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Acoustic Reflector-Integrated Encapsulation for Needle-Aligned Ultrasound-Guided PCNL Access

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Acoustic Reflector-Integrated Encapsulation for Needle-Align...

IEEE Symposium (IUS) Ultrasonics

作者： Abhinav Palisetti Alexander King Cabot Priestner Haohao Yi Yichuan Tang Ryo Murakami Haichong K. Zhang Biomedical Engineering Department Worcester Polytechnic Institute Worcester MA USA Mechanical Engineering Department Worcester Polytechnic Institute Worcester MA USA Robotics Engineering Department Worcester Polytechnic Institute Worcester MA USA

Percutaneous Nephrolithotomy (PCNL) is a procedure to remove kidney stones by needle insertion into the kidney followed by dilation of the needle path for surgical tools to enter and stones to be removed. Current techniques for needle insertion either do not visualize the needle entry point into tissue, or require careful hand-hand coordination to visualize the needle. This research aims to develop a stable system to visualize the entire needle insertion path during ultrasound-guided PCNL. A novel method, designed by Tang et al. (2022), implemented two parallel acoustic reflectors to reflect ultrasound into the patient, and a needle inserted through a gap between the reflectors. Results showed the ability to visualize the needle path at any needle pitch angle, and, most importantly, the ability to visualize the needle from its insertion point to the target. In this current research, a modular design was created that allowed any probe to fit into the system by altering just three components. Several structural modifications were made to make the system waterproof, allowing the fluid material that housed the reflectors to be replaced with a fluid with better sound transmission. An algorithm was created to allow better needle tip and needle path visualization by analyzing raw image data. Custom acoustic impedance-matched materials were used to allow better sound transmission and better image quality. Through multiple tests and a mathematical model, the team developed an optimal combination of materials that produced the best image quality, determined through Contrast to Noise Ratio (CNR), Signal to Noise Ratio (SNR), and Full-Width Half-Maximum (FWHM).

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Soft Fluidic Closed-Loop Controller for Untethered Underwater Gliders

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Soft Fluidic Closed-Loop Controller for Untethered Underwate...

IEEE International Conference on Soft robotics (RoboSoft)

作者： Kalina Bonofiglio Lauryn Whiteside Maya Angeles Matthew Haahr Brandon Simpson Josh Palmer Yijia Wu Markus P. Nemitz Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Mechanical Engineering Worcester Polytechnic Institute Worcester MA USA Department of Electrical Engineering Worcester Polytechnic Institute Worcester MA USA

Soft underwater robots typically explore bio-inspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop controller to actuate a passive underwater glider. A soft hydrostatic pressure sensor is configured as a bang-bang controller actuating a swim bladder made from silicone balloons. Our underwater glider oscillates between the water surface and 4 m depth while traveling 15 m translationally. The fluidic underwater glider demonstrates a power efficiency of 28 mW/m. This work demonstrates a low-cost and power-efficient underwater glider and non-electronic controller. Due to its simple design, low cost, and ease of fabrication using FDM printing and soft lithography, it serves as a starting point for the exploration of non-electronic underwater soft robots.

关键词： Fabrication Pressure sensors Autonomous underwater vehicles Soft lithography Power demand Costs Soft robotics

Intuitive Human-Drone Collaborative Navigation in Unknown Environments Through Mixed Reality

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Intuitive Human-Drone Collaborative Navigation in Unknown En...

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Sanket A. Salunkhe Pranav Nedunghat Luca Morando Nishanth Bobbili Guanrui Li Giuseppe Loianno New York University Tandon School of Engineering Brooklyn NY USA Worcester Polytechnic Institute Robotics Engineering Worcester MA USA

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

The widespread use of aerial robots in inspection, search and rescue, and monitoring has created a growing need for intuitive human-drone interfaces. These aim to streamline and enhance the user interaction and collaboration process during drone navigation, ultimately expediting mission success and accommodating users' inputs. In this paper, we present a novel human-drone mixed reality interface that aims to (a) increase human-drone spatial awareness by sharing relevant spatial information and representations between the human equipped with a Head Mounted Display (HMD) and the robot and (b) enable safer and intuitive human-drone interactive and collaborative navigation in unknown environments beyond the simple command and control or teleoperation paradigm. Our framework is validated through extensive user studies and experiments conducted in simulated post-disaster scenarios, with performance compared to traditional First-Person View (FPV) control systems. Multiple tests on several users underscore the advantages of the proposed solution, which offers intuitive and natural interaction with the system. This demonstrates the solution's ability to assist humans during a drone navigation mission, ensuring its safe and effective execution.

关键词： Navigation Collaboration Mixed reality Virtual reality Resists Inspection Planning Robots Monitoring Drones

From Rolling Over to Walking: Enabling Humanoid Robots to Develop Complex Motor Skills

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arXiv 2023年

作者： Meng, Fanxing Xiao, Jing Robotics Engineering Department Worcester Polytechnic Institute WorcesterMA United States

This paper presents an innovative method for humanoid robots to acquire a comprehensive set of motor skills through reinforcement learning. The approach utilizes an achievement-triggered multi-path reward function rooted in developmental robotics principles, facilitating the robot to learn gross motor skills typically mastered by human infants within a single training phase. The proposed method outperforms standard reinforcement learning techniques in success rates and learning speed within a simulation environment. By leveraging the principles of self-discovery and exploration integral to infant learning, this method holds the potential to significantly advance humanoid robot motor skill acquisition. © 2023, CC BY-NC-ND.

关键词： Reinforcement learning

Perception-Driven Robotic Manipulation for Packaging Stack of Envelopes: Gripper Design and Manipulation Strategies

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Perception-Driven Robotic Manipulation for Packaging Stack o...

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Rohith Venkataramanan Zhaoyuan Ma Jing Xiao Siavash Farzan Robotics Engineering Department Worcester Polytechnic Institute Worcester USA Electrical Engineering Department California Polytechnic State University San Luis Obispo USA

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

This paper explores the automation challenges and solutions for handling and packaging compressible stacks of items, specifically paper envelopes, in the envelope production and packaging industry. It introduces a new mechanical gripper design, along with a set of manipulation strategies, for secure, damage-free handling and effective packaging of envelope stacks. The development includes a custom pneumatic gripper tailored for envelope stacks, innovative strategies for precise stack extraction and placement of envelopes into cardboard boxes, and addressing friction-related issues during gripper retraction. Through experimental validation, the effectiveness of the proposed gripper design and strategies are demonstrated in preserving the integrity of envelope stacks. The research highlights the potential of these automation solutions in industries handling compressible items.

关键词： Industries Automation Service robots Packaging Robustness Grippers Task analysis

Losing Focus: Can It Be Useful in Robotic Laser Surgery?

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arXiv 2023年

作者： Pacheco, N.E. Garje, Y.A. Rohra, A. Fichera, L. Department of Robotics Engineering Worcester Polytechnic Institute United States

This paper proposes a method to regulate the tissue temperature during laser surgery by robotically controlling the laser focus. Laser-tissue interactions are generally considered hard to control due to the inherent inhomogeneity of biological tissue, which can create significant variability in its thermal response to laser irradiation. In this study, we use methods from nonlinear control theory to synthesize a temperature controller capable of working on virtually any tissue type without any prior knowledge of its physical properties. The performance of the controller is evaluated in ex-vivo experiments. © 2023, CC BY.

关键词： Laser surgery

Project-Based Learning for Robot Control Theory: A Robot Operating System (ROS) Based Approach

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arXiv 2023年

作者： Farzan, Siavash Robotics Engineering Department Worcester Polytechnic Institute United States

Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in engineering domains, specifically in interdisciplinary fields such as robotics which require hands-on experience to master the discipline adequately. However, designing a project-based learning experience to teach control theory in a hands-on setting can be challenging, due to the rigor of mathematical concepts involved in the subject. Moreover, access to reliable hardware required for a robotics control lab, including the robots, sensors, interfaces, and measurement instruments, may not be feasible in developing countries and even many academic institutions in the US. The current paper presents a set of six project-based assignments for an advanced postgraduate Robot Control course. The sequence of assignments naturally builds on each other, and by the end of the course, students will be able to develop an advanced control framework in a real-world robotic simulation setting. The assignments leverage the Robot Operating System (ROS), an open-source set of tools, libraries, and software, which is a de facto standard for the development of robotics applications. The use of ROS, along with its physics engine simulation framework, Gazebo, provides a hands-on robotics experience equivalent to working with real hardware. The topics incorporated in the assignments include a set of linear and nonlinear control concepts, including dynamics modeling and analysis of multibody robotic systems, Jacobian linearization and characterization of equilibria in nonlinear state-space models, stabilization via state-feedback control, state estimation and control via observer design, linear quadratic regulator (LQR) control, trajectory tracking using inverse dynamics and feedback linearization, Lyapunov-based robust control design, and the formulation of adap

关键词： MATLAB

Automatic Contact Force-regulated End-effector Using Pneumatic Actuator for Safe Robotic Ultrasound Imaging

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Automatic Contact Force-regulated End-effector Using Pneumat...

International Symposium on Medical robotics (ISMR)

作者： Wen-Yi Kuo Xihan Ma Dhirajsinh Deshmukh Haichong K. Zhang Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Biomedical Engineering Worcester Polytechnic Institute Worcester MA USA Department of Computer Science Worcester Polytechnic Institute Worcester MA USA

Robotic-assisted ultrasound (US) imaging has demonstrated great promise to address issues such as high physical demands and limited scanning reproducibility in traditional freehand US procedures. Yet, using a robot arm to manipulate the US probe brings a fundamental concern about patient safety. This is because an overwhelming force can be easily produced from the robot joint actuation and exerted onto the patient's body when an electrical force-sensing error exists. Therefore, a mechanism that maintains a more compliant contact force, functioning independently from the robot arm, is needed to mitigate this concern. Here, we introduce a robotic US system with a novel automatic contact force-regulated end-effector. A linear pneumatic actuator is embedded in the end-effector to prevent excessive force from being applied to the patient. Such force compliance can be realized without relying on electrical force sensing and robot joint actuation. We tested the proposed system in US imaging tasks under a phantom-based environment. Results show that the contact force has an adjustable range from 4.10 N to 7.53 N, and can be regulated with ± 0.46 N variation using the automatic contact force-regulated end-effector during scanning, which demonstrates potential clinical applicability.

关键词： Pneumatic actuators Ultrasonic imaging Contacts Force Imaging Pneumatic systems Robot sensing systems

Robotic Perception-motion Synergy for Novel Rope Wrapping Tasks

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arXiv 2023年

作者： Ma, Zhaoyuan Xiao, Jing Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01609 United States

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod, autonomously. Such a robotic wrapping task has broad potential applications in automotive, electromechanical industries construction manufacturing, etc., but has hardly been studied. Our method does not require prior knowledge of the physical and geometrical properties of the objects but enables the robot to use real-time RGB-D perception to determine the wrapping state and feedback control to achieve high-quality results. As such, it provides the robot manipulator with the general capabilities to handle wrapping tasks of different rods or ropes. We tested our method on 6 combinations of 3 different ropes and 2 rods. The result shows that the wrapping quality improved and converged within 5 wraps for all test cases. Copyright © 2023, The Authors. All rights reserved.

关键词： Industrial robots