检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and automation (ICRA)

作者： Xinran Liu Hao Chen Hongbin Liu School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Professor at Chinese Academy of Sciences Institute of Automation (CASIA) Executive Director for the Centre of AI and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences An Adjunct Reader and Director of the Haptic Mechatronics and Medical Robotics (HaMMeR) lab at the School of Biomedical Engineering and Imaging Sciences King’s College London (KCL) UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This work presents a novel shape evaluation and optimization approach for shape sensing, specifically targeting the constrained, irregular, and intricate spatial shapes of flexible bronchoscopes (FB) in human bronchial tree. The proposed evaluation criteria and optimization methods combine clinical significance related to bronchial anatomical structures and address issues related to singular points and discontinuities in traditional shape reconstruction models. Three-dimensional experiments were conducted within eight spatial complex configurations printed from a proportional bronchial model. The 3D experiment results demonstrate an average reduction of approximately 34.1% in shape reconstruction errors across all eight airway models compared to the traditional model, validating the effectiveness and feasibility.

关键词： Bronchoscopy Solid modeling Optical fiber sensors Three-dimensional displays Shape Atmospheric modeling Optimization methods

来源：评论

学校读者我要写书评

暂无评论

Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

引用

2021 IEEE International Conference on robotics and automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

来源：评论

学校读者我要写书评

暂无评论

Miniature Reconfigurable Modular Soft Robots Using Liquid Crystal Elastomer Actuation

Miniature Reconfigurable Modular Soft Robots Using Liquid Cr...

引用

ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Huayu Zhang Jiajun An Tianle Pan Upinder Kaur Zhijian Wang Xuchen Wang Qiguang He Xin Ma Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR Multiscale Medical Robotics Centre Hong Kong SAR Department of Agricultural and Biological Engineering Purdue University USA Key Laboratory of Aerospace Advanced Materials and Performance Ministry of Education School of Materials Science and Engineering Beihang University China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

Soft robotics is rapidly evolving, fueled by advancements in controllable materials. Liquid crystal elastomers (LCEs) stand out with their exceptional actuation capabilities, ease of processing, and built-in programmability. However, current LCE robots struggle with limited dexterity and adaptability, hindering their real-world potential. We address this limitation by introducing a novel modular design approach that unlocks the full potential of LCEs. Our miniature, highly deformable soft robot utilizes reconfigurable LCE modules for bending and twisting, enabling enhanced manipulability through serial combinations. Demonstrating its dexterity, the modular robot performs intricate fingertip manipulation, allowing a miniature gripper to rotate a small object. This achievement highlights the reconfigurability and utility of our system, paving the way for more dexterous and versatile LCE-based robots.

关键词： Elastomers Soft robotics Bending Grippers

来源：评论

学校读者我要写书评

暂无评论

Clamping Holder of Replaceable Tools for medical Robot*

Clamping Holder of Replaceable Tools for Medical Robot*

引用

WRC Symposium on Advanced robotics and automation (WRC SARA)

作者： Yinjia Zhang Qian Yang Dengbo Zhang Xudong Ma Jie Tang Yuanzheng Hou Yida David Hu Junchen Wang Changsheng Li Shaolong Kuang Wenyong Liu Bai-Quan Su Medical Robotics Laboratory School of Intellgent Engineering and Automation Beijing University of Posts and Telecommunications Beijing China Department of Neurosurgery Xuanwu Hospital Capital Medical University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA School of Mechanical Engineering and Automation Beihang University Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Health Science and Environmental Engineering Shenzhen University of Technology Shenzhen China Key Laboratory for Biomechaniscs and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

The replacement of surgical tools is one of the basic operations in performing surgery. However, this step is time-consuming in operational processes, and elevates the associated risks. Reason: The revision enhances clarity and employs more formal language suitable for an academic context. At present, medical robots still need manual operation to replace surgical tools. In order to enable the robot to change surgical tools, this study designed a clamping tool holder for changing surgical tools. The clamping tool holder is driven by a 6-degree of freedom robotic arm. In this paper, CAD model of the clamping tool holder is presented, the motion of the clamping tool holder analysis and pick up the tools of simulation operation. Finally, the prototype experiment verified that the clamping tool holder can hold and release surgical tools without manual assistance. The structure can realize the effect of saving manpower and improving operation efficiency.

关键词： Solid modeling Analytical models medical robotics Prototypes Surgery Formal languages Manuals

来源：评论

学校读者我要写书评

暂无评论

Single Segment Controllable Continuum Robot: A Pilot Study*

Single Segment Controllable Continuum Robot: A Pilot Study*

引用

WRC Symposium on Advanced robotics and automation (WRC SARA)

作者： Xu-Dong Ma Qian Yang Fengtong Wu Yinjia Zhang Yida David Hu Wenyong Liu Junchen Wang Changsheng Li Jie Tang Shaolong Kuang Bai-Quan Su Medical Robotics Laboratory School of Intellgent Engineering and Automation Beijing University of Posts and Telecommunications Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA 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 Department of Neurosurgery Xuanwu Hospital Capital Medical University Beijing China School of Health Science and Environmental Engineering Shenzhen University of Technology Shenzhen China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

In existing continuum robots, not every segment within a section is controlled, limiting the full utilization of their flexibility and making navigation through narrow and continuously curved spaces challenging. This paper introduces a single-section controllable continuum robot where each segment can be independently controlled via driving wires. Firstly, we designe the structure and connection method of the continuum robot segments. Secondly, we establish the kinematic model of the single-section controllable continuum robot, enabling independent control of each segment through the driving wires. Finally, we compares and tests the fitting accuracy of different configurations of continuum robots with controllable parts containing 1, 3, 5, and 7 segments in one section, regarding their ability to fit the same curve. The single-section controllable continuum robot can independently control the position of each joint within the continuum, demonstrating superior curve fitting capability and enabling navigation through narrow, continuously curved spaces.

关键词： Target tracking Limiting Navigation Wires Fitting Kinematics Aerospace electronics

来源：评论

学校读者我要写书评

暂无评论

3D Ultrasound Image Acquisition and Diagnostic Analysis of the Common Carotid Artery with a Portable Robotic Device

3D Ultrasound Image Acquisition and Diagnostic Analysis of t...

引用

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

作者： Longyue Tan Zhaokun Deng Mingrui Hao Pengcheng Zhang Xilong Hou Chen Chen Xiaolin Gu Xiao-Hu Zhou Zeng-Guang Hou Shuangyi Wang State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Center for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong Lingshu Medical Company Suzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Ultrasound (US) imaging of the carotid artery (CA) is a non-invasive diagnostic tool widely used in the medical field to assess the condition of the carotid artery, thereby predicting the risk of cardiovascular and cerebrovascular diseases. However, implementing this method in primary healthcare can be challenging due to the requirement for professionally trained sonographers. With the adoption of US robotic devices, the probe pose can be acquired while scanning, offering the possibility for 3D reconstruction and providing analyses that are not dependent on operator experience. This article introduces a method to semi-automatically acquire serialized US images of the common carotid artery (CCA). The method involves a specially designed robotic device built with a 6-RSU parallel mechanism, which is controlled according to robot pose, force sensor data and synchronous US images. To validate the images acquired, a method is proposed to segment the intima-media of CCA and calculate the intima-media thickness (IMT), which is a key indicator for cerebrovascular events prediction. After that, we propose an algorithm to reconstruct CCA into 3D voxel data with patient movement and cardiac cycle compensated, and a longitudinal view US image of CCA can be resliced from the voxel. The methods are tested on human subjects and the results indicate that the system and workflow can provide both quantitative and qualitative information of CCA for further diagnosis.

关键词： Image segmentation Three-dimensional displays Ultrasonic imaging medical services Robot sensing systems Prediction algorithms Probes Carotid arteries medical diagnostic imaging Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Design and Experiments of a Portable Robotic Ultrasound Scanning and Diagnosis System of Carotid Artery

Design and Experiments of a Portable Robotic Ultrasound Scan...

引用

International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Longyue Tan Zhaokun Deng Mingrui Hao Pengcheng Zhang Xilong Hou Xiaolin Gu Chen Chen Shuangyi Wang State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Center for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong Lingshu Medical Company Suzhou China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Ultrasound (US) imaging is an important, non-invasive method for evaluating the carotid artery (CA), which plays a critical role in early screening cardiovascular and cerebrovascular conditions. However, it requires specialized training for sonographers, which is a challenge in primary healthcare. Robotic devices now enable semi-automatic or fully automatic US scans, reducing the need for skilled operators. This paper presents an innovative, economically viable robotic system specifically engineered for conducting US examinations of the human CA. This system is distinguished by its advanced human-machine interaction capabilities with artificial intelligence assistance, which facilitate semi-automatic scanning processes in primary healthcare settings. Building upon this, the study introduces a semi-automatic scanning approach designed to control the device’s operations, aiming at capturing highquality images of the key structures of CA. Employing the images obtained through this method, the research proposes a segmentation strategy, leveraging fine-tuning adjustments on the LiteMedSAM model to achieve semantic segmentation of the CA in the images. The outcome is a nuanced diagnostic tool capable of identifying and evaluating carotid stenosis. The mentioned device and methods are tested on human subjects and the results indicate success on detecting critical vascular structures and positive feedback on human-machine interaction from operators and patients.

关键词： Human computer interaction Training Ultrasonic imaging Mechatronics Semantic segmentation Buildings Imaging medical services Robots Carotid arteries

来源：评论

学校读者我要写书评

暂无评论

Design and Control of 5-DoF Robotically Steerable Catheter for the Delivery of the Mitral Valve Implant

Design and Control of 5-DoF Robotically Steerable Catheter f...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Namrata Nayar Seokhwan Jeong Jaydev P. Desai Medical Robotics and Automation (RoboMed) Laboratory Georgia Institute of Technology Atlanta GA USA Sogang University Seoul South Korea

This paper presents the mechanism and design of a robotically steerable catheter system for percutaneous and minimally invasive treatment of mitral regurgitation. One of the main causes of mitral regurgitation is an impaired mitral valve topology, that results in severe heart-related diseases. Repair or replacement of the mitral valve through open-heart surgery such as traditional sternotomy has been conducted as a treatment. However, at least 50 % of patients with severe mitral regurgitation are not candidates for this surgery due to their age or comorbidities. Recently, minimally invasive or transcatheter approaches for mitral valve repair/replacement have been gaining attention to minimize the surgery's risk and several catheter mechanisms have been proposed in early phase clinical trials. Although dexterity and manipulability are essential functions in the transcatheter procedure, a direct torsional capability has not been implemented in the systems. We present a design of a 5-DoF robotically steerable catheter having two bending joints, two torsion joints having a direct torquing design, and a mitral implant delivery module to provide dexterous manipulation of the tip of the catheter. Designs and kinematic models of each joint module are presented and their performance is verified with experiments. Lastly, a mitral clip implanting procedure is demonstrated in a phantom heart model.

关键词： Minimally invasive surgery Phantoms Implants Kinematics Maintenance engineering Topology Catheters

来源：评论

学校读者我要写书评

暂无评论

Improving the Adversarial Robustness of Quantized Neural Networks Via Exploiting the Feature Diversity

SSRN

引用

SSRN 2022年

作者： Chu, Tianshu Fang, Kun Yang, Jie Huang, Xiaolin Department of Automation Shanghai Jiao Tong University 800 Dongchuan Road Shanghai 200240 China Department of Automation The Institute of Medical Robotics The MOE Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University 800 Dongchuan Road Shanghai 200240 China

Quantized neural networks (QNNs) have become one of the most prevailing approaches in deep learning model compression due to their computation and storage efficiency. However, there is a lack of researches specialized in the adversarial robustness of QNNs, which is important to applications in the security-critical domains. The existing defenses focus on the conventional full-precision networks. It would result in behavioral disparities and degrade the expected performance to be transferred to the QNNs directly. A novel defensive strategy prompts the feature diversity via an orthogonal constraint, which could cooperate well with the quantization. Inspired by this intuition, an orthogonal regularization with quantization is proposed to improve the adversarial robustness of QNNs in this paper. Moreover, it is observed that the quantization is an implicit regularization and is able to alleviate the orthogonal degeneration. The proposed orthogonal regularization with quantization is validated on several typical network architectures and benchmark datasets. The results demonstrate that the proposed method could improve the adversarial robustness against both the white-box and black-box attacks notably. © 2022, The Authors. All rights reserved.

关键词： Network architecture

来源：评论

学校读者我要写书评

暂无评论

Tooth segmentation of dental mesh based on improved region growing

Tooth segmentation of dental mesh based on improved region g...

引用

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

作者： Gu, Chenlan Zhao, Ning Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China Shanghai Ninth People's Hospital Shanghai Jiao Tong University School of Medicine Department of Orthodontics Shanghai200240 China Shanghai Jiao Tong University Institute of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665436786

Computer-aided design (CAD) systems have gained more and more concern in orthodontics over the last decades. Aimed at tooth segmentation task of three dimension (3D) dental models in orthodontic CAD systems, we propose an efficient and robust framework based on geometric features. To make region growing algorithm flexible and apply it to 3D tooth segmentation, we extend the region similarity description from single-parameter to multi-parameter. A parameter adaptive method is designed to get rid of manual parameter adjustment and raise efficiency. Moreover, we provide a multi-level label optimization algorithm for segmentation refinement. Some experiments are conducted with various dental models from real cases to validate various algorithmic components. The results demonstrate that our pipeline is superior on efficiency and robustness. © 2021 IEEE.

关键词： Efficiency

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：