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A Method for Obtaining Contact Force between Catheter Tip and Vascular Wall in Master-slave Robotic system

A Method for Obtaining Contact Force between Catheter Tip an...

引用

IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan 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 Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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A Multi-Binocular Camera-based Localization Method for Amphibious Spherical Robots

A Multi-Binocular Camera-based Localization Method for Amphi...

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IEEE International Conference on Mechatronics and Automation

作者： Mugen Zhou Shuxiang Guo Liwei Shi Huiming Xing Xihuan Hou He Yin Yu Liu Yao Hu Debin Xia Zan Li 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 No.5 Zhongguancun South Street Haidian District Beijing China Faculty of Engineering Kagawa University Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

This paper presents a novel multi-binocular camera based localization method with panoramic view and high precision for amphibious spherical robots. In our previous work, the proposed approach based on RGB-D camera and inertial measurement unit (IMU) realized a cooperative and relatively close-range localization. While, position drifts caused by the rotation movement and short positioning range of RGB-D camera in underwater environments are the drawbacks of the previous approach. This paper designs a multi-binocular camera system on the amphibious spherical robot, which makes the robot observe targets in a nearly 360-degree visual range without rotation movement. Meanwhile, through the stereo vision model, the robot obtains the position information about the target robot. Then, according to the position information and the relative position of the binocular cameras, the cooperative localization model is established. To validate the proposed approach, experiments were performed in gazebo simulator with varying distances and relative degree. Compared with the previous works, the proposed localization method reveals higher accuracy and robustness.

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An MR fluids-based master haptic interface with adjustable protection threshold for endovascular catheterization

An MR fluids-based master haptic interface with adjustable p...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Zhang, Linshuai Guo, Shuxiang Gu, Shuoxin Song, Dapeng Shi, Peng Jin, Xiaoliang Chengdu University of Information Technology School of Control Engineering Chengdu Sichuan China Kagawa University Faculty of Engineering and Design Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9781728163215

Insufficient force feedback and collision warning of teleoperation surgical tools increase the risk of endovascular catheterization. This paper proposed a master haptic interface with the adjustable threshold that takes advantage of a surgeon's natural manipulation skills obtained through experience, as well as generates collision warning with haptic cues to ensure safe operation. The experiments for performance evaluation regarding the haptic force assessment and the real-time adjustment of threshold are conducted. Results show that the magnitude of the instantaneous haptic change in the haptic interface is sufficient to elicit the operator's response, even for novices. Furthermore, for the setting thresholds after adjustment, the operator has a fast reaction to distinguish whether the catheter tip collides with blood vessels or not by collision warning with haptic cues, thus achieving the goal of safe operation. © 2019 IEEE.

关键词： Haptic interfaces

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot system

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan 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 Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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Feasibility Study on Cloud Communication Operation for an Interventional Surgery Robot

Feasibility Study on Cloud Communication Operation for an In...

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IEEE International Conference on Mechatronics and Automation

作者： Yangming Guo Shuxiang Guo Cheng Yang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Automation 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

The use of robotic technology in the process of vascular interventional surgery has become a common method of treating cardiovascular diseases. A major advantage of the vascular interventional surgery robot is that it can isolate the doctor from the operating room and greatly reduce the radiation damage to the doctor's body. A remote vascular intervention robot system based on cloud communication was developed for medical applications. In the remote operation of interventional therapy, the doctor operate the master controller, then master controller sends control information to the cloud server, which in turn sends control information to the slave operator and controls it to perform the operation. Experimental results show that the cloud communication system can meet the feasibility requirements of remote vascular interventional surgery.

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Preliminary Design of a Novel Teleoperation Interface for Home-based Upper Limb Rehabilitation

Preliminary Design of a Novel Teleoperation Interface for Ho...

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IEEE International Conference on Mechatronics and Automation

作者： Yi Liu Shuxiang Guo Ziyi Yan Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu Japan Kagawa University Hayashi-cho Takamatsu Japan 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 Haidian District Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

With the increasing incidence of stroke, the demand for post-stroke rehabilitation is also increased. Various rehabilitation devices have been proposed to facilitate home-based rehabilitation and reduce the therapist's workload. This paper presnets a novel teleoperation interface to allow the therapist in the hospital to guide the patient's rehabilitation at home via TCP/IP communication. In order to achieve safe and comfortable home-based rehabilitation, the proposed teleoperation interface implements independent position and stiffness control to remotely guide the operation of the exoskeleton device worn on the patient. The preliminary experimental results showed that the proposed tele-rehabilitation was capable of providing effective power assistance and stiffness adjustment in real time under the guidance of the therapist.

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Underwater Obstacle Avoiding Trajectory Tracking Approach for Amphibious Spherical Robots

Underwater Obstacle Avoiding Trajectory Tracking Approach fo...

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IEEE International Conference on Mechatronics and Automation

作者： Xihuan Hou Shuxiang Guo Liwei Shi Huiming Xing Zan Li Debin Xia Mugen Zhou Yu Liu Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the ministry of Industry and Information Technology School of Automation 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

As real environment is complex and unstable, obstacles need to be considered when a robot tracks a trajectory. In view of this, the problem of tracking a path with obstacle avoiding is addressed. A two-layer control system is designed, which contains a re-planning controller and a trajectory tracking controller. In the re-plannng controller, nonlinear Model Predictive Control (NMPC) and avoiding obstacle function are combined to realize trajectory re-planning and obstacle reliable avoidance. In addition, a reference point of re-planning path next to the final point on a global reference path is chosen, which prevents the robot from going back to realize obstacle avoidance. 5 times multiform fitting is adopted for transferring the local trajectory information to the trajectory tracking controller. In the trajectory tracking controller, Model Predictive Control (MPC) based on kinematics and dynamics of the amphibious spherical robot (ASR) is designed. Simulation results illustrate that the designed two-layer control system is able to track a desired trajectory and avoid obstacles reliably at the same time.

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Recognition and Filtering of Tremor Signals for Vascular Interventional Surgical Robot

Recognition and Filtering of Tremor Signals for Vascular Int...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Liuqing Zhang Cheng Yang Rui Shen Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Automation 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

During the operation of vascular intervention surgery, the surgeon may cause an involuntary tremor of hand due to a long time operation. However, during the actual surgical operation, when the surgeon performs complicated operations on same vascular area (such as selecting a blood vessel and pushing the catheter/guide wire into the thrombus), he needs to actively perform tremor to achieve the catheter/guidewire tremor in order to pass the catheter/guidewire. It is difficult to push or select the part of the blood vessel. This article is to eliminate the tremor of the operator's hand, and accurately identify the tremor signal in the signal through a support vector machine (SVM). The signal is filtered after identification, so that the signal received by the manipulator arm during the operation of the guide wire of the surgical robot does not contain the tremor signal This paper verifies the performance of tremor suppression algorithm design experiments and evaluates the algorithm as a whole. The results show that the algorithm has good tremor recognition and suppression effect.

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Design and evaluation of an artificial lateral line for an amphibious spherical robots

Design and evaluation of an artificial lateral line for an a...

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IEEE International Conference on Mechatronics and Automation

作者： Yao Hu Huiming Xing Liwei Shi Shuxiang Guo Xihuan Hou He Yin Yu Liu Debin Xia Zan Li Mugen Zhou 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 No.5 Zhongguancun South Street Haidian District Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing China Faculty of Engineering Kagawa University Hayashi-cho Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The underwater environment is complex and diverse, and it is difficult to explore the ocean, especially in the deep sea area. The lack of light, high pressure, and lack of oxygen make it difficult for humans to work in such extreme environments. Therefore, people are beginning to hand over the burden of exploring the ocean to underwater robots. The underwater robot's perception of the underwater environment is very important for controlling the motion of the underwater robot. However, in the environment where the light is lacking at night and in the deep sea, and in the narrow space, the robot vision consisting of infrared and camera is traditionally used. The system is difficult to function, so a new sensing system is needed to assist the underwater robot in recognizing the surrounding environment. In nature, real fish use their lateral line system to sense the surrounding environment. Based on the principle of bionics, we have developed an artificial lateral line system on a bionic spherical robot. The basic principle of this artificial lateral line system is to use the pressure sensor to sense the water flow pressure around the robot when the robot swims under water, thus establishing a relationship model between the robot swimming speed and the water flow pressure to realize the relative speed of identifying the underwater robot and the water flow.

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SlimYOLOv3: Narrower, Faster and Better for Real-Time UAV Applications

SlimYOLOv3: Narrower, Faster and Better for Real-Time UAV Ap...

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International Conference on Computer Vision Workshops (ICCV Workshops)

作者： Pengyi Zhang Yunxin Zhong Xiaoqiong Li School of Life Science Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing China

ISBN: (数字)9781728150239

ISBN: (纸本)9781728150246

Drones or general Unmanned Aerial Vehicles (UAVs), endowed with computer vision function by on-board cameras and embedded systems, have become popular in a wide range of applications. However, real-time scene parsing through object detection running on a UAV platform is very challenging, due to limited memory and computing power of embedded devices. To deal with these challenges, in this paper we propose to learn efficient deep object detectors through channel pruning of convolutional layers. To this end, we enforce channel-level sparsity of convolutional layers by imposing L1 regularization on channel scaling factors and prune less informative feature channels to obtain "slim" object detectors. Based on such approach, we present SlimYOLOv3 with fewer trainable parameters and floating point operations (FLOPs) in comparison of original YOLOv3 as a promising solution for real-time object detection on UAVs. We evaluate SlimYOLOv3 on VisDrone2018-Det benchmark dataset; compelling results are achieved by SlimYOLOv3 in comparison of unpruned counterpart, including ~90.8% decrease of FLOPs, ~92.0% decline of parameter size, running ~2 times faster and comparable detection accuracy as YOLOv3. Experimental results with different pruning ratios consistently verify that proposed SlimYOLOv3 with narrower structure are more efficient, faster and better than YOLOv3, and thus are more suitable for real-time object detection on UAVs. Our codes are made publicly available at https://***/PengyiZhang/SlimYOLOv3.

关键词： Detectors Computational modeling Object detection Proposals Real-time systems Feature extraction Unmanned aerial vehicles

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