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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Lyu, Chuqiao Guo, Shuxiang Ma, Youchun Wang, Yue Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

In vascular interventional surgery, the tips of the guidewire or catheter are easy to collide the vascular wall and cause rupture or harm. These risky actions are difficult to track and can only be memorized by the surgeons. In this paper, we designed a convolutional neural network (CNN) model to identify whether the tips of guidewire collide the vessel wall. Finally, through the training and testing, our model got 95.9% accuracy in simulated vascular model. In addition, we also found some samples which the guidewire closed to the vascular wall were misdiagnosed by our models. If the images preprocessing accuracy can be improved, the results of the model will be increased in the future. © 2020 IEEE.

关键词： Convolutional neural networks

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Research on Real-time Simulation Method of Vascular Interventional Surgery Based on Model Order Reduction 17

Research on Real-time Simulation Method of Vascular Interven...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Gao, Baofeng Shang, Lamei Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

In the vascular interventional surgery virtual simulation training system, there is a high demand for the real-time nature of the simulation. However, the amount of storage and calculation required by the current system is very large. We need some methods that can increase the calculation rate and speed up the system simulation rate. In this study, for the existing simulation training system, we improved the two parts of the blood vessel local simulation and the entire system simulation. First, the blood vessel is simulated and modeled using a model-based order reduction method. After a set of offline simulations based on the entire model, eigen-orthogonal decomposition is applied to greatly reduce the number of states of the robot model, and super-reduction is used to perform integration on the simplified domain. Then, a multi-threaded parallel operation method is adopted. The movement between the blood vessel and the guide wire and between the guide wire and the tactile force feedback device are calculated in parallel to increase the calculation rate. Finally, CUDA is used for GPU computing to accelerate the simulation modeling speed of the system. The experimental results show that the method proposed in this paper can speed up the system simulation rate and improve the real-time performance of the system simulation. © 2020 IEEE.

关键词： Blood vessels

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A Novel Axial Force Feedback Device for the Master Manipulator of the Vascular Interventional Surgical Robot 17

A Novel Axial Force Feedback Device for the Master Manipulat...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhou, Wei Guo, Shuxiang Chen, Zhengyang Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

Based on the recent research, the force feedback equipment with non-contact displacement measure device is helpful and valuable, which can reduce the size and increase flexibility of master manipulator largely, and so on. In this paper, a novel axil force feedback device with non-contact displacement measure equipment is designed. Firstly, the design theory based on electromagnetics and the working principle are elaborated in detail. Secondly, the calibration experiment of non-contact displacement measure equipment is done, which is used to build the relationship between the displacement and the pixel values. Lastly, Motion interference of moving parts are analyzed simply, and the experiments are done to verify the performance of displacement measurement. By analyzing the experimental results, this axial force feedback device is helpful and valuable for miniaturization of the master manipulator. © 2020 IEEE.

关键词： Displacement measurement

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Design of a Novel Balloon Catheter Delivery Mechanism for the Vascular Interventional Robotic system 17

Design of a Novel Balloon Catheter Delivery Mechanism for th...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Yuan, Hang Wang, Kaidi Zeng, Yuwen Xiao, Nan Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

Minimally Invasive Vascular Interventional Robots can effectively improve the safety and accuracy of surgical operations, reducing the cumulative radiation damage received by doctors. In the previous research of our lab, a Minimally Invasive Vascular Interventional Surgery Robot system was developed, which can achieve accurate delivery of catheters and guidewires. Nevertheless, this system lacks some surgical operations such as balloon catheter delivery. This paper presents a novel delivery device for the balloon catheter and its performance is evaluated by a series of experiments. On the basis of the adhesion hypothesis, this device uses the conveyor to drive the balloon catheter forward and backward. Finally, the performance evaluation experiments prove that the mechanism meets the operational requirements of the balloon catheter during operation. © 2020 IEEE.

关键词： Machine design

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A Replaceable Vascular Model-based Platform for Experience Acquisition in Interventional Surgery 17

A Replaceable Vascular Model-based Platform for Experience A...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Wang, Yue Guo, Jin Guo, Shuxiang Lyu, Chuqiao Ma, Youchun Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

Vascular interventional surgery has been gradually conducted to cure cerebrovascular diseases due to its advantages of smaller incisions and quicker recovery. However, due to the small size and fragile properties of vasculars in human brain, iatrogenic and interventional vascular damages could occur during the surgery. Thus, the operation experience of clinicians is very important. However, for inexperienced novice surgeons, the costs of training surgical experience are high. In order to solve the problems mentioned above, this paper attempts to design an experience acquisition platform for vascular interventional surgery. First, a simple model of vascular was made with wax plates. Then, guidewire transport was carried out in the vascular model through the existing operating platform to simulate the interventional surgery experiment. We use Python to write the Graphical User Interface (GUI) to design the visual operating platform, and import the simulated interventional surgery video into the interface. These operations were carried out based on the model of the patient's real vascular shape, and the frames with dangerous actions in the video were marked and counted, so that the surgeons could analyse the dangerous operation after the operation and improve the operation. From the experimental results, the experience acquisition platform has the ability to mark the dangerous operation of surgeons during surgery. Also, it can provide a low-cost method for the training of novice surgeons. © 2020 IEEE.

关键词： Graphical user interfaces

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Reciprocating Operation Method for Vascular Intervention Surgery Robot 17

Reciprocating Operation Method for Vascular Intervention Sur...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Wang, Kaidi Yuan, Hang Zeng, Yuwen Xiao, Nan Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

With the continuous development of Vascular interventional surgery robot(VISR), VISR has gradually become an important tool for assisting doctors to complete interventional surgery. However, the research of VISR is not yet fully mature, The emergence of many problems caused inconvenience when doctors use VISR. The control methods and operation logic of VISR are still constantly improving. Aiming at some problems faced by VISR, this study developed a set of motion logic, which is suitable for direct push vascular VISR based on the control method of the joystick. © 2020 IEEE.

关键词： Computer circuits

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Irregular Motion Recognition of Guidewire in Vascular Interventional Surgery 17

Irregular Motion Recognition of Guidewire in Vascular Interv...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Ma, Youchun Guo, Shuxiang Lyu, Chuqiao Wang, Yue Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

With the increasing incidence and prevalence of cardiovascular and cerebrovascular diseases, cardiovascular and cerebrovascular diseases have become one of the biggest causes of human death, and the diagnosis and treatment of cardiovascular and cerebrovascular diseases are mainly completed by minimally invasive interventional surgery. The operation requires high safety, high control precision, and high level of experience of surgeons. However, in the actual cardio-cerebrovascular interventional procedure, due to the complexity of the intravascular environment and doctors' operation of the guidewire with reference to the 2D contrast image, the guidewire might present some irregular motion with risks, such as bounce, which is very dangerous for cerebral blood vessels. Therefore, it is very critical to locate the bounce motion accurately. In this paper, transfer learning on VGG16 is used to train the bouncing motion data collected by the vascular interventional surgery robot. The problems of less bouncing motions and limited data volume affect the recognition of guidewire bouncing motions. Therefore, by processing, refining and integrating the guidewire bounce data, the accuracy rate of the guidewire bounce action classification in the test set is increased to 93.2%, which realizes the accurate recognition of the guidewire bounce action. © 2020 IEEE.

关键词： Diagnosis

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A Structural Design of the Assembling Multi-functional Capsule Robot Driving Module 17

A Structural Design of the Assembling Multi-functional Capsu...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhang, Lining Guo, Shuxiang Bu, Dongdong Ma, Youchun Beijing Institute of Technology Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

Medical capsule robot, as a painless, non-invasive human gastrointestinal diagnosis scheme, has attracted more and more attention in modern medical treatment. At present, in the medical system, the capsule robot enters the human body orally and starts to carry out specific single functional movement through the esophagus to the intestines and stomach, until it is discharged from the body, with low working efficiency. Therefore, this paper presents a new concept of assembling multifunctional capsule robot, and designs the structure of its driving module. The robot consists of a detachable function module and a driving module. Function modules according to the clinical needs to install different modules, such as visual module, drug delivery module. The driving module is a helical structure, which is powered by a rotating electromagnetic field generated by a triaxial Helmholtz coil. The robot can realize multi-module cooperative work after assembly. The simulation result shows that the robot driving module can move stably in the pipe by rotating magnetic field. © 2020 IEEE.

关键词： Robots

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Convolution Neural Network (CNN)-based Upper Limb Action Recognition 17

Convolution Neural Network (CNN)-based Upper Limb Action Rec...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Gao, Wenyang Guo, Shuxiang Bu, Dongdong Beijing Institute of Technology No.5 Zhongguancun South Street Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Haidian District Beijing100081 China

ISBN: (纸本)9781728164151

Surface electromyography (sEMG) can directly reflect human neuromuscular activity, so sEMG is used to track and identify human joint movement in the field of rehabilitation medical engineering. For a large number of sEMG graphs, the results of using traditional classifiers to process the results are unsatisfactory. Using large classic convolution neural network (CNN) to process for a long time will cause a large delay in the control process. In order to make up for the shortcomings and deficiencies, the paper uses lightweight CNN to effectively classify and predict a large number of sEMGs in different parts. Since a lightweight network is used, low latency can be achieved for control effects. Theoretically, a training model with strong real-time performance and high accuracy can be achieved, and it also has a considerable effect in the control process. © 2020 IEEE.

关键词： Process control

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Yolk–shell vanadium pentoxide integrated electrode for high-performance stretchable lithium metal battery

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Journal of Energy Storage 2024年 98卷

作者： Nathan, Muthu Gnana Theresa Yeon, Seon-Young Lee, Jae Seob Jo, Min Su Hwang, Gil Chan Kim, Hong-Il Wu, Fanglin Kim, Guk-Tae Liu, Ying Kim, Jin-Hee Cho, Jung Sang Kim, Jae-Kwang Department of Energy Convergence Engineering Cheongju University 258 Daeseong-ro Chungbuk Cheongju28503 Korea Republic of Department of Engineering Chemistry Chungbuk National University Chungbuk 28644 Korea Republic of Department of Earth System Sciences Yonsei University Seoul03722 Korea Republic of State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of Technology Wuhan430070 China Department of Biomedical Laboratory Science College of Health Science Cheongju University Chungbuk Cheongju28503 Korea Republic of Biomedical Research Institute Chungbuk National University Hospital Chungbuk 361-763 28644 Korea Republic of

Vanadium pentoxide (V2O5) stands out as a preferred cathode material for stretchable lithium-ion batteries due to its high specific capacity, robust structural stability, cost-effectiveness, and ease of synthesis. However, its practical application is limited by a low Li+ diffusion coefficient (10−12–10−13 cm2 s−1) and poor electrical conductivity. To address these challenges, we have developed an innovative yolk-shell V2O5 architecture using a facile synthesis method involving spray pyrolysis followed by thermal treatment. This yolk-shell V2O5 is coated with a poly(ethylene oxide) (PEO) electrolyte to enhance ion transport contact areas and flexibility. The yolk-shell V2O5@PEO is then integrated with a PEO-based polymer electrolyte in a thin film configuration, paired with zig-zag truncated lithium metal anodes for stretchable lithium metal batteries. The integrated film demonstrates superior electrochemical performance due to highly reversible Li+ insertion/extraction and enhanced Li ion diffusion. The unique design of the stretchable Li-yolk-shell V2O5@PEO battery achieves an excellent specific discharge capacity of 261 mAh g−1, compared to 158 mAh g−1 for pure V2O5 at 0.1C. Additionally, the stretchable Li-yolk-shell V2O5@PEO cell exhibits a discharge capacity of 250 mAh g−1 under zero-strain conditions and 233.7 mAh g−1 under 40 % strain at 0.1C and 40 °C. Characterization through X-ray diffraction (XRD) and scanning electron microscopy (SEM) confirms the nano-sized morphology and high crystallinity of the yolk-shell V2O5. X-ray photoelectron spectroscopy (XPS) analysis reveals the transformation of yolk-shell V2O5@PEO into α-V2O5, Ε-Li0.5V2O5, δ-LiV2O5, and γ-Li2V2O5 phases during lithium-ion (de)intercalation. This cutting-edge battery design paves the way for the development of high-performance, stretchable, and flexible batteries, ideal for next-generation portable electronic devices. © 2024 Elsevier Ltd

关键词： Scanning electron microscopy

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