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

作者： Wang, Zixu Guo, Shuxiang Wei, Wei Kagawa University Graduate School of Engineering Takamatsu Kagawa761-0396 Japan Beijing Institute of Technology Haidian District Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science and Technology Beijing100081 China

ISBN: (纸本)9781728164151

The capsule robot was developed to detect various intestinal diseases and mainly used in the minimally invasive procedures. Among them, commercial capsule robots can already suit the general inspection requirements. But just having the inspection function is increasingly unable to keep up with the pace of the new era, so developers are working hard to integrate some functional modules into traditional endoscope robots. In this research, we proposed a new type of robot capable of delivering drugs in the affected area, and analyze the rationality of structural design in combination with Ansys Fluent simulation, some improvements in drug delivery structure will be proposed. Finally, the experiment will be carried out for motion stability evaluation of the new type microrobot movement by a custom 6-DOF interial measurement unit. Through the above methods to improve the structural design of the robot and finally get a robot with high performance and stable operation. © 2020 IEEE.

关键词： Robots

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Modeling and Experimental Verification of a New Spherical Underwater Robot 17

Modeling and Experimental Verification of a New Spherical Un...

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

作者： An, Ruochen Guo, Shuxiang Zheng, Liang Awa, Tendeng Sui, Wenbo Kagawa University Graduate School of Engineering Takamatsu Kagawa761-0396 Japan Beijing Institute of Technology Haidian District Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science and Technology Beijing100081 China

ISBN: (纸本)9781728164151

Underwater robots provide great possibilities for people to detect the marine environment. Robots need to keep moving stability, need to ensure the safety of the robot during the movement. A novel spherical underwater robot (SUR V) with hybrid propulsion devices that divided into two parts- vectored water-jet and propeller thrusters. A camera is added at robot to monitor the environments. To analyze the motion characteristics of the SUR V, the computational simulation is calculated in ADAMS and ANSYS CFX respectively. The simulation results verify the performance of the improved spherical underwater robot. Finally, the thrust experiments were conducted that evaluate the performance of the hybrid thruster. The thrust experiment proves that in the improved hybrid thruster proposed in this paper, the maximum thrust of the propeller thruster has increased by 4 times than before. © 2020 IEEE.

关键词： Robots

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Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot

Mechanism Design, Kinematics and Hydrodynamics Simulation of...

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IEEE International Conference on Robotics and Biomimetics

作者： Zhongyin Zhang Liwei Shi Shuxiang Guo Pengxiao Bao 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 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Faculty of Engineering Kagawa University Kagawa Japan

ISBN: (纸本)9781665405362

With the gradual development of the Marine field, the underwater robot has gradually entered people's perspective. However, the structure and control of the current amphibious robot is too complex, and most of them need to switch two sets of structures to adapt to the amphibious environment. Therefore, a simple and reliable robot that can adapt to two environments with seven sets of structures is urgently needed. Based on the undulation motion principle of ray's pectoral fin, the undulation mechanism driven by 6 groups of crank rocker mechanism on both sides is designed, and the rocker mechanism is connected by rubber material to form the fin driven by rocker. The structure modeling and kinematics simulation of the robot are carried out, and it is confirmed that the mechanism of the ray can move effectively and the fin can realize regular fluctuation, which verifies the feasibility of the bionic ray underwater robot.

关键词： Autonomous underwater vehicles Analytical models Biological system modeling Fluid dynamics Kinematics Switches Production

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Robust RGB-D Camera and IMU Fusion-based Cooperative and Relative Close-range Localization for Multiple Turtle-inspired Amphibious Spherical Robots

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Journal of Bionic engineering 2019年第3期16卷 442-454页

作者： Huiming Xing Liwei Shi Kun Tang Shuxiang Guo Xihuan Hou Yu Liu Huikang Liu Yao Hu 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 Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing 100081 China Faculty of Engineering Kagawa University 2217-20 Hayashicho Takamatsu Kagawa 761-0396 Japan

In the narrow, submarine, unstructured environment, the present localization approaches, such as GPS measurement, dead?rcckoning, acoustic positioning, artificial landmarks-based method, are hard to be used for multiple small-scale underwater robots. Therefore, this paper proposes a novel RGB-D camera and Inertial Measurement Unit (IMU) fusion-based cooperative and relative close-range localization approach for special environments, such as underwater caves. Owing to the rotation movement with zero-radius, the cooperative localization of Multiple Turtle-inspired Amphibious Spherical Robot (MTASRs) is realized. Firstly, we present an efficient Histogram of Oriented Gradient (HOG) and Color Names (CNs) fusion feature extracted from color images ofTASRs. Then, by training Support Vector Machine (SVM) classifier with this fusion feature, an automatic recognition method of TASRs is developed. Secondly, RGB-D camerabased measurement model is obtained by the depth map In order to realize the cooperative and relative close-range localization of MTASRs, the MTASRs model is established with RGB-D camera and IMU. Finally, the depth measurement in water is corrected and the efficiency of RGB-D camera for underwater application is validated. Then experiments of our proposed localization method with three robots were conducted and the results verified the feasibility of the proposed method for MTASRs.

关键词： vision localization bio-inspired robots RGB-D camera histogram of oriented gradient and color names fusion feature Co operative and Relative Localization (CRL)

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Clinically Interpretable Machine Learning Models for Early Prediction of Mortality in Older Patients with Multiple Organ Dysfunction Syndrome: An International Multicenter Retrospective Study

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Journals of Gerontology - Series A Biological Sciences and Medical Sciences 2023年第4期78卷 718-726页

作者： Liu, Xiaoli DuMontier, Clark Hu, Pan Liu, Chao Yeung, Wesley Mao, Zhi Ho, Vanda Thoral, Patrick J. Kuo, Po-Chih Hu, Jie Li, Deyu Cao, Desen Mark, Roger G. Zhou, FeiHu Zhang, Zhengbo Celi, Leo Anthony Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China Laboratory for Computational Physiology Institute for Medical Engineering and Science Massachusetts Institute of Technology Cambridge MA United States Center for Artificial Intelligence in Medicine General Hospital of PLA Beijing China New England Geriatric Research Education and Clinical Center VA Boston Healthcare System Boston MA United States Division of Aging Brigham and Women's Hospital Boston MA United States Department of Anesthesiology 920 Hospital of Joint Logistic Support Force of Chinese PLA Kunming Yunnan China Department of Critical Care Medicine First Medical Center General Hospital of PLA Beijing China Department of Medicine National University Hospital Singapore Division of Geriatric Medicine Department of Medicine National University Hospital Singapore Department of Intensive Care Medicine Amsterdam Netherlands Department of Computer Science National Tsing Hua University Hsinchu Taiwan Department of Biomedical Engineering General Hospital of PLA Beijing China Elderly Center General Hospital of PLA Beijing China Department of Medicine Beth Israel Deaconess Medical Center Boston MA United States Department of Biostatistics Harvard T.H. Chan School of Public Health Boston MA United States

BACKGROUND: Multiple organ dysfunction syndrome (MODS) is associated with a high risk of mortality among older patients. Current severity scores are limited in their ability to assist clinicians with triage and management decisions. We aim to develop mortality prediction models for older patients with MODS admitted to the ICU. METHODS: The study analyzed older patients from 197 hospitals in the United States and 1 hospital in the Netherlands. The cohort was divided into the young-old (65-80 years) and old-old (≥80 years), which were separately used to develop and evaluate models including internal, external, and temporal validation. Demographic characteristics, comorbidities, vital signs, laboratory measurements, and treatments were used as predictors. We used the XGBoost algorithm to train models, and the SHapley Additive exPlanations (SHAP) method to interpret predictions. RESULTS: Thirty-four thousand four hundred and ninety-seven young-old (11.3% mortality) and 21 330 old-old (15.7% mortality) patients were analyzed. Discrimination AUROC of internal validation models in 9 046 U.S. patients was as follows: 0.87 and 0.82, respectively;discrimination of external validation models in 1 905 EUR patients was as follows: 0.86 and 0.85, respectively;and discrimination of temporal validation models in 8 690 U.S. patients: 0.85 and 0.78, respectively. These models outperformed standard clinical scores like Sequential Organ Failure Assessment and Acute Physiology Score III. The Glasgow Coma Scale, Charlson Comorbidity Index, and Code Status emerged as top predictors of mortality. CONCLUSIONS: Our models integrate data spanning physiologic and geriatric-relevant variables that outperform existing scores used in older adults with MODS, which represents a proof of concept of how machine learning can streamline data analysis for busy ICU clinicians to potentially optimize prognostication and decision making. © The Author(s) 2022. Published by Oxford University Press on behalf

关键词： International multicenter Interpretable models Machine learning Mortality Multiple organ dysfunction syndrome

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

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

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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Reciprocating Operation Method for Vascular Intervention Surgery Robot

Reciprocating Operation Method for Vascular Intervention Sur...

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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

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

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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

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

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IEEE International Conference on Mechatronics and Automation

作者： Wenyang Gao Shuxiang Guo Dongdong Bu Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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

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

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IEEE International Conference on Mechatronics and Automation

作者： Wei Zhou Shuxiang Guo Zhengyang Chen Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

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