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2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

作者： Guo, Shuxiang Cai, Xiaojuan Gao, Baofeng Yuhua, Jiang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District100081 China Department of Interventional Neurosurgery Beijing Neurosurgical Institute and Beijing Tiantan Hospital China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Japan

ISBN: (纸本)9781509043644

Minimally invasive surgery is a specialized surgical technique that permits vascular interventions through very small incisions. It minimizes the patient's trauma and permits a faster recovery compared to traditional surgery. Although traditional invasive surgery training system can complete general training work, real-time performance and accuracy of most training system failed to meet the requirements of training work. Therefore, in this study, three parts, including 3D modeling, collision detection algorithm and application architecture were improved in the existing training system. Firstly, an improved Marching cubes algorithm was adopted to simplify the mathematical modeling of vessels by merging the related points of the mesh model. Secondly, a hybrid collision detection algorithm was proposed and implemented. Lastly, the CPU-GPU parallel computing architecture was adopted. Particularly, the design of the improved VR-based system and the experimental results were presented and analyzed. Moreover, experimental results showed that the proposed system was beneficial to improve the skill of surgeons in manipulating the catheter and guide wire. Thus, the simulators could be used for trial surgery training. © 2016 IEEE.

关键词： Three dimensional computer graphics

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Study on Control Strategy of the Vascular Interventional Surgical Robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection Control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： Robotic surgery

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Design of Control system for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal 20

Design of Control System for Lower Limb Rehabilitation Robot...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yu, Shiqin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation. © 2023 IEEE.

关键词： Long short-term memory

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Macrostructural and microstructural sleep variables for distinguishing normal sleep from pathologic sleep

Macrostructural and microstructural sleep variables for dist...

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IEEE International Conference on Mechatronics and Automation

作者： Xiaoying Tang Zhi Xu Yanjun Li Shaojie Shan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781509023974

The aim of the present study is to examine the function of indices of macrostructural sleep and microstructural sleep for the objective evaluation of sleep quality, to test and find out the indices which could distinguish normal sleep from four types of pathologic sleep, including insomnia, nocturnal frontal lobe epilepsy (NFLE), periodic leg movements and rapid eye movement (REM) behavior disorder. The role of sleep indices for the evaluation of sleep quality was analyzed, including 29 macrostructure indices and 23 microstructure indices. Totally five sleep groups were selected from the cyclic alternating pattern (CAP) sleep database, including controls (no pathology, N=16), insomniacs (N=9), nocturnal epileptics (N=40), periodic leg movements (N=10) and REM behavior disorder (N=22). The macrostructure indices were calculated according to the sleep stages annotation in the database, and the microstructure sleep indices were obtained by analyzing the CAP annotation. The discrimination ability of these macrostructure and microstructure indices was tested by analysis of variance for distinguishing the normal sleep from four types of pathologic sleep. For macrostructure sleep indices, four REM-related indices of controls were distinguished from that of pathologic groups significantly (P<0.05, controls vs. each pathologic group), including the time of REM sleep, the percent of REM sleep to all sleep period time, the ratio of REM sleep to non-rapid eye movement (NREM) sleep, and the maximal sustained REM sleep time. For microstructure sleep indices, three phase A3-related indices of controls were significantly distinguished from that of pathologic groups (P<0.05, controls vs. each pathologic group), including the number of phase A3 per hour during NREM sleep, the total number of phase A3, and the total duration of phase A3. In conclusion, REM sleep indices can distinguish normal sleep from four types of pathologic sleep, including insomnia, nocturnal epilepsy, periodic l

关键词： sleep quality macrostructural sleep microstructural sleep insomnia epilepsy periodic leg movements REM behavior disorder

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A portable illumination device for photodynamic therapy of the oral cavity

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Journal of Innovative Optical Health Sciences 2022年第6期15卷 78-86页

作者： Jiyuan Xiong Xu Wang Xiaoming Hu Ying Han Qin Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life ScienceBeijing Institute of TechnologyBeijing 100081P.R.China Department of Oral Medicine Peking University School of Stomatology Beijing 100081 P.R.China

Photodynamic therapy(PDT)is a minimally invasive method for treating oral leukoplakia In this paper,we propose a portable PDT device consisting of a flexible circuit board with a liquid flow cooling module on the *** light source size was 17 mm×11 mm×4 mm,and the iradiation area of the light source was up to 100mm'.The iradiance range of this device was from 10mW/cm^(2)to 100mW/cm^(2).Simulation and experimental results showed that the irradiance cofficient variation for a treatment area of 81 mm was less than 7%.At an irradiance of 100 mW/cm a device surface temperature of lower than 42℃ can be achieved to satisfy the safety requirements under the con-ditions that the temperature of cooling liquid is 10℃ and the liquid flow speed is above 12 mL/min.

关键词： Photodynamic therapy oral leukoplakia ilumination device iradiance uniformity

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Leader-follower cooperative movement method for multiple amphibious spherical robots

Leader-follower cooperative movement method for multiple amp...

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IEEE International Conference on Mechatronics and Automation

作者： Liwei Shi Kun Tang Shuxiang Guo Xianqiang Bao Shaowu Pan Ping Guo Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China Faculty of Engineering Kagawa University Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509023974

Information exchanges and cooperative movements of multiple robots have become a hot topic in robotics. To increase the adaptability of robots in amphibious scenarios, an improved amphibious spherical robot was designed in this paper. However, the ability of single robot was limited. To further increase the sensing range and work efficiency of own amphibious spherical robots, a Leader-follower method, which could realize the coordinated movement and formation keeping for three or more robots, was adopted in this paper. The theoretical analysis show that the Leader-follower method could be easily applied in amphibious spherical robots for practical applications. And a simulation experiment platform named Player/Stage was used for verifying the effectiveness of this method. The construction of the experimental environment and the final simulation results were provided in this paper. Through the analysis of experimental results, the feasibility of the Leader-follower method was verified, and this method will be used to implement multiple amphibious spherical robots cooperative motion in future works.

关键词： Robot sensing systems Robot kinematics Legged locomotion Buildings Angular velocity Biology

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A fuzzy PID control algorithm for the interventional surgical robot with guide wire feedback force

A fuzzy PID control algorithm for the interventional surgica...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Qianrui Chen Nan Xiao Yuan Wang Faculty of Engineering Kagawa University Kagawa Japan School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology

ISBN: (纸本)9781509023974

During cardiovascular and cerebrovascular interventional surgical procedure, the accuracy of guide wire advance is particularly important for the success rate and safety of surgery, a single PID controller can't adapt to the complex surgical situations, the performance of the system has much room for improvement. In this paper, a fuzzy PID control algorithm with guide wire feedback force was proposed. According to the various situations in surgical procedures, multiple PID controller were designed correspondingly. In the actual surgical procedure, according to the different feedback-force of guide wire, the controller switches between different sets of PID controllers in real time to achieve more excellent performance respectively under different circumstances. Experimental results show that the fuzzy PID controller with guide wire feedback force achieves more excellent performance than the classical PID controller. And the dynamic performance of master-slave control system is better, the following error is reduced, overshoot decreases, and surgical safety greatly increased.

关键词： Wires Force Surgery PI control PD control

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Structure improvement and stability for an amphibious spherical robot 15

Structure improvement and stability for an amphibious spheri...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zheng, Liang Guo, Shuxiang Gu, Shuoxin Graduate School of Engineering Kagawa University Takamatsu Kagawa761-0396 Japan JiLin Agricultural Science and Technology University Jilin Jilin132101 China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology Ministry of Industry Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9781538660720

This paper proposed a novel mechanical design method of stability system and structure improvement for the new underwater robot is discussed, and also describes the key technologies and methods in detail of the robot to achieve multiple degrees of freedom. The new robot has ability of adjusting direction and perform specific mission goals. The ANSYS water pressure test and resistance test were performed on the mechanical structure under water intent to evaluate the design rationality of the robot leg and the overall robot. The article also introduced the stability system of the underwater robot and the installation and control method of the servo motors. Finally, the speed and gait stability of the robot underwater and land are analyzed through lots of experiments. © 2018 IEEE.

关键词： Degrees of freedom (mechanics)

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Dynamic Gait Analysis of a Multi-functional Robot with Bionic Springy Legs

Dynamic Gait Analysis of a Multi-functional Robot with Bioni...

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IEEE International Conference on Mechatronics and Automation

作者： Yanlin He Shuxiang Guo Liwei Shi Shaowu Pan Ping Guo Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing 100081

ISBN: (纸本)9781509023974

Developing efficient movement gaits for quadruped robots has intrigued investigators for years. Trot gait, pace gait, as fast and stable dynamic locomotion gaits, have been widely used in robot control. Therefore, the purpose of this paper is to control an amphibious spherical quadruped robot to achieve these two gaits. Firstly, this paper references the trot gait and pace gait pattern of quadruped creature and identifies the order and the law of quadruped bionic robot. Secondly, based on the virtual leg techniques and the Spring-Loaded Inverted Pendulum (SLIP) model, a simplified dynamic analysis model is established, and the relationship between force and motion is obtained by using Lagrange dynamics equation. Thirdly, by adjusting the force and moment of the joint of robot, continuous and stable trot gait and pace gait motion are simulated in ADAMS platform. Finally, a comparison of theoretical calculations and simulation results demonstrated the robot's potential and its feasibility of trot gait and pace gait.

关键词： Amphibious Spherical Quadruped Robot SLIP Model Dynamic Gait Gait Control

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A Novel Small-scale Turtle-inspired Amphibious Spherical Robot

A Novel Small-scale Turtle-inspired Amphibious Spherical Rob...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Huiming Xing Shuxiang Guo Liwei Shi Xihuan Hou Yu Liu Huikang Liu Yao Hu Debin Xia Zan Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China

This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed with four legs, one of which contains three connecting rod parts, one water-jet thruster and three joints driven by digital servos. Using this mechanism, the robot is able to walk like amphibious turtles on various terrains and swim flexibly in submarine environment. A simplified kinematic model is established to analyze crawling gaits. With simulation of the crawling gait, the driving torques of different joints contributed to the choice of servos and the size of links of legs. Then we also modeled the robot in water and proposed several underwater locomotion. In order to assess the performance of the proposed robot, a series of experiments were carried out in the lab pool and on flat ground using the prototype robot. Experiments results verified the effectiveness of LMVWCPM and the amphibious control approaches.

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