A5101582858- Soft Robotics and Applications
- Surgical Simulation and Training
- Teleoperation and Haptic Systems
- Robotic Mechanisms and Dynamics
- Robot Manipulation and Learning
- Anatomy and Medical Technology
- Fatty Acid Research and Health
- Piezoelectric Actuators and Control
- Advanced Surface Polishing Techniques
- Augmented Reality Applications
- Diet, Metabolism, and Disease
- Advanced Fiber Optic Sensors
- Mast cells and histamine
- Infant Nutrition and Health
- Advanced Measurement and Metrology Techniques
- Voice and Speech Disorders
- Muscle activation and electromyography studies
- Monoclonal and Polyclonal Antibodies Research
- Diet and metabolism studies
- Birth, Development, and Health
- Modular Robots and Swarm Intelligence
- Quinazolinone synthesis and applications
- Advanced Numerical Analysis Techniques
- Micro and Nano Robotics
- Structural Analysis and Optimization
Harbin Institute of Technology
2012-2024
In order to get natural and intuitive physical interaction in the pose adjustment of minimally invasive surgery manipulator, a hybrid variable admittance model based on Fuzzy Sarsa(λ)-learning is proposed this paper. The provides continuous virtual damping controller respond human intentions, it effectively enhances comfort level during task execution by modifying generated dynamically. A fuzzy partition defined over state space used capture characteristics operator human-robot interaction....
Due to the narrow space and a harsh chemical environment in sterilization processes for end-effector of surgical robots, it is difficult install integrate suitable sensors purpose effective precise force control. This paper presents an innovative tension sensor estimation grasping our laparoscope robot. The proposed measures cable using fiber gratings (FBGs) which are pasted grooves on inclined cantilevers sensor. By exploiting stain measurement characteristics FBGs, small deformation caused...
Human milk is naturally rich in medium- and long-chain triacylglycerols (MLCT), accounting for approximately 30% of the total fat. However, infant formula fat prepared using a physical blend vegetable oils, which rarely contains MLCT, similar to human milk. The differences MLCT between formulas may cause different lipid metabolisms physiological effects on infants, are unknown. This study aimed analyze metabolic characteristics containing novel substitutes based (FL-MLCT) compare their with...
The laryngeal surgery is usually performed with rigid surgical instruments. However, those instruments inevitably cause tissue damage. A novel notch continuum manipulator for proposed. deformation of the highly nonlinear. controller difficult to construct. model-based modeling strategy from micro macro adopted forward kinematics. proposed modeled as a series flexible units. Based on mechanical model and Denavit-Hartenberg method, mapping driven space Cartesian constructed. model-free based...
The laryngeal tissue is sensitive to the operating force of surgical instrument in resection. A large may cause rupture vocal cords and surrounding tissues, which affect patients' normal voice. However, a small cannot achieve Based on experience, surgeons can estimate process using robot. estimated usually inaccurate, increase failure rate surgery. Therefore, fiber Bragg gratings(FBG)-based three-dimensional sensing sensor for robot, consists two flexible hinges series designed. And model...
Serve as the human-robot interface of laparoscopic surgical robot, master device always plays a crucial role in terms master-slave manipulation. Growing demands robot-assisted surgery system also warrant more rational design and optimization for manipulator mechanism, which turn out to be important improving performance operations. In this paper, novel 9 degrees freedom (DOFs) haptic applied robots is proposed. First all, mechanical configuration serial presented along with its corresponding...
The triacylglycerols (TAGs) of medium- and long-chain (MLCT) di-unsaturated fatty acyl-palmitoyl-glycerols (UPU) in human milk provide better nutritional effects, should be prioritized as crucial focuses on neonatal nutrition research. However, little has been done the influences lactation stage regional diversity MLCT UPU. In this study, we collected 204 samples during colostrum, 1st 4th month from north (Baotou), central (Beijing), east (Jinan), southwest (Kunming), southeast (Shenzhen),...
This paper proposes a hybrid soft tissue model that consists of multilayer structure and many spheres for surgical simulation system based on meshless. To improve accuracy the model, tension is added to three-parameter viscoelastic connects two spheres. By using haptic device, (TPM) produces accurate deformationand also has better stress-strain, stress relaxation creep properties. Stress formulas have been obtained by mathematical formula derivation. Comparing with experimental results real...
Abstract. Continuum manipulators are widely used in minimally invasive surgical robot systems (MISRS) because of their flexibility and compliance, while modelling control relatively difficult complex. This paper proposes an improved hysteresis model a notched continuum manipulator based on the classical Bouc–Wen model, which can reduce errors increase accuracy kinematic-mechanics coupled model. Then parameters identified by mean genetic algorithm (GA). Hysteresis phenomenon mentioned is...
Because of the fewer degree freedom (DOF), poor flexibility and absence uniform mechanical electrical interface, micro instruments used in traditional invasive surgery can not be introduced into laparoscopic minimally surgical robotic system (LMISRS) directly. So it is very necessary to research develop a series new for LMISRS. Having considered difference motion working space different use, novel instrument design method was suggested paper. By using method, DOF configured randomly....
In this paper, we described a method of sensorless grip force estimation based on Neural Network (NN) optimized by Genetic Algorithm (GA) to address the gripping problem laparoscope surgical robots. The is key haptic feedback in Robotic Minimally Invasive Surgeries (RMIS). We verified proposed and compared with estimated dynamic model. number units hidden layer was so that it made better fitting performance. experimental results demonstrated had good performance for estimation, which well applied our
Fiber Bragg Gratings (FBG) are used widely for that it is small and sensitive. It suitable to insert a sensor based on FBGs some narrow cavities. At the same time, slender continuum structure requires tiny sensors inside it. A multi-node differential curvature measurement of FBG fiber designed in this paper realize temperature compensation. Considering friction among FBG, driving wires, niti tube external forces applied end, mechanical model about manipulator proposed. last, linear...
Both linoleic acid (18:2 n-6, LA) and α-linolenic (18:3 n-3, ALA) are essential fatty acids for infants. The contents of LA ALA, their ratio exhibited significant changes in human milk over the past four decades, which were not well summarized. Here, we summarized these values 9,898 breast samples 6,664 mothers from 50 countries 81 studies. A literature search was conducted using PubMed, Embase, Web Science between January 1980 October 2023. 95% CI LA/ALA across lactation gestation ranged...
This paper deals with the geometric design of deployable mechanisms based on intuitive projective approach. Firstly, deployed and folded configurations for spatial single-loop polygon structure is defined. Secondary, two special planes, plane plane, are defined respectively. Then parameters can be determined by projecting joint axes onto following which we obtain relative position adjacent in one link. By employing Bricard mechanism as an example, show detailed procedures proposed...
In recent years, the robot for minimally invasive surgery has been expanded wide application in clinic. However, assisted is quite different from traditional surgery, so training and practice are very important to surgeon. The development of a panoramic simulation endoscopic described paper. appropriate da Vinci other similar system. this simulation, model accurately presented, its kinematic analysis precise. soft tissue used an improved mass-spring model. This suited real-time visual...
This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitive and ergonomic as its accurate master-slave motion mapping precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope robot modelled considers the bending rigidity cable. Based on model, compensation algorithm feedforward control presented to reduce tracking errors. To verify effectiveness value for real clinical application, suturing experiments...
Simulation of soft tissue cutting is a problem. For proposing an effective simulation method, surgery system put forward, and double thread software which contains graphics equipment built in the research. And ball-spring model used as internal physical object to realize force feedback deformation. then surface associated with built. Based on mesh, algorithm forward. The results proved that proposed calculation can effectively achieve real-time interaction deformation tissue, be acquired. In...