A5019030923- Stroke Rehabilitation and Recovery
- Prosthetics and Rehabilitation Robotics
- Soft Robotics and Applications
- Muscle activation and electromyography studies
- Surgical Simulation and Training
- Anatomy and Medical Technology
- Augmented Reality Applications
- Minimally Invasive Surgical Techniques
- Hand Gesture Recognition Systems
- Teleoperation and Haptic Systems
- EEG and Brain-Computer Interfaces
- Balance, Gait, and Falls Prevention
- Tracheal and airway disorders
- Cerebral Palsy and Movement Disorders
- Esophageal and GI Pathology
- Photoacoustic and Ultrasonic Imaging
- Diabetic Foot Ulcer Assessment and Management
- Robotic Mechanisms and Dynamics
- Methane Hydrates and Related Phenomena
- Optimization and Search Problems
- Advanced Sensor and Control Systems
- Ultrasound and Hyperthermia Applications
- Microbial Community Ecology and Physiology
- Gastrointestinal Tumor Research and Treatment
- Peer-to-Peer Network Technologies
Shenzhen University
2019-2025
Shenzhen Second People's Hospital
2016-2024
Shenzhen MSU-BIT University
2024
Huazhong University of Science and Technology
2023-2024
Shenzhen Zhongshan Urological Hospital
2017-2023
Wuhu Hit Robot Technology Research Institute
2016-2023
The University of Texas at Dallas
2022
Shenzhen Academy of Robotics
2021
Beijing Institute of Technology
2019-2021
Facing Our Risk of Cancer Empowered
2021
Background Current robotic systems have limitations for single-port surgery (SPS) because the instruments are large, arms collide and field of vision requires manual readjustment. We developed an SPS system that manipulates field. Methods The master–slave included a six degrees freedom (DOFs) tool manipulator, easy set-up mechanism, flexible shaft drive with sufficient DOFs vertical arrangement improved vision. robot endoscope within body. After assembly, was tested in vitro vivo. Results In...
A significant number of individuals have been affected by pandemic diseases, such as COVID-19 and seasonal influenza. Nucleic acid testing is a common method for identifying infected patients. However, manual sampling methods require the involvement numerous healthcare professionals. To address this challenge, we propose novel transoral swab robot designed to autonomously perform nucleic using visual-tactile fusion approach. The comprises series-parallel hybrid flexible mechanism precise...
Performing a successful robotic grasping to uncertain objects in unstructured environments is challenging. This study presents new compliant soft gripper for handling and cap manipulation through the coordination of three fingers in-hand manipulation. The experiments are conducted validate that can successfully realize simultaneous capping manipulations with only one flexible shaft actuation every single finger. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML"...
A large amount of hemiplegic survivors are suffering from motor impairment. Ankle rehabilitation exercises act an important role in recovering patients’ walking ability after stroke. Currently, patients mainly perform ankle exercise to reobtain range motion (ROM) and strength the joint under a therapist’s assistance by manual operation. However, therapists suffer high work intensity, most existed devices focus on functional training ignore importance neurological early stage. In this paper,...
The hemiplegic rehabilitation state diagnosing performed by therapists can be biased due to their subjective experience, which may deteriorate the effect. In order improve this situation, a quantitative evaluation is proposed. Though many motion analysis systems are available, they too complicated for practical application therapists. paper, method detecting of human lower limbs including all degrees freedom (DOFs) via inertial sensors proposed, permits analyzing patient’s ability. This...
Minimally invasive surgery (MIS) is commonly used in pediatric operations. This method greatly benefits patients because of the reduced surgical trauma. To perform such smoothly, doctors must be highly skilled. reduce operating difficulties, a great deal research on systems have been carried out. However, some cases, smaller workspaces limit application MIS. For example, workspace infant congenital esophageal atresia (ICEA) only around 30×30×30 mm. Until now, most ICEA surgeries manually...
In the paper, characteristics of mode and harmonic response axis high-speed motorized spindle are presented with FEM (Finite Element Method). A dual-dimension model is developed simulated using ANSYS commercial software. The result shows that rated rotating speed far smaller than first-order natural resonance speed, dynamic displacement stiffness do not change significantly compared static performance working spindle. in accord requirements design.
Robotic solutions for ankle joint physical therapy have extensively been researched. The optimal frequency and intensity of training patients when using the robot is not known which can affect rehabilitation outcome.
Purpose Paediatric congenital esophageal atresia surgery typically requires delicate and dexterous operations in a narrow confined workspace. This study aims to develop novel robot assisted surgical system address these challenges. Design/methodology/approach The proposed consists of two symmetrical slave arms with nine degree freedoms each. Each arm uses rigid-dexterous configuration coarse positioning manipulator distal fine operation manipulator. A small Selective Compliance Assembly...
The number of stroke patients is rapidly increasing in the elderly society, which leads to growing demand for lower limb rehabilitation training. Currently, one patient needs two or more therapists assistance during gait It results shortage therapists' population, furthermore, heavy works load on therapist. emerging robotic technologies provide a solution assist therapist, and corresponding researches have been reported. However, most existing robots adopt single-arm double-arm structure,...
Conventional assist-as-needed (AAN) control strategies utilize only the deviation of user's limb to a predefined trajectory, but individual condition is not considered. In this paper, strategy assist-when-needed (AWN) proposed for gait rehabilitation robotics. The robot provides assistance in any one seven phases involving lower-limb impairments it works zero force mode other during walking. A synchronous reference trajectory generated based on phases. are detected with IMU sensors and...
In consideration of a large proportion stroke survivors with persistent deficits, current interventions have limited ability to restore normal motor function. We propose gait training system for rehabilitation hemiplegic patients convalescent stroke. It consists functional electrical stimulation (FES) device which is used influence the pattern instantly improve quality gait, and treadmill two separated belts. The stimulus triggers from FES could be controlled automatically by subject's phase...
Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic (NOTES) bring the benefits: reduced surgical trauma less patient's burden. However, they are still limited in area of instrument dexterity operability. This paper presents an Insertable Surgical Robot (ISR) for Access (SPAS), this robot uses multi-level architectures field endoscopic vision control. It resolves complex conversion on operation between manipulators, improves The ISR consists insertable central stem, a...
This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), rotational gripper. The with "flexible shaft Double Screw Drive (DSD) mechanism" structure can obtain omni-directional motion through rotation flexible shafts. In the first prototype, shafts were connected directly actuators in manipulator. Compared second for power transmission are to base Universal used realize distal motion. improvement done...
This paper presents a robotic gait training system for neuro-motor rehabilitation of hemiplegic stroke survivors. The is composed treadmill consisting two separated belts, footprint array sensor attached below each belt data acquisition, and an electroencephalography (EEG) device monitoring brain activities during training. split allow physical therapists to set different velocities modify workload the patients walking, thus being able better improve symmetry phases between affected...
This paper presents a 5-DOF manipulator which consists of three parts, 1-DOF translational joint, bendable skeleton (2-DOF for Omni-directional bending motion), and rotatable forceps gripper (1-DOF rotation, opening/closing). The segment in the achieves two orthogonal DOFs by pulling or pushing parallel universal-joint-based shaft chains. Forward inverse kinematics is analyzed. workspace calculation illustrates that structure chains can reach angle 90 degree arbitrarily direction....
Hemiplegic survivors typically requires ankle rehabilitation to recover motor function with considering the bilateral balance. A new robotic system, named as MingKai Ankle IV (MKA-IV) has been proposed address these challenges. The robot consists of two symmetrical cascade mechanical platforms three degree freedoms (DOFs) each. Each platform is composed rotational joints achieve adduction/abduction, dorsifiexion/plantarflexion and inversion/eversion respectively. novel configuration allows...
An increasing number of stroke patients are suffering from motor disability. For enhancing their quality daily life, recovery disabled ambulation is in urgent need. Traditional robotic gait rehabilitation systems with treadmill assistance constrain sagittal plane and restricting pelvic horizontal motion. In order to solve these problems, A novel walker was proposed for effective rehabilitation. It composed a body weight support (BWS) unit an active omni-directional mobile platform assist...
With the aging population problem getting more and aggravated, number of hemiplegia patients increases rapidly, which results in increasing requirement rehabilitation training for regaining body movement function. Taking advantages robots makes scientific efficient compared to traditional measures such as manual training. By now, many types have been proposed by researchers. However, from view physiological structure, them can't well fit motion characteristics. Ankle plays an important role...
Up to now, with the increasing of elderly population, more and patients are suffering from hemiplegia. The need for hemiplegic rehabilitation is quickly. As traditional rehabilitation, each patient must be treated by therapist, one one. However, because different levels therapists, cannot performed as same. Normally, status diagnosing still therapists subjective experience. It caused inhomogeneity on evaluation. also sometimes causes negative influence effect. To solve these problems, many...