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arXiv 2025年

作者： Li, Mingrui Liu, Shuhong Deng, Tianchen Wang, Hongyu the Department of Computer Science Dalian University of Technology Dalian China the Department of Mechano-informatics Information Science and Technology The University of Tokyo Tokyo Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education China

Gaussian SLAM systems excel in real-time rendering and fine-grained reconstruction compared to NeRF-based systems. However, their reliance on extensive keyframes is impractical for deployment in real-world robotic systems, which typically operate under sparse-view conditions that can result in substantial holes in the map. To address these challenges, we introduce DenseSplat, the first SLAM system that effectively combines the advantages of NeRF and 3DGS. DenseSplat utilizes sparse keyframes and NeRF priors for initializing primitives that densely populate maps and seamlessly fill gaps. It also implements geometry-aware primitive sampling and pruning strategies to manage granularity and enhance rendering efficiency. Moreover, DenseSplat integrates loop closure and bundle adjustment, significantly enhancing frame-to-frame tracking accuracy. Extensive experiments on multiple large-scale datasets demonstrate that DenseSplat achieves superior performance in tracking and mapping compared to current state-of-the-art methods. © 2025, CC BY.

关键词： Real time systems

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External Interaction Estimation of 6-PSS Parallel Robots with Embodied Mechanical Intelligence

External Interaction Estimation of 6-PSS Parallel Robots wit...

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

作者： Jingyuan Xia Zecai Lin Xiaojie Ai Guangjun Yu Anzhu Gao Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai P. R. China Second Affiliated Hospital The Chinese University of Hong Kong Shenzhen P.R. China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Traditional interaction perception of parallel robots relies on a six-dimensional force sensor for contact sensing at their distal end. However, the sensor body occupies the space of moving platform and also increases the load on the robot actuations. To enable both minimization and embodied intelligence, this paper proposes an external interaction estimation method with embodied mechanical intelligence by embedding two single-axis force sensors in each leg of 6-PSS parallel robot. The method uses a backward propagation neural network optimized by sparrow search algorithm, and it can simultaneously estimate the external force and its position using information from multiple single-axis force sensors and the encoder of driving motor. The experimental platform is established to collect the data and train the network. The result shows that the force estimation mean error is 2.4% and the position estimation error is 2.9%. A demonstration with a virtual display interface showing the reconstructed parallel robot pose, and the interaction force and its pose using the proposed estimation method, indicates the effectiveness of the proposed interaction method with embodied mechanical intelligence for 6-PSS parallel robot

关键词： Robot motion Legged locomotion Parallel robots Force Neural networks Estimation Robot sensing systems Minimization Force sensors Payloads

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Multiparametric atomic force microscopy imaging of single native exosomes

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生物化学与生物物理学报（英文版） 2021年第3期53卷 385-388页

作者： Mi Li Xinning Xu Ning Xi Wenxue Wang Xiaojing Xing Lianqing 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 Cancer Hospital of China Medical University Shenyang 110042China Liaoning Cancer Hospital&Institute Shenyang 110042China Department of Industrial and Manufacturing Systems Engineering The University of Hong KongHong Kong 999077China

The advent of atomic force microscopy(AFM)provides a novel powerful tool for addressing biological issues in their native *** uses a sharp tip mounted at the end of a micro-fabricated cantilever to probe the specimens immobilized on the *** with other high-resolution imaging and mea-surement techniques(***-resolution optical microscopy,scan-ning electron microscopy,transmission electron microscopy,and magnetic/optical tweezers),the unique merit of AFM is that it is able to simultaneously acquire the structures and properties of living biological samples under aqueous conditions with unprece-dented spatiotemporal resolution(nanometer spatial resolution and millisecond temporal resolution)[1],making AFM an invalu-able platform for revealing the underlying mechanisms guiding life *** wide applications of AFM in molecular and cell biology provide considerable novel insights into the physi-ological/pathological processes[2].Particularly,in recent years,a new AFM imaging mode,which is called peak force tapping(PFT)mode[3],emerges as a promising way for correlating the topography of the specimens with the mechanics of *** PFT mode,the vibrating AFM tip indents the sample at each sam-pling point to record force curves,and the peak force of the force curve is used as the feedback[4].By analyzing the force curves,several types of mechanical properties of the specimens can be real-timely visualized,and thus PFT mode is also called multiparametric imaging AFM[5],offering novel possibilities for resolving the fine structures and properties of fragile biological specimens.

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Teleoperation of Multi-functional Neurosurgical Tool*

Teleoperation of Multi-functional Neurosurgical Tool*

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WRC Symposium on Advanced robotics and automation (WRC SARA)

作者： Xudong Ma Lechen Yao Anqi Chen Junchen Wang Changsheng Li Wenyong Liu Yida David Hu Bai-Quan Su Medical Robotics Laboratory School of Automation Beijing University of Posts and Tele-communications Beijing China Affiliated High School of Peking University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA

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.

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

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

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WRC Symposium on Advanced robotics and automation (WRC SARA)

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

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.

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A localizability estimation method for mobile robots based on 3D point cloud feature

A localizability estimation method for mobile robots based o...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Liu, Ying Wang, Jingchuan Huang, Yi Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai200240 China Nanjing Kingyoung Intelligent Technology CO. LTD.

ISBN: (纸本)9781665436786

This paper introduces the theoretical analysis and derivation of localizability estimation for mobile robots based on point cloud observation. Combined with the observation model, the pre-established point cloud map is firstly clustered and segmented with a newly proposed method considering multiple constraints on depth map. Then localizability is set to be equal to the strength of the constraints associated with 3D point cloud features. In addition, based on the method of using information matrix theory, this paper integrates the Fisher's information matrix and point cloud features to estimate localizability. © 2021 IEEE.

关键词： Mobile robots

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An OCSVM Based Assessment Method for Robotic Rehabilitation

An OCSVM Based Assessment Method for Robotic Rehabilitation

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2021 China automation Congress, CAC 2021

作者： Zhong, Xu Meng, Fan-Gang Zhang, Bi Yao, Jie Fan, Xiao-Liang Zhao, Xin-Gang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China School of Intelligent Medicine China-Medical University Shenyang110122 China Industrial and Commercial Bank of China Jinan273300 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781665426473

The automatic assessment of rehabilitation level is an important part of the automatic rehabilitation training system. In order to carry out an accurate rehabilitation grade assessment for patients with ankle dyskinesia, this paper proposes a grade-variable rehabilitation assessment strategy. Firstly, the plantar pressure insoles are used to collect normal people's plantar pressure data samples as training set of the model and a decision boundary is obtained through the One-Class Support Vector Machine (OCSVM) model for the detection of abnormal data. Then, the patient's plantar pressure data is used as a test set to output the abnormal degree of the current ankle dyskinesia. The abnormal degree is introduced into the control process of the ankle rehabilitation robot, corresponding to realize the rehabilitation strategy of variable grades. Experiments verify that the model established in this paper is a concise, staged and graded periodical rehabilitation assessment method. © 2021 IEEE

关键词： Support vector machines

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Intracranial Photodynamic Therapy Strategy Based Magnetic Continuum Robots for Glioblastoma Management

SSRN

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SSRN 2024年

作者： Wu, Junfeng Li, Na Lin, Daojing Zhou, Junjian Song, Yingqiu Liu, Lianqing Jiao, Niandong School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang110168 China 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 University of Chinese Academy of Sciences Beijing100049 China Department of Radiotherapy Cancer Hospital of China Medical University Shenyang110042 China

Glioblastoma multiforme (GBM), a malignant brain tumor, poses a significant global health challenge because of its high invasiveness and resistance to treatment. Photodynamic therapy (PDT), with its high spatial-temporal selectivity, holds promise for GBM treatment, offering strong local selectivity, minimal systemic side effects, and low resistance. However, delivering photosensitizers across the blood-brain barrier and precisely targeting brain tumors through the skull with a laser present critical challenges to clinical application. Addressing these challenges, the soft, continuous structure and remote magnetic control of magnetic continuum robots (MCRs) offer new possibilities for precise delivery to GBM. Here, we propose an intracranial PDT strategy using MCRs, featuring a magnetic control model based on Gaussian Process Regression and a computer vision-based closed-loop control algorithm. This approach enables automatic delivery of nanomedicines and localized laser irradiation, characterized by simplicity, minimal data needs, and robustness. Additionally, under the combined effects of photodynamic nanoparticles (PNPs) and a laser, both U87 and GL261 cells exhibit high mortality rates, which increase with the concentration of PNPs, laser energy, and duration of exposure. In conclusion, this strategy overcomes PDT's limitations to superficial lesions, offers a novel GBM treatment approach, and constitutes a key milestone for using PDT in GBM treatment. © 2024, The Authors. All rights reserved.

关键词： Photodynamic therapy

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Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse Optimal Control 13

Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse O...

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13th Asian Control Conference, ASCC 2022

作者： Qiu, Tianyu Zhang, Han Wang, Jingchuan Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9788993215236

In this paper, a traditional one v.s. one pursuit and evasion scenario is considered. The evader aims to reach her target and avoid being captured by the pursuer, while the pursuer, without the knowledge of the evader's cost function, intends to capture the evader before she successfully escapes. We formulate this problem as a Model Predictive Control Decoupled Pursuit and Evasion Game (MPC-DPEG) model with incomplete information. We apply Inverse Optimal Control (IOC) technique to estimate the evader's cost function and give a Nash pursuit strategy for MPC-DPEG as the optimal strategy for the pursuer. Numerical examples reveal the improvement of pursuit performance of the Nash pursuit strategy based on the estimated cost function over naive pursuit strategies. © 2022 ACA.

关键词： Simulation Optimal control Games Predictive models Cost function Numerical models Predictive control

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A Miniaturized Pneumatic Electrode Gripper for Robotic Cochlear Implant Surgery

A Miniaturized Pneumatic Electrode Gripper for Robotic Cochl...

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IEEE International Conference on robotics and Biomimetics

作者： Hongyan Gao Yun Zou Shaoping Huang Weidong Chen Anzhu Gao Institute of Medical Robotics and Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai P. R. China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai P. R. China

ISBN: (纸本)9781665481106

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.

关键词： Electrodes Cochlear implants Shape Surgery Prototypes Phantoms Pneumatic systems

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