Mapping CD20 molecules on the lymphoma cell surface using atomic force microscopy

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Chinese Science Bulletin 2013年第13期58卷 1516-1519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 AutomationChinese 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) was used to locate CD20 molecules on the surface of lymphoma Raji cells. Rituximab (a monoclonal antibody against CD20) molecules were linked onto the AFM tip via a polyethylene glycol (PEG) linker. Raji cells were adsorbed onto glass slides coated with poly-L-lysine. First, the CD20 distribution in a local area of the cell surface was visualized using the AFM lift scan mode. Second, 16 × 16 force curves were obtained from the same cell area to construct the CD20-rituximab binding force map. Finally, free rituximab was added to block the CD20 molecules on the cell surface and the lift phase image and CD20-rituximab force map were obtained again. The experimental results indicated that when the lift height was greater than the length of the PEG linker, no recognition sites were observed in the lift phase image. However, as the lift height decreased to the length of the PEG linker, some recognition sites were observed in the lift phase image and these sites were generally consistent with the pixels in the force map. After blocking, both the recognition sites in the lift phase image and the gray pixels in the binding force map decreased markedly. These results can improve our understanding of the distribution of protein molecules on the cell surface and facilitate further investigations into cellular functions.

关键词：原子力显微镜细胞表面淋巴瘤分子测绘识别位点单克隆抗体 L-赖氨酸

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