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DP4AuSu: Autonomous Surgical Framework for Suturing Manipulation Using Diffusion Policy With Dynamic Time Wrapping-Based Locally Weighted Regression

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International Journal of Medical robotics and Computer Assisted Surgery 2025年第3期21卷 e70072页

作者： Xu, Wenda Tan, Zhihang Cao, Zexin Ma, Haofei Wang, Gongcheng Wang, Han Wang, Weidong Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Hong Kong

Background: Emerging imitation learning (IL) approaches have provided innovative solutions for completing surgical robotic suturing autonomously, significantly aiding surgeons in their manipulations. Methods: We introduce Diffusion Policy for Autonomous Suturing (DP4AuSu), a novel framework that leverages diffusion policy (DP) and dynamic time wrapping-based locally weighted regression to achieve autonomous robotic suturing. Results: In simulation, DP4AuSu achieved a 94% success rate for insertion subtasks over 50 trials. In a real-world setting, it achieves 85% success rate over 20 trials for suturing manipulations in 390.55–41.59s faster than conventional diffusion policy. Conclusions: Our novel framework can capture the multimodality in demonstrations and successfully learn the suturing policy and reduce the suturing time. To the best of our knowledge, this work represents the first application of diffusion policy for robotic suturing. We hope this research paves the way for the automation of more complex surgical tasks. © 2025 John Wiley & Sons Ltd.

关键词： Robot learning

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A fast and high-precision embedded compensation system for multi-effector micro-manipulator

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International Journal of Mechanical Sciences 2025年 297-298卷

作者： Lu, Fei Chen, Weishan Deng, Jie Zhang, Shijing Liu, Yingxiang State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin150001 China

Multi-effector micro-manipulator (MEMM) systems are favored for transporting and manipulating targets due to their multiple degrees of freedom (multi-DOF) operation capabilities. However, the complex structure adopted to achieve multi-DOF operation capabilities poses a great challenge to the improvement of the MEMM performance, especially the speed and precision. In this study, a multi-DOF piezo-array embedded four-effector manipulator is used to investigate the influence of multi-effector and the complex structure on the performance of the MEMM. A predictive digital model is introduced to analyze the output characteristics of the MEMM and evaluate the effects of different compensation methods. Both model predictions and experimental results show that the low-order modal coupling of the complex structure significantly affects the output characteristics of the MEMM and induces residual and coupled vibrations. The proposed embedded internal model compensation (EIMC) method, which utilizes the predictive capabilities of the digital model and the embedded computing capabilities of the embedded system, effectively reduces the residual and coupled vibrations of the MEMM (typical efficiency 74.4%∼85.8%), and ultimately achieves an average convergence time of 0.0005 s and a precision of ±0.06 μm. Compared with ramp compensation (RC) method and PID control, the EIMC method improves the speed performance of the MEMM by more than 70% and the precision performance by more than 50%. These findings are expected to mitigate vibration problems in rapid-positioning, potentially expanding MEMM applications in medical sample processing, optical focusing and image scanning. © 2025 Elsevier Ltd

关键词： Manipulators

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Dynamic Simulation of Planetary Rovers with Terrain Property Mapping * Research supported by National Natural Science Foundation of China (Grant No. 61370033), National Basic Research Program of China (Grant No. 2013CB035502), Foundation for Innovative Research Groups of the Natural Science Foundation of China (Grant No. 51521003), Foundation of Chinese state key laboratory of robotics and systems (Grant No. SKLRS201501B, SKLRS20164B), Harbin Applied Technology Project of Research and Development (2015RQQXJ081), and the “111 Project” (Grant No. B07018).

Dynamic Simulation of Planetary Rovers with Terrain Property...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Huaiguang Yang Liang Ding Haibo Gao Lan Huang Junlong Guo Chao Chen Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Simulation of planetary rovers moving on complex terrains is critical for Mars exploration. Equivalent stiffness is proposed and used to characterize the pressure-sinkage property of terrain, while friction angle to characterize the shearing property. Terramechanics model for calculating forces between rigid wheel and soil is proved to be the same with that contact model for calculating forces between rigid wheel and rock. A Digital Elevation Map with Physical Properties is developed and applied to simulate terrain physical properties along with its geometry information. The established methods are validated using simulation and experimental tests with a three-wheel-rover.

关键词： Soil Mathematical model Wheels Stress Computational modeling Shearing Force

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Design and Development of an Armadillo-Inspired Robot With Multiple Locomotion Modes

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IEEE/ASME Transactions on Mechatronics 2025年

作者： Zhang, Ziqiang Wu, Qicai Liao, Jinnong Beijing University of Technology School of Mechanical and Energy Engineering Beijing100124 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

The diversification of locomotion modes can expand the movement range of mobile robots, and enhance their adaptability to complex environments. While the combination of two locomotion modes is quite common, there is still considerable scope for enhancing the environmental adaptability of such robots. In this article, an armadillo-inspired robot (AIRO) with two motion modes, crawling, and rolling, is designed and developed. According to the proposed mechanism design method based on layered constraints, a one-degree of freedom six-bar trunk mechanism is designed and evaluated according to the kinematic chain and the actual configurations, which can realize the switching between crawling and rolling modes with only one motor, and has the advantages of simple control and high structural stiffness, and then the C-shaped arc legs are designed to satisfy the kinematic requirements. Finally, a single/multiple motion modes performance score formula is proposed to quantitatively evaluate the robot's mobility performance based on the indexes such as stability, energy consumption, and speed. The developed prototype of AIRO weighs 2.35 kg and has a maximum size of 469.6 mm × 246.6 mm × 143.2 mm. Experimental results demonstrate that AIRO achieves a maximum crawling speed of 0.192 m/s and a maximum rolling speed of 0.464 m/s on flat terrain, which provides good adaptability to complex terrain. The research results provide a reference for the development of similar robots with multiple motion modes. © 1996-2012 IEEE.

关键词： Mobile robots

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Realizing high-speed target tracking by using multi-rate feedforward predictive control for the acquisition, tracking, and pointing system

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Defence Technology 2025年

作者： Li, Hang Peng, Gaoliang Shan, Xiaobiao Zhao, Mingyuan Zhang, Wei Wang, Jinghan Cheng, Feng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Information Science and Technology Eastern Institute of Technology Ningbo315200 China

The acquisition, tracking, and pointing (ATP) system is widely used in target tracking, counter-UAV operations, and other related fields. As UAV technology develops, there is a growing demand to enhance the tracking capabilities of ATP systems. However, in practical applications, ATP systems face various design constraints and functional limitations, making it infeasible to indefinitely improve hardware performance to meet tracking requirements. As a result, tracking algorithms are required to execute increasingly complex tasks. This study introduces a multi-rate feedforward predictive controller to address issues such as low image feedback frequency and significant delays in ATP systems, which lead to tracking jitter, poor tracking performance, low precision, and target loss. At the same time, the proposed approach aims to improve the tracking capabilities of ATP systems for high-speed and highly maneuverable targets under conditions of low sampling feedback rates and high feedback delays. The method suggested is also characterized by its low order, fast response, and robustness to model parameter variations. In this study, an actual ATP system is built for target tracking test, and the proposed algorithm is fully validated in terms of simulation and actual system application verification. Results from both simulations and experiments demonstrate that the method effectively compensates for delays and low sampling rates. For targets with relative angular velocities ranging from 0 to 90°/s and angular accelerations between 0 and 470°/s2, the system improved tracking accuracy by 70.0%–89.9% at a sampling frequency of 50 Hz and a delay of 30 m s. Moreover, the compensation algorithm demonstrated consistent performance across actuators with varying characteristics, further confirming its robustness to model insensitivity. In summary, the proposed algorithm considerably enhances the tracking accuracy and capability of ATP systems for high-speed and highly maneuverable ta

关键词： Predictive control systems

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Synthesized colonoscopy dataset from high-fidelity virtual colon with abnormal simulation

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Computers in Biology and Medicine 2025年 186卷 109672-109672页

作者： He, Dongdong Liu, Ziteng Yin, Xunhai Liu, Hao Gao, Wenpeng Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Gastroenterology The First Affiliated Hospital of Harbin Medical University Harbin150001 China

With the advent of the deep learning-based colonoscopy system, the need for a vast amount of high-quality colonoscopy image datasets for training is crucial. However, the generalization ability of deep learning models is challenged by the limited availability of colonoscopy images due to regulatory restrictions and privacy concerns. In this paper, we propose a method for rendering high-fidelity 3D colon models and synthesizing diversified colonoscopy images with abnormalities such as polyps, bleeding, and ulcers, which can be used to train deep learning models. The geometric model of the colon is derived from CT images. We employed dedicated surface mesh deformation to mimic the shapes of polyps and ulcers and applied texture mapping techniques to generate realistic, lifelike appearances. The generated polyp models were then attached to the inner surface of the colon model, while the ulcers were created directly on the inner surface of the colon model. To realistically model blood behavior, we developed a simulation of the blood diffusion process on the colon's inner surface and colored vertices in the traversed region to reflect blood flow. Ultimately, we generated a comprehensive dataset comprising high-fidelity rendered colonoscopy images with the abnormalities. To validate the effectiveness of the synthesized colonoscopy dataset, we trained state-of-the-art deep learning models on it and other publicly available datasets and assessed the performance of these models in abnormal classification, detection, and segmentation. Notably, the models trained on the synthesized dataset exhibit an enhanced performance in the aforementioned tasks, as evident from the results. © 2025 Elsevier Ltd

关键词： Digital elevation model

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Design of deployable bridge using multistable miura-ori structure for emergency rescue

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Automation in Construction 2025年 176卷

作者： Wang, Wei Li, Xu Yan, Peng Huang, Hailin Li, Bing School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen518052 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Rapid deployment equipment is crucial in emergency rescue operations during natural disasters such as earthquakes and floods. However, traditional equipment often has limitations such as complex operations, long deployment times, and high manpower requirements. This paper designs a deployable bridge for post-disaster rescue, with its core component being a bistable Miura-ori unit. Bistable characteristics of the Miura-ori unit are shown. Then, finite element model (FEM) and prototype experiments are used to demonstrate the load-bearing capacity and bistable characteristics of the bistable Miura-ori unit. By arranging the bistable Miura-ori units, a deployable bridge with multistable characteristics is achieved, enabling rapid deployment with a single drive. The load-bearing and impact resistance capabilities of the bridge are also tested. This design significantly simplifies system complexity, reduces labor requirements, and ensures high load-bearing capacity and impact resistance, providing a new solution for emergency rescue. © 2025 Elsevier B.V.

关键词： Emergency services

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Exploring Eye-tracking based Biomarkers to Assess Cognitive Abilities in Autistic Children: A Feasibility Study

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IEEE Journal of Biomedical and Health Informatics 2025年 PP卷 PP页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 China Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Peng Cheng Laboratory Shenzhen518000 China

Cognitive assessment can reveal a person's cognitive processing and behavioral patterns, making it an indispensable component of autism intervention and prognosis. Existing machine-assisted cognitive assessment methods primarily focus on children's performance outcomes, overlooking distinctive behavioral models, particularly characteristics of eye movement behavior, which have been demonstrated as the most direct indicators of cognitive abilities. In this study, we explore eye-tracking biomarkers for assisting cognitive assessment through a series of meticulously designed multi-level human-computer interaction protocols, encompassing three cognitive abilities: pairing and categorization, emotion recognition, and social interaction. A platform embedded with an eye-tracking module has been developed to reliably collect and analyze eye movement data, even in the presence of unrestricted large head movements in children. Experimental results indicate that there are significant group differences between autism and typically developing children in the eye-tracking features of total fixation duration, response latency, time to first fixation, mean fixation duration, and visit count in the absence of significant intergroup differences in the Wechsler Preschool and Primary Scale of Intelligence (WPPSI) and Wechsler Intelligence Scale for Children (WISC) assessment results. In addition, certain eye movement features in each group are correlated with WPPSI/WISC scale scores, enabling clinical cognitive assessments within each group based on these eye movement features. This study suggests that using eye-tracking features as biomarkers to assist detailed cognitive assessments holds significant potential for the intervention and prognosis of autism. © 2013 IEEE.

关键词： Diseases

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UMIENet: Underwater image enhancement based on multi-degradation knowledge integration

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Optics and Lasers in Engineering 2025年 193卷

作者： Lv, Pin Zha, Fusheng Wang, Xiangji Li, Rongchao Li, Mantian Wang, Pengfei Guo, Wei Sun, Lining State key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Lanzhou University of Technology Lanzhou China Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic University Shenzhen China

Due to the absorption and scattering effects of water on light, underwater images generally suffer from multiple degradations such as blur, color cast, and non-uniform illumination, which severely affect image quality and visual processing tasks. Therefore, underwater image enhancement (UIE) has gained widespread application in various marine exploration tasks. While supervised learning-based methods currently dominate this field, existing methods have two main problems. The limited availability of real paired images and the incompleteness of the degradation types of synthetic datasets restricts the model training performance, and most UIE models are designed for specific types of degradation, lacking systematic processing of multiple underwater degradations. These problems lead to poor model performance. In this work, we construct an Underwater Multi-Degradation Knowledge Integration dataset, called UMDKI, it models multiple degradation factors including blur, color cast, and non-uniform illumination by incorporating a revised image formation model and point light mathematical modeling. Besides, we propose an Underwater Multi-degradation Image Enhancement Network, called UMIENet, it integrates the advantages of various traditional methods and achieves collaborative enhancement of multiple degradations. Extensive experiments demonstrate that the proposed UMIENet achieves excellent performance on multiple benchmarks and shows good effectiveness in real underwater vision tasks. © 2025 Elsevier Ltd

关键词： Photointerpretation

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A review of solar concentration technology applications in deep space exploration: Environmental adaptability and performance comparison

Space Solar Power and Wireless Transmission

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Space Solar Power and Wireless Transmission 2025年第1期2卷 43-53页

作者： Yanlong Zhang Pengzhen Guo Mengfan Tian Huazhi Chen Rongqiang Liu Zongquan Deng Lifang Li National Key Laboratory of Aerospace Mechanism Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Space Environment and Matter Behaviors Harbin Institute of Technology Harbin 150001 PR China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 PR China

Deep space exploration missions and the construction of planetary research stations impose strict demands on energy self-sufficiency systems. Solar energy, due to its abundant availability and sustainability, has become the preferred solution. However, extreme environmental conditions in space – including drastic temperature fluctuations, vacuum environments, high-energy particles, and intense radiation – pose significant challenges to the performance and lifespan of solar energy systems. Concentration technology, which enhances photoelectric and photothermal conversion efficiency by focusing sunlight, is crucial for space missions. This review examines the primary environmental factors affecting the performance of solar concentrators, including solar irradiance, thermal cycling, vacuum-induced outgassing, radiation effects, and impacts from micrometeoroids and orbital debris. The analysis focuses on three types of high-temperature concentrators: Fresnel lenses, Scheffler concentrators, and parabolic dish concentrators. Fresnel lenses are characterized by low cost and simple structure but are susceptible to optical degradation at high temperatures. Scheffler concentrators utilize geometric optimization to improve uniformity of light distribution, while parabolic dish concentrators achieve high optical efficiency, making them suitable for high-energy applications though requiring precise solar tracking. Performance comparisons in the thermal power range of 0 to 25 kW reveal that parabolic dish concentrators excel in high-power scenarios with greater efficiency and smaller aperture sizes. Conversely, Fresnel lenses and Scheffler concentrators are more effective in medium to low-temperature applications. Based on these findings, this review emphasizes the need to select concentrators according to mission requirements and outlines future research directions. These include the development of advanced materials, optimized optical designs, and improvements in system integr

关键词： Deep space exploration Solar concentrators Extreme environmental conditions

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