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Study of Individual Characteristic Abdominal Wall Thickness Based on Magnetic Anchored Surgical Instruments

Chinese Medical Journal 2015年第15期128卷 2040-2044页

作者： Ding-Hui Dong Wen-Yan Liu Hai-Bo Feng Yi-Li FU Shi Huang Jun-Xi Xiang Yi Lyu Department of Hepatobiliary Surgery First Affiliated Hospital Xi'an Jiaotong University Xi'an Shaanxi 710061 China School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

Background：Magnetic anchored surgical instruments （MASI）,relying on magnetic force,can break through the limitations of the single port approach in *** characteristic abdominal wall thickness （ICAWT） deeply influences magnetic force that determines the safety of *** purpose of this study was to research the abdominal wall characteristics in MASI applied environment to find ICAWT,and then construct an artful method to predict ICAWT,resulting in better safety and feasibility for ***：For MASI,ICAWT is referred to the thickness of thickest point in the applied *** determined ICAWT through finding the thickest point in computed tomography *** also investigated the traits of abdominal wall thickness to discover the factor that can be used to predict ***：Abdominal wall at C point in the middle third lumbar vertebra plane （L3） is the thickest during chosen *** layer thickness plays a more important role in abdominal wall thickness than muscle layer thickness.＂BMI-ICAWT＂ curve was obtained based on abdominal wall thickness of C point in L3 plane,and the expression was as follow：f（x） =P1 × x^2 ＋ P2 x x ＋ P3,where P1 =0.03916 （0.01776,0.06056）,P2 =1.098 （0.03197,2.164）,P3 =-18.52 （-31.64,-5.412）,R-square：***：Abdominal wall thickness of C point at L3 could be regarded as *** could be a reliable predictor of *** the light of ＂BMI-ICAWT＂ curve,we may conveniently predict ICAWT by BMI,resulting a better safety and feasibility for MASI.

关键词： Individual Characteristic Abdominal Wall Thickness Magnetic Anchored Surgical Instruments Minimally Invasive Surgery

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Controlling force in polarization-maintaining fiber fused biconical tapering

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Mathematical Problems in Engineering 2015年第1期2015卷

作者： Zhang, Wei Rong, Weibin Wang, Lefeng Zheng, Qing Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China AVIC Xi'An Flight Automatic Control Research Institute Xi'an710065 China

Fused biconical tapering (FBT) is an important method of manufacturing polarization-maintaining fiber (PMF) couplers. However, the tension on the ends of the fibers can affect the performance of the coupler. In this paper, a computer-based method of controlling the drawing force was presented. The system includes a drawing mechanism, rotary position encoders, and a control circuit. A three-dimensional model of a permanent magnet and a coil is constructed, and the relationship among the coil current, rotation angle of the clamp, and electromagnetic force is determined using finite element simulations. Electromagnetic force control based on these simulations can be realized. The method is verified experimentally, and it is shown that a drawing force of 0-1.8 gf can be achieved with an error of within 3.04%. This result can be used in the FBT-based manufacture of fiber components such as fiber couplers and gratings. © 2015 Wei Zhang et al.

关键词： Permanent magnets

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Nanotubes: Nanoconfined Atomic Layer Deposition of TiO2/Pt Nanotubes: Toward Ultrasmall Highly Efficient Catalytic Nanorockets (Adv. Funct. Mater. 24/2017)

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Advanced Functional Materials 2017年第24期27卷

作者： Jinxing Li Wenjuan Liu Jiyuan Wang Isaac Rozen Sha He Chuanrui Chen Hyun Gu Kim Ha‐Jin Lee Han‐Bo‐Ram Lee Se‐Hun Kwon Tianlong Li Longqiu Li Joseph Wang Yongfeng Mei Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 P. R. China Department of Materials Science and Engineering Incheon National University Incheon 22012 Republic of Korea School of Materials Science and Engineering Pusan National University Busan 46241 Republic of Korea Department of Materials Science Fudan University Shanghai 200433 P. R. China

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Nanorobots: Magnetically Propelled Fish-Like Nanoswimmers (Small 44/2016)

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Small 2016年第44期12卷

作者： Tianlong Li Jinxing Li Hongtao Zhang Xiaocong Chang Wenping Song Yanan Hu Guangbin Shao Elodie Sandraz Guangyu Zhang Longqiu Li Joseph Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA

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Satellite SAR Antenna Deployable Structure Design and Kinematic Analysis

Satellite SAR Antenna Deployable Structure Design and Kinema...

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International Conference on Information Sciences,Machinery,Materials and Energy（ICISMME 2015）

作者： Yan Wang Tian Liang Qiang Congi Rongqiang Liu Hui Yang State Key Laboratory of Robotics and System Harbin institute of Technology School of Engine and Energy Northwestern Polytechnic University China Academy of Space Technology

Satellite SAR antennas are widely applied in earth *** support structures(DSS) are key components for supporting and spreading such *** the improvement in observation resolution requirements,designing high-rigidity,large-scale,and simple-motion DSS has increasingly become *** study presents two kinds of DSS with a single-wing design that can support four antenna panels and proposes two kinds of synchronizing *** geometric model is established for solving the design parameters that are related to each *** mechanisms are parametrically optimized to improve the stability of *** simulation is conducted on the DSS,and results indicate that the deploying movement is smooth when two driving sources are *** proposed DSS can be applied to support more large-scale SAR antennas,which is of great importance to improve observation resolution.

关键词： deployable truss structure satellite SAR antenna mechanism design kinematics simulation

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A LESS Robotic Arm Control system Based on Visual Feedback

A LESS Robotic Arm Control System Based on Visual Feedback

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IEEE International Conference on Information and Automation

作者： Tengfei Ma Cong Fu Haibo Feng Yi Lv State Key Laboratory of Robotics ad System Harbin Institute of Technology Department of Hepatobiliary Surgery The First Affiliated Hospital of Xi'an Jiaotong University

ISBN: (纸本)9781467391054

Laparo-endoscopic single-site surgery (LESS) with its unique advantages has become the focus in the minimally invasive surgery. However, the existing LESS robots are mostly given open loop control for its arm, which is difficult for the doctor to handle the surgical instruments. In this paper, A magnetic anchor robot for LESS was designed, which can be inserted into peritoneal cavity through just one incision. We use master-slave control system based on visual feedback to achieve closed-loop control for the robot arm. To extract image feature information, we used a pin-hole camera geometry and made mark points on the robotic arm and proposed a marker point coordinate algorithm to realize the real-time stability control of the robot arm. The equivalent model of robotic platform is established and the master-slave control program based on visual feedback is verified by experiment to be feasible.

关键词： LESS Visual feedback Master-slave control

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RS-CPS: A Distributed Architecture of Robotic Surveillance Cyber-Physical system in the Nature Environment

RS-CPS: A Distributed Architecture of Robotic Surveillance C...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Hongpeng Wang Jingtai Liu Jianda Han Institute of Robotic and Automatic Information System. Nankai University State Key Laboratory of Robotics (Shenyang Institute of Automation Chinese Academy of Sciences)

ISBN: (纸本)9781479987313

Modern nature surveillance systems are highly automated and require distributed architectures in order to increase understanding of the environment by integrating data from various monitors and sensors, which are mounted not only on fixed stations, but also on robotic actuators. In this paper, we propose a distributed architecture of robotic surveillance cyber-physical system (RS-CPS) in the nature environment, which is designed as integration of computation and physical processes. The RS-CPS system consists of five levels including smart connection, data-to-information conversion, cyber communication, cognition, and configuration. Based on this architecture, the nature risk such as wildfires, the activities of wild animals and the climate changes in plants can be constantly monitored by the cooperation of multiple agents such as autonomous UAVs, robotic pan-tilt-zoom cameras, forest infrared cameras, songbird acoustic recorders, GPS tracking collars and ecological factor sensors located in field. The experiments demonstrate the feasibility and effectiveness of the new architecture.

关键词： ARCHITECTURE Fixed platforms Environments Building construction new buildings MONITOR Distribute Sensors Wild Animals Tracking collars

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Simulation and analysis of ACDR-oriented vertebral endplate cutting process

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International Journal Bioautomation 2015年第3期19卷 335-350页

作者： Tian, Heqiang Yang, Peng Zhao, Jun Su, Chunjian Mechanical and Electronic Engineering College Shandong University of Science and Technology Qingdao266590 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

In the artificial cervical disc replacement (ACDR), the polishing quality of fitting surface between vertebral endplate and artificial intervertebral disc has a direct relation with operation result. For this reason, an in-depth study is necessary on the vertebral endplate cutting process. This paper is intended to simulate and analyze the cutting process of vertebral endplate using numerical computation method. Firstly, a plane cutting model is established through an analysis on the cutting process to simulate the single-edge cutting process, and the temperature distribution calculation is carried out using the mean heat flux of continuous cutting. Secondly, a vertebral endplate material constitutive model is established on the basis of the endplate anatomy and mechanical property, so that some problems are analyzed about simulation algorithm, frictional contact and chip separation in the vertebral endplate cutting finite element (FE) simulation. Finally, stress distribution, cutting force, endplate deformation and residual stress and cutting temperature, as well as simulation results, are analyzed in vertebral endplate cutting process. The FE simulation may simplify vertebral endplate cutting, improve analytical precision, avoid plenty of repetitive cutting experiments, and reduce research cost greatly. Moreover, it gives full and fine description to the whole continuous, dynamic cutting process. All of this lay solid theoretical basis for an in-depth study of influence of different cutting parameters on endplate cutting as well as improvement of operation effect.

关键词： Cutting

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Modeling and Identification of Hysteresis in Smart Materials Using Maxwell Model

Modeling and Identification of Hysteresis in Smart Materials...

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2nd International Conference on Simulation and Modeling Methodologies,Technologies and Applications(SMTA 2015)

作者： Y.Liu Y.Meng J.Shan State Key Laboratory of Robotics and System (HIT) Department of Aerospace Engineering Harbin Institute of Technology Aerospace System Engineering Shanghai Department of Earth and Space Science and Engineering York University

Smart materials exhibit unwanted behaviors. The main one is hysteresis that caused by complex mechanisms of energy dissipation taking place in microscopic level. This paper presents an approach of modeling and identification of hysteresis in smart materials using the Maxwell model. The model is reviewed first and then the procedure of identification is presented in details, including 1) the initial parameters generation, 2) preliminary optimization of parameters with global optimization algorithm, and 3) the final optimization of parameters with gradient optimization method. The effect of the number of Maxwell elements is also analyzed.

关键词： spring Modeling and Identification of Hysteresis in Smart Materials Using Maxwell Model

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The Research of Structure Parameter Optimization Process for A Novel Parallel Radiotherapy Bed

The Research of Structure Parameter Optimization Process for...

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IEEE International Conference on Mechatronics and Automation

作者： Qiang Guo Zhijiang Du Fengfeng Zhang Licheng Fan Shaolong Kuang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Jiangsu Key Laboratory for advanced robotcics technologies Soochow University Suzhou Jiangsu Province215021 China

ISBN: (纸本)9781479970995

In order to guarantee the preoperative and intraoperative precise positioning demand of the radiotherapy bed in the radiation process, utilizing the advantages of parallel mechanism, in this paper, a parallel structure radiotherapy bed was designed to meet the demands of high positioning precision, high stiffness, high carrying capacity and flexible configuration space which could cover the shortage of the conventional radiotherapy bed. Firstly, this paper analyzed the precise workspace of the radiotherapy bed with kinematics inverse solved by vector algebra method and studied the influence of workspace by changing the rule of all parameters as well as finding the relationships between them in the condition that the size of the moving platform and the fixed platform were limited. Then, in order to meet the requirements of stability and security of the radiotherapy bed, considering the workspace and the forces on it, a new parameter optimization process was proposed with constructing the objective function of the Jacobian matrix condition number, the universe average of condition number and the fluctuation of condition number. The simulation analysis results demonstrated that the overall performance of the radiotherapy bed was considerably improved with the smaller dimensions of the radiotherapy bed, the significantly reduced forces on the structure in the workspace and the smaller condition number of Jacobian matrix with uniform distribution in the whole workspace.

关键词： Radiotherapy bed Workspace analysis Evaluation index Parameter optimization

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