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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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A VR-based upper limb rehabilitation hand robotic training system 15

A VR-based upper limb rehabilitation hand robotic training s...

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

作者： Guo, Jian Li, Nan Guo, Shuxiang Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

With the development of science and technology, virtual reality technology has been applied to various fields. Virtual reality technology is proposed into rehabilitation medical treatment, which can avoid dull rehabilitation training, improve the initiative of patients' rehabilitation and improve the overall effect of rehabilitation training. In order to help patients with hand grab function training, we proposed a virtual reality-based upper limb rehabilitation hand training system. In this paper, we can obtain the bending angle data of fingers and force feedback through the upper limb rehabilitation hand robot with CyberGlove. We established the high precise 3D model, set up the mapping relationship between CyberGlove and the virtual hand to realize the human-computer interaction. Based on the previous work, a VR-based upper limb rehabilitation hand robotic training system is proposed and has collision detection and force feedback, which makes users feel more realistic when interacting with objects in the virtual environment. The relevant verification experiment confirmed that virtual hand and upper limb rehabilitation robot interact well, which increases the interest of training. © 2018 IEEE.

关键词： Patient treatment

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Performance evaluation of a magnetically actuated microrobot with screw jet motion in vertical plane 15

Performance evaluation of a magnetically actuated microrobot...

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

作者： Fu, Qiang Guo, Shuxiang Guo, Jian Tianjin Key Laboratory for Control Theory Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan

ISBN: (纸本)9781538660720

Various kinds of magnetically actuated microrobot have been proposed to deal with the performance evaluation in medical application and industry application. In this paper, we discuss the mechanical structure design and the control method for obtaining the optimal performance of the microrobot in fluid condition. We analyzed the magnetic field to obtain the relationship between the magnetic flux density and the region of interest in the three-axis Helmholtz coils to adjust the position and posture of the microrobot which is controlled by our proposed magnetic actuation system. This result indicated that the magnetically microrobot has characteristics of multi-functions, controllability, stability. © 2018 IEEE.

关键词： Image segmentation

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Design and performance evaluation of the novel multi-modular capsule robot 15

Design and performance evaluation of the novel multi-modular...

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

作者： Guo, Shuxiang Zhang, Peng Guo, Jian Fu, Qiang Wang, Lili Sun, Gang Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Internal Medicine-Oncology Tianjin Hospital ITCWM Naikai Hospital Three latitude Road 122 Tianjin China Gastrointestinal Surgery Tianjin Hospital ITCWM Naikai Hospital Three latitude Road 122 Tianjin China

ISBN: (纸本)9781538660720

Due to the robots are limited in size and cannot be attached to more functions, which caused the practicality of the robot being reduced. In order to achieve the information collection and multipoint drug delivery in the intestinal tract. This paper proposed the novel multi-modular robot driven by the external magnetic field. This robot system has two robots, namely the master robot and the auxiliary robot. The control system of the robot including the driven system, video acquisition and modular docking and separation of the robots. We realized the separation of the capsule robot by the difference of the cut-off frequency. The axial magnetized magnet is put into the robot, and when the robot is close, the two robots can combine. And the motion of the two at low frequency is consistent, which can realize the synchronous motion. Finally, the two robots can realize active locomotion using a three-axis Helmholtz coils system. The developed capsule robot can be used to improve the capsule robot system and help people do experiments in vivo in the future. © 2018 IEEE.

关键词： Machine design

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An EMG-based muscle force evaluation method using approximate entropy

An EMG-based muscle force evaluation method using approximat...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Yuye Hu Jian Guo Weijie Zhang Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

This paper proposed a novel muscle force evaluation method to evaluate the patient's rehabilitation condition in the process of rehabilitation training. According to the related literature research, the complexity of the electromyography (EMG) signals were different under different muscle force. The physiological features and the state of muscle can be indirectly speculated by detecting the change of the dynamic complexity of EMG signals. The novel ideal of our research is to propose an EMG-based muscle force evaluation method using approximate entropy. The evaluation system consists of two main parts: the EMG acquisition (BIOFORCEN) and the measurement of muscle force (FingerTPS). Experiments were conducted with a healthy male. 15 groups EMG signals of biceps and triceps were acquired under different muscle force. Raw EMG data were recorded for off-line analysis. The approximate entropy (ApEn) and the power of EMG signals aiming at intercept relatively stable 10 section signal in each group were calculated to compose the training set. In addition, the additional 150 groups feature vectors were obtained to compose a sample set. 15 groups muscle force were divided into 6 levels and two classification method (linear discriminate analysis (LDA) and quadratic discriminate analysis (QDA)) were used to classify the feature vector. Experimental results have shown that the discrimination between ApEn and the power were obvious and 65% classification accuracy was got with the QDA method. The research of this paper can be a promising approach for further research in the field of rehabilitation evaluation.

关键词： Muscles Electromyography Force Training Entropy Force measurement Electrodes

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Movement characteristics evaluation of the spherical robot actuated by the magnetic field for medical applications

Movement characteristics evaluation of the spherical robot a...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Nan Liang Jian Guo Pengyu Liu Lili Wang Gang Sun Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Internal Medicine-Oncology Tianjin Hospital of ITCWM Naikai Hospital Tianjin China Gastrointestinal Surgery Tianjin Hospital of ITCWM Naikai Hospital Tianjin China

ISBN: (纸本)9781509023974

The capsule microrobot will play an important role in the medical application such as the minimally invasive surgery in the future. In this paper, we proposed the spherical capsule robot system driven by the external magnetic field. And then we did the finite element analysis of the electromagnetic device involved in the system using ANSYS software. In the end, to verify our analysis results and establish relationship with the experimental system, we conducted the comparison between experimental results and theoretical results. In addition, the spherical robot motion was also recorded in the tube and an open plastic sink. Combining with the proposed experimental platform, we can change the orientation of the capsule robot by changing the direction of the external magnetic field and change the moving speed by changing the frequency of the external magnetic field. The driving force of the Helmholtz coil on the capsule robot can be generated along the space any direction by changing the parameters of the input signal in theory. Besides that we found that the variation tendency of the magnetic field is the same between experimental values and simulation results. We can adjust the parameters of the input current on the basis of the simulation results in order to obtain the needed external magnetic field during the actual operation. The capsule robot motion indicated that the capsule robot motion is related to other factors except the external driving force. The experiments in an open plastic cup indicated that the spherical capsule robot can actively motion along the predetermined direction in the plane. The research results in this paper will provide the strong supports for actuating the capsule robot with the external magnetic field for medical applications in the future.

关键词： Magnetic fields Finite element analysis Force Atmospheric modeling robot motion Permanent magnets

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Performance evaluation of the wireless micro robot in the fluid

Performance evaluation of the wireless micro robot in the fl...

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IEEE International Conference on Mechatronics and Automation

作者： Nan Liang Jian Guo Shuxiang Guo Xiang Wei Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781479970995

The capsule robot is one of important development direction in the field of wireless micro robot in-pipe and it is becoming a powerful tool for gastrointestinal tract inspection. In this paper, we proposed the symmetrical spiral micro robot with gravity compensation mechanism and then analysed the buoyancy and resistance of the robot in the fluid. Finally, we carried on the performance evaluation experiments of the robot in the fluid. The experimental results indicated that the micro robot has a good dynamic performance when the flow is about 26ml/min, compared to other flow value. In the horizontal direction the maximum velocity of the robot is about 30.44mm/s and 6.49mm/s in the case of downstream and counter current respectively. In the vertical direction the maximum velocity of the robot is about 10.1mm/s and 1.34mm/s in the case of downstream and counter current respectively while it is doing upward movement. In the vertical direction the maximum velocity of the micro robot is about 10.11mm/s and 1.337mm/s in the case of downstream and counter current respectively while it is doing downward movement. In addition, the flow has influence on transition frequency of the micro robot. The faster flow is, the lower transition frequency of the micro robot has. The experimental platform we set up can reflect the conditions of human gastrointestinal tract, so the performance evaluation of the micro robot in this paper will provide a strong support for the future clinical application.

关键词： robots Radiation detectors Buoyancy Gastrointestinal tract Immune system Spirals

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Performance evaluation of force feedback for the improved vascular interventional robotic system

Performance evaluation of force feedback for the improved va...

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IEEE International Conference on Mechatronics and Automation

作者： Lin Shao Jian Guo Shuxiang Guo Yang Yu Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781479970995

Currently, the study of the vascular interventional surgery (VIS) robot becomes more and more popular, which is to improve the safety of the surgery. In this paper, a novel master-slave robotic catheter system has been proposed for the VIS. The system uses MR (magneto rheological) fluid to implement force feedback. The force feedback to the operator on the master side is very important to improve the safety of the surgery. The damper is a piston structure with MR fluid. The coil winds around the piston. When the piston is moving in the piston cylinder, the resistance to the piston will appear as a certain amount of current applied to the coil. We can realize the force feedback by this way. The surgeon can feel the force through the operating catheter connected with the damper, which seems that the surgeon operates the catheter beside the patient. The force feedback evaluation experiments of the damper were done. The error between the detected force and the damping force is in the allowable range. The maximum of error is lower than 0.1N. According to a research presenting that the force larger than 0.12N will injure the vessel, it indicates that the error can meet our design requirement. The experimental results indicated that the damper was effective for realizing the force feedback of the master-slave system. It can provide force feedback to the surgeon in real time.

关键词： Catheters Force Force feedback Shock absorbers Surgery Pistons Fluids

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Performance evaluation of the novel grasper for a robotic catheter navigation system

Performance evaluation of the novel grasper for a robotic ca...

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International Conference on Information and Automation (ICIA)

作者： Shuxiang Guo Jian Guo Lin Shao Peng Wang Yunliang Wang Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China

This paper proposed a novel grasper for a novel master-slave robotic catheter navigation system in Vascular Interventional Surgery (VIS). The developed novel grasper can imitate the catheter grasping motion of the surgeon during VIS. The grasper is a key factor to drive the catheter into the vessel accurately. It adopts a common structure like the pliers, which can guarantee that the catheter can be clamped on the same axes with other via hole. The clamping force can be adjusted by the screw through changing the entered length of the screw to change the compression length of the spring. The clamping system consists of two graspers both master side and slave side respectively. The graspers clamp the catheter just like the surgeon's hand and the clamping method of the grasper imitates the surgeon's operation. The performance evaluation experiments of the novel grasper were done. The experimental results indicated that the grasper was effective to clamp catheter tightly to increase accuracy of surgery, which can satisfy the design demand.

关键词： Catheters Clamps Force Surgery Rubber Friction robots

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Performance evaluation of the wireless microrobot in pipe with symmetrical spiral structure

Performance evaluation of the wireless microrobot in pipe wi...

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IEEE International Conference on robotics and Biomimetics

作者： Jian Guo Xiang Wei Shuxiang Guo Wei Wei Yuehui Ji Yunliang Wang Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory TianJin University of Technology TianJin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781479927456

A wireless microrobot may be used in the small space and biomedical practice, especially in the industrial field and biomedical application. In this paper, we designed a new kind of wireless microrobot with symmetrical spiral structure, which have more compact volume, completely symmetrical mechanical structure, quick response, forward-backward motions and can clean the dirt adhering to the inner wall. According to the hydromechanical lubrication theory and Newton viscous law, we build the motion model of the microrobot. Through analysis, simulations and experiments, this paper had evaluated the effect of spiral depth and thread unit number. In addition, we verified the feasibility of this new kind of microrobots, and obtained the moving speeds of forward-backward and upward-downward motion in the pipe. The experimental results indicated that the maximum moving speed is 22.68 mm/s at 12 Hz in the horizontal direction and 6.29 mm/s at 13Hz in the vertical direction with input currents of 0.7A. Finally, we designed a control panel for this system, which can control the microrobot current motion states easily, and make our system more portable and compact. The designed wireless microrobot can move smoothly in water and other liquid medium and is very useful in the industrial application and microsurgery application.

关键词： Spirals Force Prototypes Wireless communication Current measurement Liquids Magnetic fields

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