A5100330888- Soft Robotics and Applications
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Robotic Mechanisms and Dynamics
- Surgical Simulation and Training
- Bone fractures and treatments
- Prosthetics and Rehabilitation Robotics
- EEG and Brain-Computer Interfaces
- Augmented Reality Applications
- Wireless Power Transfer Systems
- Energy Harvesting in Wireless Networks
- Iterative Learning Control Systems
- Neuroscience and Neural Engineering
- Modular Robots and Swarm Intelligence
- Advanced Sensor and Energy Harvesting Materials
- Anatomy and Medical Technology
- Gastric Cancer Management and Outcomes
- Gaze Tracking and Assistive Technology
- Lung Cancer Treatments and Mutations
- Hip disorders and treatments
- Drilling and Well Engineering
- Hip and Femur Fractures
- Advanced Measurement and Detection Methods
- Head and Neck Surgical Oncology
- Adaptive Control of Nonlinear Systems
Beijing Institute of Technology
2020-2025
China University of Petroleum, East China
2025
Nanjing University of Science and Technology
2010-2024
Chongqing University
2019-2024
Zhongnan Hospital of Wuhan University
2015-2024
Wuhan University
2014-2024
Sinopec (China)
2013-2024
Ruijin Hospital
2024
Shanghai Jiao Tong University
2024
North China Electric Power University
2024
Abstract Wearable dry electrodes are needed for long-term biopotential recordings but limited by their imperfect compliance with the skin, especially during body movements and sweat secretions, resulting in high interfacial impedance motion artifacts. Herein, we report an intrinsically conductive polymer electrode excellent self-adhesiveness, stretchability, conductivity. It shows much lower skin-contact noise static dynamic measurement than current standard gel electrodes, enabling to...
Transbronchial biopsy sampling, as a minimally invasive method with relatively low risk, has been proved to be promising treatment in the field of respiratory surgery. Although several robotic bronchoscopes have developed, it remains great challenge balance size and flexibility, while integrating multisensors realize navigation during complex airway networks. This paper proposes novel bronchoscope system composed by end effector small size, relevant actuation unit, path planning surgical...
Stretchable skin-like pressure sensing with minimized and distinguishable strain-induced interference is essential for the development of collision-aware surgical robotics to improve safety efficiency minimally invasive surgery in a confined space. Inspired by multidimensional wrinkles Shar-Pei dog's skin tactile sensing, we developed stretchable sensor consisting reduced graphene oxide (rGO) electrodes biomimetic topographies robot–tissue collision detections. A facile fabrication route rGO...
To possess sufficient compliance while keeping an acceptable stiffness level for manipulation with precision, transoral robotic surgery (TORS) demands a flexible system variable (VS) as presented in this paper. In our study, three-prismatic-universal parallel mechanism employs superelastic nickel-titanium rods to achieve compliant movements beyond the conventional rigid-body mechanisms. With compact structure and flexible-shaft transmission, adjustable tube-based VS allows of manipulator be...
Robot-assisted single port access surgery (SPAS) brings significant benefits to the patients. However, it is challenging due limited incision size and requirements in precision, load capacity, dexterity. To address these challenges, this paper presents a multichannel SPAS robotic system consisting of two channels 5-degree-of-freedom (DOF) flexible manipulators an endoscope channel. Each channel designed based on 3-DOF parallel mechanism with three sets super-elastic Ni-Ti rods universal...
Background Surgical complications such as healing problems, in fractures treated using the Arbeitsgemeinschaft für Osteosynthesefragen (AO) technique, present functional and economic challenges to patients treatment dilemmas for surgeons. Computer-assisted orthopaedic surgery minimally invasive techniques focused on biological osteosynthesis is a novel direction fracture treatment. Method We modified hexapod computer-assisted reduction system by introducing new strategy, building...
Abstract Objective . Task-related component analysis (TRCA) is a representative subject-specific training algorithm in steady-state visual evoked potential (SSVEP)-based brain-computer interfaces. components (TRCs), extracted by the TRCA-based spatial filtering from electroencephalogram (EEG) signals through maximizing reproducibility across trials, may contain some task-related inherent noise that still trial-reproducible. Approach To address this problem, study proposed...
This letter presents a miniature manipulator with variable stiffness towards minimally invasive transluminal endoscopic surgery, such as the submucosal dissection (ESD). The comprises hollow modules holes in sidewall, compact 4 mm diameter, and dexterous six degrees of freedom (DOFs). Basic operations grasping stripping can be achieved via terminal surgical tools. flexible tubes torque coils are adopted to avoid motion coupling joints. worm gears an anti-backdrive property used transfer...
A number of estimation techniques have been developed to achieve speed and position sensorless permanent magnet synchronous motor (PMSM) drives. Most them suffer from variation parameters such as the stator resistance, inductance torque constant. Also, it is known that conventional linear estimators are not adaptive variations operating point in a nonlinear system. The sliding mode technique has shown promising results when estimating or controlling systems. This paper presents observer...
This paper proposes a modular and reconfigurable cable-driven robotic grasper (MoReCa grasper) for grasping diverse unknown objects in unstructured environments, which integrates the characteristics of full actuation underactuation. The mechanical design this is introduced with focus on its Lego-like feature flexible joints. With these features, length can be arbitrarily changed through addition or removal finger modules connected by magnets without rerouting breaking cables. shape degree...
Abstract Cable-guiding mechanisms (CGMs) and the stiffness characteristics directly influence dynamic features of cable-driven upper limb rehabilitation robot (PCUR), which will affect PCUR’s performance. This paper introduces a novel CGM design. Given precision movement stability considerations mechanism, an analytical model is developed. Using this model, we analyze error derive velocity acceleration mappings from moving platform to cables. Continuity cable trajectory tension rigorously...
The assessment of surgical skill is crucial for indicating a surgeon's proficiency. While motion analysis tools widely used in endoscopic surgery, it not commonly applied to open surgery. Instead, surgery relies on observing the trajectory tissue. This observation-based method often lacks clear standards, leading inaccurate assessments. paper presents evaluating cutting through scalpel analysis. A 3D multiple-facet ArUco code cube designed, and dataset tip coordinate system poses various...
In this study, we introduce a novel shared-control system for key-hole docking operations, combining commercial camera with occlusion-robust pose estimation and hand-eye information fusion technique. This is used to enhance precision force-compliance safety. To train network model, generated self-supervised dataset using system. After training, our method showed improved accuracy compared traditional methods, including observation-only approaches, calibration, conventional state filters....
Many of the estimation techniques developed to achieve speed or position sensorless, motor drives suffer from variation parameters such as stator resistance, inductance torque constant. In particular, conventional linear estimators are not adaptive variations operating point. The sliding mode technique has shown promising results when estimating controlling nonlinear systems. This paper presents a observer (SMO) for and permanent magnet synchronous (PMSM) sensorless drive system. can be...
This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot slave side. A novel nonsingular fast terminal sliding-mode algorithm, together varying dominance factors for cooperation, is proposed to offer this system's position force tracking, as well integrated perception operator (manipulator). The Type-2 fuzzy model used describe overall dynamics, accordingly new fuzzy-model-based...
Image-based surgical instrument tracking in robot-assisted surgery is an active and challenging research area. Having a real-time knowledge of location essential part computer-assisted intervention system. Tracking can be used as visual feedback for servo control robot or transformed haptic surgeon-robot interaction. In this Letter, the authors apply multi-domain convolutional neural network fast 2D considering application multiple tools use focal loss to decrease effect easy negative...
There are high risks of infection for surgeons during the face-to-face COVID-19 swab sampling due to novel coronavirus’s infectivity. To address this issue, we propose a flexible transoral robot with teleoperated configuration sampling. The comprises manipulator, an endoscope monitor, and master device. A 3-prismatic-universal (3-PU) parallel mechanism 3 degrees freedom (DOF) is used realize manipulator’s movements. flexibility manipulator improves safety testees. Besides, device similar in...