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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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A Review:From Aquatic Lives Locomotion to Bio-inspired Robot Mechanical Designations

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Journal of Bionic engineering 2023年第6期20卷 2487-2511页

作者： Pengxiao Bao Liwei Shi Lijie Duan Shuxiang Guo Zhengyu Li School of Medical Technology Beijing Institute of TechnologyBeijing100081China School of Life Science Beijing Institute of TechnologyBeijing100081China The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologyBeijing Institute of TechnologyNo.5ZhongguancunSouth StreetBeijing100081China The Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen518055GuangdongChina

With the development of camera technology,high-speed cameras have greatly contributed to capturing the movement and posture of animals,which has dramatically promoted experimental biology *** the same time,with the concept of bionics gradually gaining popularity among researchers,the design of robots is absorbing more and more biological features,where the interest in the bio-inspired robot is hewed *** with the traditional robot,the bio-inspired robot imitates the motion pattern to achieve similar propulsion features,which may be more effective and *** this paper,the motion patterns of aquatic animals are divided into four categories according to their propulsion mechanisms:drag-based,lift-based,jet-based,and *** bio-inspired robots imitating aquatic prototypes are introduced and ***,the prospect of aquatic bio-inspired robots is discussed.

关键词： Bionic Bio-inspired robot Aquatic animal Propelling mechanism Structure design

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