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An improved master-slave interventional surgery robotic system with force feedback

An improved master-slave interventional surgery robotic syst...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Guangxuan Li Baofeng Gao Yuan Wang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781509023974

The interventional surgery is a minimally invasive treatment, which uses the modern high technology. It takes the special catheter, guide wire and other precision instruments to import in the body to do the pathological diagnosis and local treatment under guide of medical imaging equipment. Interventional surgery has excellent characteristics like no operation, small trauma, rapid recovery, etc. It is one of the developing trend of the future medicine. Now, the interventional treatment has some shortage such as the radiation exposure on surgeons, and it is difficult to measure the front collision force on the guide wire. In this paper, we did some improvements on the master controller on the basis of Phantom, and analyzed the dynamic performance from the surgery robot system.

关键词： Surgery Wires Catheters Force Force feedback Control systems Phantoms

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Study on motion following with feedback force disturbance in interventional surgical robot system

Study on motion following with feedback force disturbance in...

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IEEE International Conference on Mechatronics and Automation

作者： Yuan Wang Shuxiang Guo Baofeng Gao Weili Peng Guangxuan Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781509023974

Neurological intervention surgery (NIS) is surgery branch vascular interventional surgery, one kind of the minimally invasive. And it has become the mainstream of the treatment in the cerebrovascular disease. Robotic surgery system with the functions of haptic feedback and the doctor-patient separation has enormous significance for the development of NIS. However, in previous studies, the haptic feedback greatly affected the motion detection accuracy. This paper presents a novel interventional surgical robot systems. The aim is improving the accuracy of motion control while providing haptic feedback. This researches take the design thought of master-slave system which realized the function of doctor-patient separation. The slave side includes a novel guide wire resistance measurement structure and guide wire manipulator. The master side can provide haptic feedback for doctors and collect guide wire control commands from doctors. In this paper, design of the developed interventional surgical robot system was presented. And design experiments to assess the follow of axial movement, rotation. The feasibility of the developed system is proved.

关键词： Wires Surgery Haptic interfaces Force Manipulators Catheters

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Design and evaluation of a novel guidewire navigation robot

Design and evaluation of a novel guidewire navigation robot

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IEEE International Conference on Mechatronics and Automation

作者： Xianqiang Bao Shuxiang Guo Nan Xiao Yuan Wang Mingyang Qin Yan Zhao Changqi Xu Weili Peng Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781509023974

Robotically controlled steerable guidewire navigation systems has been paid much attention to, because it can allow the surgeons to be released from radiation and heavy radiation protection garments, reduce radiation exposure, increase precision and stability of motion, and add operator comfort. The aim of the study was to improve the precision of axial motion, rotational motion and force measurement, as well as installation convenience. A novel guidewire navigation robot, composed of a master side and a slave side was developed, which can reach the high precision, measure the force/torque of guidewire, and realize the force/torque feedback to the surgeon. To evaluate feasibility of the novel guidewire navigation robot, a system evaluation was developed. The experimental results show that: axial error was no more than 0.5mm, the rotational error was no more than 1 degree, and force error was no more than 0.031N. The novel guidewire navigation robot, potentially increasing guidewire motion precision and accuracy, is feasible for minimally invasive surgery.

关键词： Surgery Grippers Robots Navigation Electromagnetics Brakes Force

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Study on slave side of interventional surgery robotic system focused on the feed-back force detection

Study on slave side of interventional surgery robotic system...

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IEEE International Conference on Mechatronics and Automation

作者： Zhao Yan Shuxiang Guo Liwei Shi Yuan Wang Guangxuan Li Weili Peng Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781509023974

Minimally invasive interventional surgery shows its advantages compared to traditional operation. The master-slave robotic system technology can further significantly improve the accuracy, efficiency and safety of this complicated and high risk operation. However, one of the critical issues in the robotic system, guide wire force feed-back, needs more research. The mechanical structure of the salve robot is designed basing on modularizing design principle. Ball spline pair, guide pair and herringbone gear pair are adopted in the structure concept. The experimental equipment is developed and the verifying experiments are conducted. The guide wire detected feedback force matches well with the detected resistance force. It indicates that the designed slave part and design method is rational from the point of feedback force detection.

关键词： Clamps Robots Wires Force Surgery Catheters Fasteners

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A novel application of positioning method with force feedback for interventional surgery robot

A novel application of positioning method with force feedbac...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Changqi Xu Nan Xiao Yuan Wang Weili Peng Faculty of Engineering Kagawa University Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509023974

The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In our previous study, a master-slave interventional operation system has been developed. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization performance, two laser range finders were applied to measure the position of the master side in this paper. And positioning compensation on the basis of force feedback was added to the position close-loop. Compared to the previous result, the new method had advantages on precision and accuracy.

关键词： Wires Surgery Catheters Manipulators Force feedback Brushless DC motors

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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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Hydrodynamic analysis of a novel thruster for amphibious sphere robots 15

Hydrodynamic analysis of a novel thruster for amphibious sph...

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

作者： Hou, Xihuan Guo, Shuxiang Shi, Liwei Xing, Huiming Su, Shuxiang Chen, Zhan Liu, Yu Liu, Huikang Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5 Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Four novel thrusters as the actuator of amphibious spherical robots play an important role. The resultant force of four thrusters is the main driving force of the robot. In order to achieve better control of the amphibious spherical robots, it is necessary to analyze the effects on the propelling force of the novel thruster. This paper utilize Computational Fluid Dynamics (CFD) to simulate hydrodynamic behavior of the new thruster and analyze the thrust force with different rotating velocity and inlet velocity. Further, as the inlet velocity is susceptible by the rotating velocity, we defined advanced coefficient with inlet velocity and rotating velocity. We analyze the thrust force and efficiency with different advanced coefficients. The result shows that the thrust force is more sensitive to rotating velocity of blades than the inlet velocity. The curves also show that the efficiency traces a downward parabola with the advanced coefficient. According to the simulation results, I should keep the advanced coefficient at 0.6 as our best as possible to take full use of the energy. Thus, these results provide foundation for the mathematical model building. © 2018 IEEE.

关键词： Computational fluid dynamics

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Static and Modal Analysis of Critical Components of a Natatores-like Amphibious Robot

Static and Modal Analysis of Critical Components of a Natato...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Yan Niu Liwei Shi Shuxiang Guo 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

ISBN: (纸本)9781665465373

The urgent need for marine resources exploration and development has gradually changed the focus of research in the field of robots. The research about robots working across multimedia is more important, including the amphibious robots. In this paper, a Natatores-like robot is designed, which has the characteristics of high environmental adaptability, concealment, propulsion efficiency and energy utilization. In order to study and verify the mechanical strength of the critical components of the robot when walking on land, the static and modal simulation analysis of the leg root, shank, and webbed foot of the leg design is carried out. The results show that the static strength and static stiffness of the leg root and shank meet the requirements, and the webbed foot needs to be optimized to make it have less deformation when loaded. None of them has danger of resonance with the motor.

关键词： Legged locomotion Analytical models Adaptation models Automation Modal analysis Propulsion Robots

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MRI Image Segmentation by Fully Convolutional Networks

MRI Image Segmentation by Fully Convolutional Networks

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IEEE International Conference on Mechatronics and Automation

作者： Yabiao Wang Zeyu Sun Chang Liu Wenbo Peng Juhua Zhang 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

ISBN: (纸本)9781509023974

With the development of various imaging technologies, medical imaging has been playing more important roles on providing scientific proof for doctors to make decisions on clinical diagnosis. At the same time, it is very important to excavate valuable information hidden in those images and take over some auxiliary medical works from doctors by the computer. Therefore, a large number of image segmentation methods, including some classic algorithms have been proposed and some of them perform well. In this paper, we built a deep convolutional neural network to segment the MRI brain images. Results show that the network has a good performance on segmentation of the gray and white matter of brains, it also had a good generalization ability.

关键词： MRI brain imaging image segmentation deep convolutional network fully convolutional network

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Binocular camera-based a docking system for an amphibious spherical robot 15

Binocular camera-based a docking system for an amphibious sp...

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

作者： Guo, Shuxiang Liu, Yu Shi, Liwei Guo, Ping Xing, Huiming Hou, Xihuan Chen, Zhan Su, Shuxiang Liu, Huikang 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 District Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology No.5Zhongguancun South Street Haidian District Beijing100081 China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

In order to fulfill the task about autonomous recovery and charging of robots, a set of robotic docking system based on binocular stereo vision was initially designed and implemented. A binocular camera was used in our docking system. Through the image captured by binocular camera of the surrounding environment, we can obtain the two kinds of image, which include color image and depth image. And in order to get accurate depth information, we conducted a binocular camera calibration experiment. Then according to the depth information, the robot recognize the docking receptacle also as a marker fixed in the pool, then using KCF (Kernelized Correlation Filters) algorithm to track the target and making robot arrive the docking destination accurately. The docking system can be implemented by the process above. During the experiment, we selected the receptacle in the image, the robot recognized target and arrived at the designated location. The experimental results demonstrated the veracity and robustness of the proposed docking system based on binocular stereo vision. © 2018 IEEE.

关键词： Stereo image processing

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