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Performance Evaluation of an Outer Spiral Microrobot in Pipes in Different Environments

Performance Evaluation of an Outer Spiral Microrobot in Pipe...

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IEEE International Conference on Mechatronics and Automation

作者： Lingling Zheng Shuxiang Guo Zixu Wang Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Kagawa University Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science and Technology Beijing Institute of Technology Haidian District Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Capsule microrobot has the potential to replace traditional endoscopy as a means of diagnosis and treatment. We proposed an outer spiral microrobot actuated by the magnetically actuated system in our previous research. A set of three-axes Helmholtz coil is used as the magnetically actuated system to generate the uniform rotating magnetic field. The outer spiral microrobot has a variety of movement methods because of its outer shape characters. This characteristic improves the feasibility of microrobot when it moves in multiple environments of the gastrointestinal (GI) tract. This paper analyzes the movement mode of the microrobot under different conditions. An outer spiral microrobot was fabricated and evaluated through two experiments with different environments. Experimental results show that the outer spiral microrobot has different speeds in the pipe with and without fluids. This study preliminarily explores the influence on the velocity control of the outer spiral microrobot and can be used as a reference for design and control of the microrobot in the GI tract.

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An attitude estimation system for amphibious spherical robots

An attitude estimation system for amphibious spherical robot...

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IEEE International Conference on Mechatronics and Automation

作者： Liwei Shi Rui Xiao Shuxiang Guo Ping Guo Shaowu Pan Yanlin He Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Infor-motion Technology. Beiiino Institute ot Technoloov Beiiino China Key Laboratory Biomim tic RobotsSystems Ministry of Education Beijing Institute of Technology China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan Beijing Institute of Technology Beijing Beijing CN

ISBN: (纸本)9781479970995

As one of the most effective tools for exploring the ocean, automatic underwater vehicles have attracted a lot of attentions for years. But some key problems have not been solved properly. It is especially difficult to design underwater vehicles in small size. In this paper, three inertial sensors were adopted to fabricate an attitude estimation system, which provided posture information for our amphibious spherical robot to realize motion control and autonomous navigation. The pitch, roll and heading angel were acquired from current robot attitude matrix, which was calculated from the quaternion algorithm. And the attitude was corrected by the fusion of accelerometer and magnetic sensor. Experimental results verified the validation and precision of the robotic attitude estimation system. It has manifested that the system is effective to realize the robot control and navigation.

关键词： Robot sensing systems Mathematical model Magnetic sensors Sensor systems Quaternions

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Study on an Adaptive Clamping Device for Passive Safety Delivery of Vascular Intervention Robot

Study on an Adaptive Clamping Device for Passive Safety Deli...

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IEEE International Conference on Mechatronics and Automation

作者： Sheng Cao Shuxiang Guo Jian Guo Jian Wang Chunying Li Huiyin Xu Bin Wang Mingchao Ding Aerospace Center Hospital & the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science & Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China Shenzhen Institute of Advanced Biomedical Robot Company Limited Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China National Engineering Laboratory of Computer Technology for Big Data Systems Shenzhen University Shenzhen China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In practical clinical applications, vascular intervention surgical robots have developed sophisticated human-machine interaction systems, enabling assistance to physicians in performing remote surgeries and providing intelligent visual feedback. However, regarding surgical safety, current research predominantly focuses on force feedback and robot control logic, with clamping mechanisms targeting the locking of catheters and guide wires. Excessive clamping force may lead to surface damage to intervention instruments, while insufficient force delivery may result from slippery surfaces. Therefore, addressing these issues, this study proposed a passive, compliant safety strategy for an adaptive clamping device based on a vascular intervention surgical robot platform. This device can accommodate different diameter catheters and maintain a constant delivery force during the intervention process. Finally, through experimentation, the effectiveness, safety, and stability of the device were demonstrated.

关键词： Visualization Medical robotics Force Wires Robot control Surgery Safety

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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...

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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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Design and Characterisation of Electromagnetic Coils in Positioning Device for Vascular Interventional Surgery

Design and Characterisation of Electromagnetic Coils in Posi...

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IEEE International Conference on Mechatronics and Automation

作者： Yonggan Yan Shuxiang Guo Bingzhi Shen Duohao Zhao Bin Wang Mingchao Ding Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

The lack of 3D positioning function restrains surgeons from acquiring surgical information and only observes 2D X-ray images for vascular interventional surgery, which affects the safety and success rate of the surgery. It also impedes the development of the surgical navigation. In this paper, a rotating magnetic field-based electromagnetic positioning device is proposed to predict the pose of sensors embedded in the catheter tip. The transmitting coil excites the high-frequency magnetic field. And the sensing coil is induced in the alternating magnetic field. The electromagnetic coils are designed to realize a stable mutual inductance, which are the fundament of the electromagnetic positioning device. A series of calculations and verifications are performed to demonstrate the feasibility of the designed coils.

关键词： Coils Performance evaluation Three-dimensional displays Mechatronics Navigation Surgery Safety

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Study on the Improved Water Flow Prediction Based on Classification-Regression Approach for Amphibious Spherical Robots

Study on the Improved Water Flow Prediction Based on Classif...

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IEEE International Conference on Mechatronics and Automation

作者： Jun Leng Shuxiang Guo Chunying Li Sheng Cao School of Control Science and Engineering Shandong University Jinan China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Inspired by the lateral line systems found in aquatic organisms, an artificial lateral line system (ALLS) for underwater robots was developed. This technology was integrated into Autonomous Underwater Vehicles (AUVs) to enhance their environmental awareness and navigation. This paper was focused on improving water flow prediction performance for a amphibious spherical robot (ASR) equipped with a ALLS comprising 12 pressure sensors. To address the challenge of the initial method relying on polynomial fitting based on data from a single sensor, which encounters difficulties when the flow direction falls between sensor angles. Two strategies were explored: increasing the quantity of sensors and implementing a Classification-Regression approach. Experimental simulations using Computational Fluid Dynamics (CFD) software were conducted to investigate the effectiveness of these strategies. Experimental results indicated that the classification-regression method significantly enhanced prediction accuracy compared to the original approach and offered a cost-effective alternative to increasing sensor quantity. This research contributed to the advancement of underwater robotics by enhancing perception capabilities, which were crucial for navigating challenging underwater environments efficiently.

关键词： Autonomous underwater vehicles Analytical models Accuracy Navigation Computational fluid dynamics Fitting Robot sensing systems

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Generating Synthetic X-ray Image Methods for Vascular Interventional Surgery

Generating Synthetic X-ray Image Methods for Vascular Interv...

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IEEE International Conference on Mechatronics and Automation

作者： Bingzhi Shen Shuxiang Guo Chuqiao Lyu Yonggan Yan Duohao Zhao Zhijun Lin Bin Wang Mingchao Ding The Aerospace-Center Hospital School of Life-Science and the Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral-Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

The scarcity and difficulty in acquiring vascular interventional surgery data have hindered the development of this field. To address this challenge, we propose a novel application of the Deep Digitally Reconstructed Radiographs(DeepDRR) method for synthesizing X-ray images of vascular interventional surgery with guidewires. By merging predefined-shaped guidewires with computed tomography(CT) scan images, composite CT images containing guidewires can be obtained. The DeepDRR model is then used to project these images, producing corresponding X-ray images. Experimental results demonstrate that the synthesized X-ray images with guidewires possess a certain degree of realism and can be generated at a relatively fast speed, achieving 2.69 frames per second (FPS). This study establishes a pipeline for synthesizing vascular interventional images, laying a foundation for future research. This will provide high-quality and diverse data support for the development of vascular interventional surgery robots and promote further advancements in this field.

关键词： Radiography Mechatronics Computed tomography Computational modeling Pipelines Merging Surgery

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A Safety Strategy for Vascular Interventional Surgery Robots based on Interactive Interface and Motion Scaling

A Safety Strategy for Vascular Interventional Surgery Robots...

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IEEE International Conference on Mechatronics and Automation

作者： Duohao Zhao Shuxiang Guo Yonggan Yan Zhijun Lin Bin Wang Mingchao Ding The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Robot-assisted vascular interventional surgery (VIS) represents a significant advancement in medical technology, offering benefits such as reduced radiation exposure and improved surgical stability, thus positively impacting both doctors and patients. However, ensuring surgical safety through effective visual feedback and robust safety strategies remains crucial during VIS. Unfortunately, existing robot systems often fall short in providing intuitive intraoperative information feedback, burdening doctors with redundant data and potentially compromising surgical safety. To address these challenges, this paper introduces a novel host computer interface and an active surgical safety strategy. The proposed interface allows for real-time plotting of received data, delivering intuitive feedback on key intraoperative information. Additionally, the safety strategy dynamically adjusts the motion mapping coefficient between the leader and follower in risky conditions, minimizing collisions of interventional instruments with vessel walls. Following this proposal, an evaluation experiment was conducted to validate the functionality of the host computer interface and the efficacy of the surgical safety strategy. Experimental results demonstrate that the proposed host computer interface effectively plots intraoperative information in real time. Moreover, in risky scenarios, the safety strategy successfully reduces the displacement of the follower manipulator to 0.5 times and its average following error is 1.30mm, ensuring surgical safety.

关键词： Computer interfaces Visualization Mechatronics Surgery Medical services Manipulators Real-time systems

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Design and Characteristic Evaluation of a Novel Clamping Mechanism for Amphibious Spherical Bionic Robots

Design and Characteristic Evaluation of a Novel Clamping Mec...

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IEEE International Conference on Mechatronics and Automation

作者： Chengchao Gu Shuxiang Guo Meng Liu He Yin Ao 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 The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

The motion function and control of amphibious robots is a hot topic at present. The multi-function of robot is the development trend of robot. In this paper, based on the existing prototype bionic robot in the laboratory, the structure of the robot’s mechanical leg is updated, and the underwater grasping function is successfully added. The new mechanical leg integrates a mechanical claw device, which makes use of the geometric characteristics of the parallelogram to shrink the mechanical claw, maximizes the use of the limited space below the robot, and greatly extends the effective length of the grasping end of the mechanical claw. At the same time, through static stress analysis and motion simulation, the designed structure was evaluated and analyzed, and the appropriate servo specifications and structure size were obtained, which verified that the current designed structure can complete the grasping task of 3kg objects. Finally, 3D printing technology was used to complete the production of the first version of the new mechanical leg, and the functional verification experiment of grasping objects of two different sizes was completed by using the steering gear control.

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