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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Zhou, Luyan Luo, Jingjing Wang, Hongbo Zhao, Shizun Han, Yuan Li, Wenxian Fudan University Academy for Engineering and Technology Shanghai200433 China Intelligent Robot Engineering Research Center of Ministry of Education Shanghai2000433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Eye & Ent Hospital of Fudan University Shanghai200031 China

ISBN: (纸本)9798350337488

Extracting 3D environmental insights from endoscopy images holds immense value for minimally invasive surgical procedures. The Self-supervised Monocular Depth Estimation (SMDE) framework is promising for achieving this objective. However, existing methods struggle with low-texture and drastic illumination fluctuations in endoscopic images. To tackle this, we incorporate Photometric Aliagnment method based on pixel-wise Color Offset, and propose a carefully designed Color Offset penalty based on Reconstruction Confidence. We furthur apply an Auto-Mask mechanism and a cutting-edge backbone to enhance the performance. Our experiments employ a dataset of airway intubation images captured with a low-resolution and near-field electronic bronchoscope. The experimental results unequivocally highlight the exceptional performance of our approach, achieving root mean square error of 1.64 ± 0.22 mm after point cloud registration, which decreases by 16% than the current SoTA. Furthermore, we introduce an innovative evaluation metric rooted in Photometric Alignment Symmetry, and conduct ablation experiments on this metric. The ablation experiments furthur validate the effectiveness of proposed modules. This study underscores the efficacy of the Reconstruction Confidence-based Color Offset penalty and symmetric alignment evaluations in extracting 3D information from low-resolution and near-field endoscopy images. © 2023 IEEE.

关键词： low-texture photometric alignment reconstruction confidence self-supervised monocular endoscopy depth estimation

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A Comparative Study on Kinematic Calibration for a 3-DOF Parallel Manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models

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Chinese Journal of Mechanical engineering 2023年第5期36卷 206-230页

作者： Haiyu Wu Lingyu Kong Qinchuan Li Hao Wang Genliang Chen State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Intelligent Robot Research Center Zhejiang LabHangzhou 311100China School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.

关键词： Kinematic calibration Parallel manipulator Error modeling Product of exponential(POE)

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Design and Analysis of a Dual-Stiffness Flexible Continuum for Endotracheal Intubation robot

Design and Analysis of a Dual-Stiffness Flexible Continuum f...

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International Symposium on Medical robotics (ISMR)

作者： Haodan Xue Hongbo Wang Qiqi Pan Jingjing Luo Jianhao Tang Academy for Engineering and Technology Fudan University Shanghai China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai China Intelligent Robot Engineering Research Center of Ministry of Education Shanghai China Shanghai Clinical Research Center for Aging and Medicine Shanghai China

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

During complex endotracheal intubation surgery, avoiding the fragile structure of the complex endotracheal is the key to endotracheal intubation surgery, which requires high flexibility of the endotracheal intubation actuator. This paper proposes a flexible actuator based on dual-stiffness design, which is applied to the end of the endotracheal intubation robot, aiming to improve the flexibility and obstacle avoidance performance during the operation and reduce the control difficulty. The actuator consists of two sections of notch flexible structures, which use different notch gaps and different lengths to achieve self-decoupling performance and to adapt to the complex endotracheal structure. This paper first explains the design principle of the dual-stiffness flexible continuum, and conducts mechanical modeling and kinematic analysis of the notch unit and the overall continuum based on the Timoshenko beam theory. Subsequently, the obstacle avoidance performance and forward vision function of the dual-stiffness continuum are simulated and verified using SOFA and COMSOL. The simulation results show that the dual-stiffness continuum can not only improve the actuator's adaptability, but also achieve precise obstacle avoidance motion in an obstacle environment. Finally, the dynamic performance of the continuum is demonstrated through simulation, verifying the practical application potential of this design in endotracheal intubation.

关键词： Actuators Analytical models Medical robotics Simulation Dynamics Surgery Kinematics Intubation Collision avoidance Flexible structures

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Design and research of A Soft Hand Rehabilitation robot with Multiple Training Modes 3

Design and Research of A Soft Hand Rehabilitation Robot with...

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3rd International Conference on Computing, Networks and Internet of Things, CNIOT 2022

作者： Wang, Fuhao Wang, Hongbo Luo, Jingjing Kang, Xiaoyang Zhang, Xueze Chen, Li Pan, Qiqi Academy for Engineering & Technology Shanghai200433 China Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (纸本)9781665469104

There are many hemiplegic patients with hand dysfunction caused by stroke. Restoring hand function can effectively improve the quality of life of patients. Traditional rehabilitation training can improve hand strength and flexibility, but there are few medical staff and high workload, which may easily lead to unstable training effect. Therefore, this letter designed a soft hand rehabilitation robot with multiple training modes. By analyzing the natural movements of human fingers, the flexible exoskeleton finger and driving unit are designed. The kinematics of the finger are derived to achieve uniform changes in the angle of the finger joints. The hand rehabilitation robot can support multiple training modes such as individual finger training, five-finger collaborative training, and left-right hand symmetry training. Experiments show that the hand rehabilitation robot can carry out continuous and stable finger joint training, and has a good rehabilitation training effect. © 2022 IEEE.

关键词： Personnel training

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Dimension Design of a Novel Multi-morphology Transformable Mobile robot

Dimension Design of a Novel Multi-morphology Transformable M...

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International Conference on Mechanical Design, ICMD 2023

作者： Peng, Yinghan Chen, Weixing Gao, Feng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Research Center of Marine Intelligent Equipment and Robot Institute of Marine Equipment Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9789819709212

Multi-morphology robots possess the capability to actively select their morphologies according to the terrain, making them widely applicable in various exploration, transportation, and operational tasks. This paper focuses on the dimension optimization design problem for multi-morphology robots, addressing two key aspects: (1) On one hand, a reliable and comprehensive optimization design model is proposed based on the performance-chart based design methodology (PCbDM) for a specific multi-morphology robot. (2) On the other hand, a multi-morphology optimization strategy is introduced, building upon the optimization design model. Based on morphological characteristics, the dimension parameters of the wheel-leg-spoke mechanism are systematically categorized, and critical transmission factors are identified to enable seamless transfer of mechanism dimension between multiple optimal dimension ratios obtained from performance atlases. The paper establishes a comprehensive dimension optimization model for a novel type of multi-morphology robot. Not only does it offer innovative insights into the mechanism design of multi-morphology robots, but it also establishes a clear and intuitive relationship between the mechanism dimension parameters and the mechanism's performance, thereby providing novel approaches for the dimension optimization design of multi-morphology robots. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Mobile robots

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research on Variable Workspace of Continuum robot for Organ Protection and Multi-arm Cooperation 12

Research on Variable Workspace of Continuum Robot for Organ ...

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12th International Conference on CYBER Technology in Automation, Control, and intelligent Systems, CYBER 2022

作者： Wang, Fuhao Wang, Hongbo Luo, Jingjing Kang, Xiaoyang Zhang, Xueze Wang, Jiawei Pan, Qiqi Academy for Engineering and Technology Fudan University Shanghai200433 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Intelligent Robot Engineering Research Center of Ministry of Education Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Minimally invasive surgery (MIS) has gradually become the preferred method of surgery due to its advantages of less trauma and faster recovery. However, the small and complex surgical area places high demands on the performance of the robot and the skill level of the doctor. In order to avoid the damage of other healthy organs with surgical instruments during the operation, a variable workspace of a continuum robot is designed in this paper. The information of the dynamic transformation of the surgical environment is used to continuously update the workspace of the continuum robot. For healthy vital organs, the workspace can actively shield its corresponding posture. Experiments have verified that for a variety of complex surgical scenarios, the variable workspace can simply and effectively implement the safety protection of healthy organs, and can avoid interference when multiple arms work together. © 2022 IEEE.

关键词： Surgical equipment

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GTGR-Net: Graph Attentional-Temporal Network for Surface-Electromyography-Based Gesture Recognition 3

GTGR-Net: Graph Attentional-Temporal Network for Surface-Ele...

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3rd International Conference on Computing, Networks and Internet of Things, CNIOT 2022

作者： Jia, Xiaoxu Wang, Hongbo Luo, Jingjing Lai, Zhiping Zhang, Xueze Zhang, Weiqi Tang, Xiuhong Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (纸本)9781665469104

In this process of active rehabilitation assisted by hand rehabilitation robot, the patient's hand motion intention, that is, the patient's gesture recognition, plays an important role. Gesture recognition based on sEMG signal is a hot research topic. Due to the spatial correlation and time non-stationary of sEMG signal, this research topic has many difficulties. In order to solve this problem, we come up with a gesture recognition network GTGR-Net based on sEMG signal, which uses the combination of graph attention network and time convolution network to extract the spatiotemporal information of sEMG signal. We verify the effect of our algorithm on three public data sets and achieve good results, which is better than the other ways. © 2022 IEEE.

关键词： Convolution

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Design and application analysis of a novel tendon-drive flexible endoscope 3

Design and application analysis of a novel tendon-drive flex...

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3rd International Conference on Computing, Networks and Internet of Things, CNIOT 2022

作者： Pan, Qiqi Wang, Hongbo Luo, Jingjing Wang, Fuhao Duan, Wenke Wang, Jiawei Fei, Kangkang Tang, Xiuhong Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (纸本)9781665469104

In this paper, a four-degree-of-freedom flexible endoscope based on tendon drive is proposed, which overcomes the disadvantage of insufficient flexibility at the end of the traditional endoscope, and provides a wider surgical visual field at the same time. This paper focuses on the study of its driving principle and control method. The designed flexible endoscope consists of a flexible arm and a drive box. The flexible segment is composed of 12 skeleton units in each series. The drive box, whose compact body makes the control process more flexible, controls the tightness of the wire through the bidirectional scrolls. Using the model with constant curvature, the motion principle of the flexible endoscope was studied, the mapping relationship among the drive space, the virtual joint space and the workspace was calculated. The drive control system design and drive algorithm programming of the flexible endoscope were completed, and the circular motion and linear motion of the end effector was realized. After experimental verification, the error of the master-slave control accuracy of the end of the four-degree-of-freedom flexible endoscope is less than 3 mm, the workspace is more than 100% larger than that of the traditional endoscope, and the maximum bending angle can reach 140°, realizing the advantage of a larger surgical visual field. © 2022 IEEE.

关键词： Endoscopy

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Application research of Landmarks in Path Planning Algorithms of Mobile robots 2

Application Research of Landmarks in Path Planning Algorithm...

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2nd International Conference on Digital Society and intelligent Systems, DSInS 2022

作者： Fan, Linghao Liu, Xiangde Zhang, Yi Chongqing University of Posts and Telecommunications Intelligent Systems and Robotics Laboratory Chongqing China Chongqing Information Accessibility and Service Robot Engineering Technology Research Center Chongqing China

ISBN: (纸本)9781510663244

A way of incorporating landmark information matrix QR to affect the global path planning algorithm is proposed for the use of landmarks in robot localization and navigation. It is also investigated how this method affects the pace at which the original algorithm solves problems. The reward and punishment items in this technique include dangerous locations with lots of obstacles around them, landmarks with location information connected to the ground, and the two combined. Three representative common robot path planning algorithms are also imposed as influences. Through MATLAB simulation experiment, find the optimal path planning algorithm that is appropriate for applying reward and punishment by comparing the quality of the robot's driving path and the algorithm solution speed before and after the reward and punishment. According to the simulation results, the reward and punishment approach is practical and efficient. The heuristic search algorithm is better suited for reward and punishment, and both its path quality and speed of solution have greatly increased. © 2023 SPIE.

关键词： Genetic algorithms

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Design and validation of a novel tracheal intubation robot

Design and validation of a novel tracheal intubation robot

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Luo, Jingjing Tian, Yu Wang, Hongbo Wang, Jiawei Zhou, Luyan Tang, Jianhao Zhu, Xing Feng, Lili Han, Yuan Li, Wenxian Fudan University Institute of Ai and Robotics Academy for Engineering and Technology Shanghai210043 China Jihua Laboratory Guangdong Foshan528200 China Ministry of Education Engineering Research Center of Ai and Robotics Shanghai210043 China Eye & Ent Hospital of Fudan University Shanghai200031 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China

ISBN: (纸本)9798350325706

Tracheal intubation is a crucial measure to ensure smooth respiration during general anesthesia surgeries. Currently, manual intubation is commonly employed, with its success heavily reliant on the proficiency of the physicians performing the procedure. In this paper, a 3 degree-of-freedom (DOF) master-slave operated tracheal intubation robotic system is proposed, wherein a flexible endoscope serves as the end effector. The structural components of the master-slave mechanism are described in detail, and the kinematic model of the flexible endoscope is established. Four participants were recruited to conduct experimental research on master-slave operation intubation. In the experiment, the shortest operation time recorded was 8.88 seconds, while the longest is 72.04 seconds, they are less than the clinically required safety threshold of 2 minutes. This validates the feasibility of the developed prototype in achieving robot-assisted intubation. © 2023 IEEE.

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