检索结果-内蒙古大学图书馆

Orthogonal Pulse-Width-Modulation for Combined Electromagnetic Actuation and Localization

IEEE robotics and Automation Letters 2025年第6期10卷 6424-6431页

作者： von Arx, Denis Nelson, Bradley J. Boehler, Quentin ETH Zurich Multi-Scale Robotics Lab Switzerland

Electromagnetic Navigation Systems can be used to remotely guide medical devices such as magnetic catheters or guidewires, holding potential in a variety of minimally invasive surgical applications. This paper introduces a method to simultaneously actuate and localize a tethered magnetic device with embedded sensor pickup coils using a single system. Six-degree-of-freedom localization is achieved by driving the electromagnets of the Electromagnetic Navigation System with mutually orthogonal pulse-width-modulated voltages of different frequencies. The method is demonstrated using a human-scale system composed of three electromagnets to actuate and localize a magnetic catheter prototype with pickup coils embedded at its tip. In this case, the pose is estimated at a rate of 77 Hz, with a typical mean accuracy below 2 mm in position and 2° in orientation. © 2016 IEEE.

关键词： Catheters

来源：评论

学校读者我要写书评

暂无评论

ROSurgical: An Open-Source Framework for Telesurgery

ROSurgical: An Open-Source Framework for Telesurgery

引用

International Symposium on Medical robotics (ISMR)

作者： Florian Heemeyer Quentin Boehler Fabio Leuenberger Bradley J. Nelson Multi-Scale Robotics Lab ETH Zurich Zurich Switzerland

ISBN: (数字)9798350377118

ISBN: (纸本)9798350377125

The advent of surgical robots has significantly enhanced the precision and efficiency of surgical procedures, paving the way for remote operation and telesurgery. Despite its potential for delivering expert care to remote regions and aiding in surgical training, the widespread adoption of telesurgery has been hindered by various challenges. To overcome these barriers and make telesurgery more accessible to the robotics community, we introduce ROSurgical. This open-source, ROS-based framework is engineered for the streamlined control of medical robots in telesurgery environments. ROSurgical enables plug-and-play operations of ROS-based robotic systems in telesurgical settings, while ensuring high security, reduced complexity, and reliable latency measurements. We demonstrate the framework's versatility in three scenarios: catheter ab-lation, ophthalmic microsurgery, and uterus endoscopy, with the catheter ablation experiments conducted internationally between Zurich and Madrid. Our experiments highlight RO-Surgical's seamless integration and its potential to lower the barriers to telesurgery adoption.

关键词： Training Medical robotics Endoscopes Uterus Microsurgery Robustness Complexity theory

来源：评论

学校读者我要写书评

暂无评论

Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

引用

Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

来源：评论

学校读者我要写书评

暂无评论

Modular Tangible User Interfaces: Impact of Module Shape and Bonding Strength on Interaction 23

Modular Tangible User Interfaces: Impact of Module Shape and...

引用

17th International Conference on Tangible, Embedded, and Embodied Interaction, TEI 2023

作者： Pruszko, Laura Gu, Hongri Bourgeois, Julien Laurillau, Yann Coutrix, Céline Université Grenoble Alpes France Multi-Scale Robotics Lab ETH Zurich Switzerland Univ. Bourgogne Franche-Comté FEMTO-ST Institute CNRS France CNRS France and Université Grenoble Alpes France

ISBN: (纸本)9781450399777

Modular Tangible User Interfaces (TUIs) -i.e., UIs made of small-scale physical modules- offer novel opportunities for tangible interaction thanks to their highly customizable form factor. Such modular TUIs were proposed with different shape of modules and bonding strength between them. The problem we address in this paper is the lack of knowledge of how bonding strength and shape of the modules impact usability. We present the first study exploring the impact of bonding strength and module shape on subjective user ratings when interacting with a magnetic modular prototype. We assessed three levels of bonding strength (low, mid, high) and two shapes (cubes and rounded cubes) in a controlled user study. Participants performed eight common manipulations found in the literature for (non-)modular TUIs. Experimental results showed that (1) cubic modules are overall easier and more satisfying to manipulate, except for precision and bending tasks, (2) low strength impairs UI solidity, but high strength impairs precision tasks with cubic modules. © 2023 ACM.

关键词： User interfaces

来源：评论

学校读者我要写书评

暂无评论

Enhanced catalytic degradation of organic pollutants by multi-stimuli activated multiferroic nanoarchitectures

引用

Nano Research 2020年第8期13卷 2183-2191页

作者： Fajer Mushtaq Xiangzhong Chen Harun Torlakcik Bradley JNelson Salvador Pané Multi-Scale Robotics Lab(MSRL) Institute of Robotics and Intelligent Systems(IRIS)ETH ZurichCH-8092ZurichSwitzerland

Smart catalysts that can simultaneously utilize multiple energy sources will have a significant positive impact on the inefficiencies of conventional environmental remediation approaches,and will address their high energy *** this work,we have manufactured multiferroic magnetoelectric photocatalysts that can be simultaneously activated using multiple energy sources for the degradation of organic *** catalysts are composed of CoFe2O4@BiFeO3(CFO@BFO)nanooctahedrons(NOs),CFO@BFO nanocubes(NCs),and CFO@BFO nanowires(NWs),and were successful in harnessing energy from three different energy sources,including UV-vis light,acoustically mediated mechanical vibrations and magnetic *** CFO@BFO NOs displayed the most enhanced degradation,reaching 93%,96%,and 99%degradation of RhB dye within 1 h under light,ultrasound,and magnetic fields,*** these energy sources were used simultaneously,significantly increased reaction rates were observed compared to the single-energy source *** of radical trapping experiments indicate that radical species i.e.,OH·and O2·^-play a dominant role in catalytic degradation of organic pollutant,RhB,under all three *** results will contribute significantly to the development of new environmental technologies that are highly versatile in nature and able to adapt to changing environments to deliver efficient environmental remediation.

关键词： magnetoelectric photocatalysis nanoparticles water remediation piezoelectric

来源：评论

学校读者我要写书评

暂无评论

Shape effect of prodrug nanoassemblies on treatment efficacy of cancer therapy

引用

Nano Research 2025年第2期18卷 616-626页

作者： Fengxiang Liu Rongzheng Liu Xiaoyuan Fan Xia Wang Kaiyuan Wang Hainan Zhao Hao Ye Shunzhe Zheng Xiao Kuang Yinxian Yang Haotian Zhang Qiming Kan Zhonggui He Jian Chen Jin Sun Department of Pharmaceutics Wuya College of InnovationShenyang Pharmaceutical UniversityShenyang 110016China School of Pharmacy Shenyang Pharmaceutical UniversityShenyang 110016China Nephrology department The First Affiliated Hospital of Jinzhou Medical UniversityJinzhou 121000China Multi-Scale Robotics Lab(MSRL) Institute of Robotics&Intelligent Systems(IRIS)ETH Zurich 8092Switzerland School of Life Science and Biopharmaceutics Shenyang Pharmaceutical UniversityShenyang 110016China Joint International Research Laboratory of Intelligent Drug Delivery Systems Ministry of EducationShenyang 110016China School of Pharmacy Shanghai Jiao Tong UniversityShanghai 200240China

The tumor microenvironment-sensitive prodrug-based nanoparticles(NPs)have emerged as a promising drug delivery system(DDS).The shape of these particles plays a crucial role in their in vivo ***,non-spherical organic NPs are rarely reported due to the inherent flexibility and variability of organic ***,we fabricate reduction-sensitive prodrug NPs and explore the impact of their morphology properties on their in vivo *** are self-assembled into spherical NPs with distearoyl phosphoethanolamine-PEG2000(DSPE-PEG2k),or into rod-shaped NPs with D-a-tocopherol polyethylene glycol 2000 succinate(TPGS2k)due to the stronger binding *** comparison with spherical NPs,the endocytosis of rod-shaped NPs predominantly relies on caveolae-mediated pathways rather than clathrin-mediated ones,potentially avoiding degradation by ***,the rod-shaped NPs exhibit prolonged circulation time,increased tumor accumulation,and enhanced antitumor *** current findings reveal the significant effect of particle shape on the behavior of prodrug NPs and introduce a novel paradigm for high-efficacy cancer therapy of prodrug NPs.

关键词： camptothecin self-assembly prodrug-based nanoparticles nanorod cancer therapy

来源：评论

学校读者我要写书评

暂无评论

Sim-MEES: Modular End-Effector System Grasping Dataset for Mobile Manipulators in Cluttered Environments

arXiv

引用

arXiv 2023年

作者： Li, Juncheng Cappelleri, David J. The Multi-Scale Robotics & Automation Lab School of Mechanical Engineering Purdue University West LafayetteIN United States

In this paper, we present Sim-MEES: a large-scale synthetic dataset that contains 1,550 objects with varying difficulty levels and physics properties, as well as 11 million grasp labels for mobile manipulators to plan grasps using different gripper modalities in cluttered environments. Our dataset generation process combines analytic models and dynamic simulations of the entire cluttered environment to provide accurate grasp labels. We provide a detailed study of our proposed labeling process for both parallel jaw grippers and suction cup grippers, comparing them with state-of-the-art methods to demonstrate how Sim-MEES can provide precise grasp labels in cluttered environments. Copyright © 2023, The Authors. All rights reserved.

关键词： Grippers

来源：评论

学校读者我要写书评

暂无评论

Precise Robot Localization in Architectural 3D Plans 38

Precise Robot Localization in Architectural 3D Plans

引用

38th International Symposium on Automation and robotics in Construction, ISARC 2021

作者： Blum, Hermann Stiefel, Julian Cadena, Cesar Siegwart, Roland Gawel, Abel Autonomous Systems Lab ETH Zürich Switzerland Multi Scale Robotics Lab ETH Zürich Switzerland

ISBN: (纸本)9789526952413

This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for locally accurate registration. We further fuse a novel camera-based robust outlier detector with LiDAR data to reject a wide range of outlier measurements from clutter, dynamic objects, and sensor failures. We evaluate the proposed approach on a mobile robot in a challenging real world site. In presence of clutter and model deviations, our system reduces the localization error by at least 32%. A supplementary video summary can be accessed at https://***/amqFPly8ZEQ. © 2021 Proceedings of the International Symposium on Automation and robotics in Construction. All rights reserved.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Sim-Grasp: Learning 6-DOF Grasp Policies for Cluttered Environments Using a Synthetic Benchmark

arXiv

引用

arXiv 2024年

作者： Li, Juncheng Cappelleri, David J. The Multi-Scale Robotics & Automation Lab School of Mechanical Engineering Purdue University West LafayetteIN United States Purdue University West LafayetteIN United States

In this paper, we present Sim-Grasp, a robust 6-DOF two-finger grasping system that integrates advanced language models for enhanced object manipulation in cluttered environments. We introduce the Sim-Grasp-Dataset, which includes 1,550 objects across 500 scenarios with 7.9 million annotated labels, and develop Sim-GraspNet to generate grasp poses from point clouds. The Sim-Grasp-Polices achieve grasping success rates of 97.14% for single objects and 87.43% and 83.33% for mixed clutter scenarios of Levels 1-2 and Levels 3-4 objects, respectively. By incorporating language models for target identification through text and box prompts, Sim-Grasp enables both object-agnostic and target picking, pushing the boundaries of intelligent robotic systems. The codebase can be accessed at https://***/junchengli1/Sim-Grasp. Copyright © 2024, The Authors. All rights reserved.

关键词： Robot learning

来源：评论

学校读者我要写书评

暂无评论

Dynamic Electromagnetic Navigation

arXiv

引用

arXiv 2024年

作者： Zughaibi, Jasan Nelson, Bradley J. Muehlebach, Michael Multi-Scale Robotics Lab ETH Zurich Zurich8092 Switzerland Learning and Dynamical Systems Group Max Planck Institute for Intelligent Systems Tübingen72076 Germany

Magnetic navigation offers wireless control over magnetic objects, which has important medical applications, such as targeted drug delivery and minimally invasive surgery. Magnetic navigation systems are categorized into systems using permanent magnets and systems based on electromagnets. Electromagnetic Navigation Systems (eMNSs) are believed to have a superior actuation bandwidth, facilitating trajectory tracking and disturbance rejection. This greatly expands the range of potential medical applications and includes even dynamic environments as encountered in cardiovascular interventions. To showcase the dynamic capabilities of eMNSs, we successfully stabilize a (nonmagnetic) inverted pendulum on the tip of a magnetically driven arm. Our approach employs a model-based framework that leverages Lagrangian mechanics to capture the interaction between the mechanical dynamics and the magnetic field. Using system identification, we estimate unknown parameters, the actuation bandwidth, and characterize the system’s nonlinearity. To explore the limits of electromagnetic navigation and evaluate its scalability, we characterize the electrical system dynamics and perform reference measurements on a clinical-scale eMNS, affirming that the proposed dynamic control methodologies effectively translate to larger coil configurations. A state-feedback controller stabilizes the inherently unstable pendulum, and an iterative learning control scheme enables accurate tracking of non-equilibrium trajectories. Furthermore, to understand structural limitations of our control strategy, we analyze the influence of magnetic field gradients on the motion of the system. To our knowledge, this is the first demonstration to stabilize a 3D inverted pendulum through electromagnetic navigation. © 2024, CC BY-SA.

关键词： Disturbance rejection

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：