In recent years,the rising incidence of gastrointestinal(GI)cancer has triggered an urgent need for effective early intervention strategies.Traditional endoscopic techniques often cause patient discomfort,and it is di...In recent years,the rising incidence of gastrointestinal(GI)cancer has triggered an urgent need for effective early intervention strategies.Traditional endoscopic techniques often cause patient discomfort,and it is difficult to navigate deep regions of complex organ structures.This work proposes a kind of bio-inspired magnetic soft robot(BMSR)to address these challenges.The design of the BMSRs is inspired by the rolling motion of the golden wheel spider.Two six-degree-of-freedom(6-DOF)robotic arms are used,where one arm is responsible for real-time manipulation of the BMSRs,and the other is dedicated to monitoring their status.Under the actuation of an external rotating magnetic field,the BMSRs can flexibly climb on inclined surfaces at any angle,involving the inverted surface.Through the powerful output force,the BMSRs can overcome the mobility barrier induced by different human organs,including mucus,folds,and height differences of up to 8 cm.Such an exceptional mobility enables the BMSRs to deliver drugs in the targeted complex GI environment.Moreover,in combination with an endoscope,it provides real-time visual feedback for precise navigation.In vitro animal experiments validate the feasibility of BMSRs,paving a way for their usage in minimally invasive GI treatment.This work advances the potential applications of magnetic soft robots in the biomedical field.展开更多
Objective:To assess the safety and effectiveness of urological tumor surgeries using the hinotori^(TM)Surgical Robot System(hinotori)in a real-world clinical setting.Methods:All surgeries including robot-assisted radi...Objective:To assess the safety and effectiveness of urological tumor surgeries using the hinotori^(TM)Surgical Robot System(hinotori)in a real-world clinical setting.Methods:All surgeries including robot-assisted radical prostatectomy(RARP),robot-assisted partial nephrectomy(RAPN),robot-assisted radical nephrectomy(RARN),robot-assisted nephroureterectomy(RANU),robot-assisted adrenalectomy(RAA),and robot-assisted radical cystectomy with intracorporeal urinary diversion(RARC+ICUD)for urological tumors with the hinotori and da Vinci surgical system(da Vinci)from January 2022 to September 2023 were enrolled.We evaluated the safety and effectiveness of surgeries using the hinotori compared with those using the da Vinci.Results:Robotic surgeries using the hinotori were performed in a total of 91 cases,comprising 42 cases of RARP,18 cases of RAPN,six cases of RARN,10 cases of RANU,13 cases of RAA,and two cases of RARC+ICUD;no major intraoperative complications were observed in any of the cases using the hinotori;no major postoperative complications occurred in any of the cases;no case experienced an unrecoverable equipment error during surgery.Meanwhile,robotic surgeries using the da Vinci were performed in a total of 277 cases,comprising 126 cases of RARP,94 cases of RAPN,12 cases of RARN,10 cases of RANU,20 cases of RAA,and 15 cases of RARC+ICUD;major intraoperative complications occurred in two cases;major postoperative complications occurred in seven cases;seven cases required transfusion;one case underwent conversion to open surgery;during the study period,no case experienced an unrecoverable equipment error.Surgical outcomes for cases with the hinotori were comparable to those with the da Vinci.Conclusion:This study demonstrated that the hinotori is a safe and feasible tool for robotic surgeries in the field of urology.展开更多
The Chinese SME’s vision shows the bright side of humanoid robots:rather than replacing human workers,they are handling everyday mechanical tasks,leaving human staff to focus on improving service and emotional experi...The Chinese SME’s vision shows the bright side of humanoid robots:rather than replacing human workers,they are handling everyday mechanical tasks,leaving human staff to focus on improving service and emotional experiences.IN the Jinqiao Economic and Technological Development Zone in Pudong New Area,Shanghai,KEENON Robotics,a national-level“Little Giant”(innovative SME),is leading the transformation of the service robots industry.Amid the wave of embodied intelligence development,the humanoid service robots created by this company have become a focal point of the industry and businesses alike.展开更多
With the progress of Industry 4.0,collaborative robots(cobots) have become a key area of innovation.However,safety standards such as ISO/TS 15066 often lag behind rapid technological advances,failing to balance safety...With the progress of Industry 4.0,collaborative robots(cobots) have become a key area of innovation.However,safety standards such as ISO/TS 15066 often lag behind rapid technological advances,failing to balance safety and innovation.This paper analyzes the conflicts between standards and innovation of industrial cobots,including lag,rigidity,and safetyperformance trade-offs.It proposes flexible standards,regulatory sandboxes,and lifecycle safety approaches to align safety with technological progress.展开更多
Human life is invaluable,and timely efforts are crucial to rescue individuals trapped under debris following an earthquake.To identify opportunities for improving post-earthquake search and rescue(SAR)robotics,we get ...Human life is invaluable,and timely efforts are crucial to rescue individuals trapped under debris following an earthquake.To identify opportunities for improving post-earthquake search and rescue(SAR)robotics,we get insights through four different sources:(i)A literature review of disaster robotics and victim psychology,(ii)A public survey on earthquake awareness and their view of rescue robots,(iii)Semi-structured interviews with first responders,and(iv)Responses from GenAI chatbots which were prompted to assume the role of expert rescuers.The triangulated analysis show that there are challenges in mobility,autonomy,communication,situational awareness,and human-robot collaboration.The public respondents showed high acceptance of robot-assisted rescue and prioritised survivor detection,sensing,and communication as essential functionalities of robots.The experts expressed limitations in current equipment,the need for improved victim localisation,and interest in XR-based training and robot-assisted debris handling.The GenAI chatbots highlighted structural risk assessment,multi-sensor fusion,and supervised autonomy.Therefore,this study identifies critical robot features,outlines multi-modal interaction requirements,and highlights gaps in current SAR practice.These findings offer robot design directions for developing effective,trustworthy SAR robots,which can be integrated to future response disaster-workflows.展开更多
Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This c...Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This comprehensive review analyzes the evolution of microrobotic technologies through three critical dimensions:(1)actuation modalities,including magnetic,optical,acoustic,chemical,and biological actuation,with a focus on the synergistic advantages of hybrid actuation strategies in complex internal physiological environments;(2)Fabrication methods cover technolo-gies such as photolithography,microinjection molding,self-assembly,and 3D printing,emphasizing innovative strategies involving multi-technology integration and collaborative manufacturing of bio/non-bio hybrid materials;(3)Internal phys-iological applications involve disease diagnosis,targeted drug delivery,minimally invasive surgery,tissue engineering,and cell manipulation,highlighting the broad prospects of microrobots in precision medicine.Despite remarkable progress,critical challenges remain,including low actuation efficiency,as seen in acoustic systems,limited biocompatibility,exem-plified by the toxicity of hydrogen peroxide in chemical actuation,delayed clinical translation,and other related challenges that must be addressed to advance the field.展开更多
Background:The Da Vinci Single-Port Robotic System(Da Vinci-SP),introduced by Intuitive(CA,USA)in 2018 in the USA and in 2024 in Europe,integrates advanced features like a flexible camera and articulating instruments....Background:The Da Vinci Single-Port Robotic System(Da Vinci-SP),introduced by Intuitive(CA,USA)in 2018 in the USA and in 2024 in Europe,integrates advanced features like a flexible camera and articulating instruments.It has garnered significant interest in urology.Our report presents the first described European series of Radical Prostatectomies using the Da Vinci SP at the leading Italian center,Istituto Nazionale Tumori di Napoli,IRCCS“G.Pascale”Foundation,detailing the technical differences and challenges faced by experienced multiport robotic surgeons.Methods:Sixteen patients have been enrolled and underwent Single-Port(SP)Robot-Assisted Radical Prostatectomy(SP-RARP).Baseline characteristics of the patients were collected.We provided a step-by-step description of the surgical technique.Oncological outcomes have been evaluated and compared with magnetic resonance imaging(MRI)and biopsy results.Intraoperative,perioperative,and postoperative complications,surgical outcomes,functional outcomes,and technical issues of the new system were also documented.Results:All surgeries were successfully performed without the need for conversion.An extraperitoneal approach was used for all patients.Median Console time was 110 min.No complications were reported.The estimated median blood loss was 175 cc.Discharge from the hospital was on the first post-operative day for all patients.Bladder catheter removal was on day 7 without the need for cystography.Conclusions:We presented the first European case series of SP-RARP,reporting our experience and confirming the procedure’s feasibility for a highly experienced robotic surgeon.Experience with an extraperitoneal approach using the multiport(MP)platform,combined with well-conducted training for the SP system,may facilitate the transition to SP surgery.Further procedures and studies are needed to evaluate the oncological and functional outcomes.展开更多
Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function....Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.展开更多
Carbon Fiber Reinforced Polymer(CFRP)and aluminum stacked are widely used in aircraft assemble thanks to the high strength-to-weight ratio.Riveting is an important joining technique of stacked structure and requires d...Carbon Fiber Reinforced Polymer(CFRP)and aluminum stacked are widely used in aircraft assemble thanks to the high strength-to-weight ratio.Riveting is an important joining technique of stacked structure and requires drilling and countersinking.Robotic machining systems are gradually used in the machining of holes due to their high flexibility.However,weakly rigid stacked structure and low-stiffness industrial robot system bring about complex and diverse countersinking depth errors,which significantly affects the fatigue life of components.In this paper,the influence mechanism of ultrasonic energy on the accuracy of robotic countersinking of stacked structure is investigated.Firstly,a workpiece deformation model is established with the thinwalled plate deformation theory,defined as static error.Then,the vibration of the industrial robot is calculated from the acceleration with the frequency domain integration,defined as dynamic error.The suppression of ultrasonic energy on the two kinds of errors were elucidated,respectively.Base on this,a depth compensation model of robotic ultrasonic countersinking is established.Finally,the feasibility of the accuracy compensation is experimentally verified,and the countersinking depth error can be controlled within±0.09 mm.展开更多
In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the ...In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the locomotion of razor clams.The penetration force for extension actuators and the anchorage force for expansion actuators in dry sand with distinct relative densities were tested by differentiating input air pressure and length-to-diameter ratios(λ).On the basis of the findings,a DASR and an ECSR were developed.DASR comprised two expansion actuators as the head and the tail segments at two ends,and one extension actuator as the middle segment.ECSR was composed of an extension actuator.A method based on the force equilibrium was introduced to ascertain and adjust the geometric parameters(length of each segment)of DASR.The burrowing-out performance and efficiency of DASR and ECSR in sands with distinct relative densities were explored.The results revealed that DASR exhibited high efficiency in dense sand in terms of lower time of burrowing-out,slip-to-advancement ratio,and cost of transport.ECSR might perform better in looser sand in terms of higher average burrowing-out velocity,higher advancement in each cycle,and lower energy consumption.However,it had larger slips than DASR.DASR could realize steady advancement and net displacement in each cycle and effectively decrease slips.These findings demonstrate the benefits and usability of the dual-anchor motion and offer new insights into the application of the dual-anchor mechanism in the burrowing of robots.展开更多
Muscle cell-powered biohybrid robots represent a transformative fusion of biological tissue engineering and robotics,offering unprecedented potential for biomedical applications targeted at drug delivery,regenerative ...Muscle cell-powered biohybrid robots represent a transformative fusion of biological tissue engineering and robotics,offering unprecedented potential for biomedical applications targeted at drug delivery,regenerative medicine,bioengineered heart patches,lab-on-a-chip devices,biosensors,and soft surgical tools.This review categorizes the currently available examples and further explores advanced biofabrication techniques that drive the development of biohybrid systems,with a focus on 3D bioprinting,electrospinning,micro/nano patterning,self-assembly,and microfluidic devices.These fabrication strategies facilitate precise cell alignment,enhance electrical and mechanical properties,and enable the seamless integration of biological components with engineered structures.By incorporating both cardiomyocytes and skeletal muscle cells,biohybrid robots achieve controlled actuation,autonomous movement,and adaptability to environmental stimuli.Furthermore,we discuss the latest optimization strategies in biofabrication,addressing key challenges such as scalability,biocompatibility,and functional integration.Biohybrid robots,including swimmers,actuators,and pumps,enable targeted drug delivery,assistive devices,and fluid transport in engineered tissues.Their integration with biological systems advances regenerative medicine,disease modeling,drug screening,and soft robotics.This review provides a comprehensive perspective on the state-of-the-art advancements and potential optimization in the fabrication techniques,paving the way for the next generation of biohybrid robotic systems.展开更多
Objective:Robotic colorectal surgery(RCS)provides a stable,magnifiedthree-dimensional visual field and enhanced ergonomics enabling precise dissection and tremor suppression.We postulate that this technique is associa...Objective:Robotic colorectal surgery(RCS)provides a stable,magnifiedthree-dimensional visual field and enhanced ergonomics enabling precise dissection and tremor suppression.We postulate that this technique is associated with less tissue trauma and improved postoperative outcomes than laparoscopic colorectal surgery(LCS).This study aimed to explore the inflammatoryresponse following RCS by measuring postoperative C-reactive protein(CRP)levels and compare them with LCS data reported in the literature.Methods:This single centre retrospective study included consecutive elective robotic colon and rectum resections via the da Vinci®Xi platform for benign and malignant colorectal tumours,performed by a single surgeon between January 2017 and December 2023 at the Sydney Adventist Hospital,Sydney.CRP values were measured on post-operative days(PODs)3 and 5.A narrative review of the literature was performed via EMBASE,MEDLINE via PubMed and Google Scholar from inception to December 2024 for comparative CRP values following LCS.Descriptive statistical comparisons were performed between the RCS and LCS.Results:One hundred ninety-three patients were identifiedin the RCS cohort.The median age was 73 y(range:62–83 y).Most colectomies were performed for adenocarcinoma(90.2%),with right hemicolectomy being the most common type of procedure(49.3%).The median CRP levels on PODs 3 and 5 were 83.10 mg/L(IQR:49.80–124.12 mg/L)and 26.20 mg/L(IQR:17.70–80.00 mg/L),respectively.The reported CRP after LCS was heterogeneous,with mean POD 3 values ranging from 69 mg/L to 99.5 mg/L,and mean POD 4–5 values ranging from 62.4 mg/L to 72.85 mg/L.Conclusions:There were similar,if not lower,POD 3 and 5 CRP values,suggesting that RCS was probably non-inferior to LCS regarding postoperative tissue trauma.In particular,there appeared to be a quicker recovery of the inflammatory response with RCS.展开更多
This paper presents an intelligent patrol and security robot integrating 2D LiDAR and RGB-D vision sensors to achieve semantic simultaneous localization and mapping(SLAM),real-time object recognition,and dynamic obsta...This paper presents an intelligent patrol and security robot integrating 2D LiDAR and RGB-D vision sensors to achieve semantic simultaneous localization and mapping(SLAM),real-time object recognition,and dynamic obstacle avoidance.The system employs the YOLOv7 deep-learning framework for semantic detection and SLAM for localization and mapping,fusing geometric and visual data to build a high-fidelity 2D semantic map.This map enables the robot to identify and project object information for improved situational awareness.Experimental results show that object recognition reached 95.4%mAP@0.5.Semantic completeness increased from 68.7%(single view)to 94.1%(multi-view)with an average position error of 3.1 cm.During navigation,the robot achieved 98.0%reliability,avoided moving obstacles in 90.0%of encounters,and replanned paths in 0.42 s on average.The integration of LiDAR-based SLAMwith deep-learning–driven semantic perception establishes a robust foundation for intelligent,adaptive,and safe robotic navigation in dynamic environments.展开更多
Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of...Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of conducting full-scale fall experiments on robots or their surrogates remain somewhat limited.This paper proposes a method for optimizing the thickness of Expandable Polyethylene(EPE),which is used as back protection for the Chubao humanoid robot,based on small-scale impact test data to predict full-scale behavior.The optimal thickness is defined as a balance between compact design and protective effectiveness.An equivalent impact model characterized by four parameters:contact area S,mass m,fall height h,and cushioning material thickness d is introduced to describe impact conditions.The relationship between the peak impact acceleration ap and material thickness d,which forms the core of the method and gives rise to the name AP-D,is analyzed through their plotted curves.After introducing three characteristic parameters and two correction fac-tors,the relationship among the aforementioned variables is derived.Subsequently,both the optimal thickness do and its corresponding peak impact acceleration aop are predicted via nonlinear and linear regression models.Finally,the accuracy and effectiveness of the theoretically derived optimal thickness are validated on both a dummy and the actual robot.With the cushioning material applied,the peak chest acceleration is reduced to 41.57g for the dummy and 32.08g for the robot.展开更多
How to substitute the human operator with a robot in various assembly tasks has to be taken into full con-sideration in intelligent manufacturing.Autonomous robotic assembly not only brings with high working effi-cien...How to substitute the human operator with a robot in various assembly tasks has to be taken into full con-sideration in intelligent manufacturing.Autonomous robotic assembly not only brings with high working effi-ciency,better product quality and low labor cost,but also helps relieve the increasingly severe problem of population aging.However,numerous existing challenges still prevent its wide applications when a robot is assigned to finish general tasks in unstructured environment.In order to provide a fundamental understanding of the various problems involved in robotic assembly,this paper carries out a review on its recent progress and challenges with 5 key technologies focused on:perception,end-effectors,control methods,learning methods and performance evaluation.Main works in these fields are reviewed and their characteristics are analyzed while typical assembly scenarios are covered.The challenges and future directions in robotic assembly are also dis-cussed on precise perception,robotic hand,error recovery and collaborative robot.In addition to providing a systematic summarization of the required key technologies,this work is aimed at motivating more potential researches in the community of robotics,artificial intelligence,and automation engineering.展开更多
Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road saf...Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road safety:police robots capable of moving autonomously and interacting with passengers.Deployed on a trial basis on 2 February,these robots quickly demonstrated their usefulness in various urban settings.展开更多
The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varyi...The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varying degrees of degradation and damage to the main cable,necessitating regular inspections to prevent catastrophic failures.Traditional manual inspection methods not only suffer from low efficiency but also pose significant safety risks to personnel.To address these challenges and ensure the safe and effective inspection of suspension bridge main cables,this study introduces a novel cooperative climbing robot,designated as Main Cable Robot Version II(CCRobot-M-II),inspired by the locomotion of the inchworm.The robot employs an alternating opening and closing mechanism of four gripper sets,mimicking the inchworm's movement to achieve efficient crawling along the suspension bridge handrails.This paper provides a comprehensive analysis of the structural design,key components,and motion mechanisms of CCRobot-M-II.A detailed force analysis of the robot's crawling process is also presented,followed by the design of the control system and the development of an efficient motion control algorithm.Laboratory experiments demonstrate that the robot achieves a positional error of 00.64%during crawling,with a maximum average crawling speed of 7.6 m/min.Furthermore,the biomimetic design enables the robot to overcome obstacles up to 30 mm in height and possess the capability to handle suspension bridge cables with spans ranging from 740 to 1100 mm.Finally,CCRobot-M-II successfully conducted an inspection of the main cable on a suspension bridge,marking the world's first successful deployment of a climbing robot for main cable inspection on a suspension bridge.展开更多
Parallel machining robot is a new type of robotized equipment for high-efficiency machining structural com-ponents with complex geometries.Terminal rigidity is of great importance index for such type of equipment,whic...Parallel machining robot is a new type of robotized equipment for high-efficiency machining structural com-ponents with complex geometries.Terminal rigidity is of great importance index for such type of equipment,which affects their load capacity and working accuracy.Before a parallel machining robot can be used for heavy-load and high-efficiency machining,its terminal rigidity should be evaluated systematically.The present study is to quantitatively reveal the stiffness properties of a previously invented Z4 redundantly actuated parallel ma-chining robot(RAPMR).For this purpose,two critical issues,i.e.,stiffness modelling and index construction,are clarified to carry out stiffness evaluation of the Z4 RAPMR.Firstly,drawing on the screw theory,a semi-analytic stiffness model of the proposed RAPMR is established at a component level.Secondly,a set of virtual work-based stiffness indices is constructed to evaluate the terminal rigidity of parallel robots.Those indices have a consistent physical unit in describing linear and angular terminal rigidity.With these indices,the local and the global stiffness performance of the Z4 RAPMR are predicted.Thirdly,a laboratory prototype of the proposed RAPMR is fabricated.And the experimental test is performed to verify the correctness of the established stiffness model.The present work is expected to provide fundamental information for further light-weight design and rigidity enhancement.展开更多
基金supported in part by the National Natural Science Foundation of China under grant 52175556the Macao Science and Technology Development Fund under grant 0004/2022/AKP,0102/2022/A2,and 0078/2023/RIB3+1 种基金the Research Committee of the University of Macao under grants MYRG2022-00068-FST and MYRG-CRG202200004-FST-ICIthe Guangdong Basic and Applied Basic Research Foundation under grant 2023A1515011178。
文摘In recent years,the rising incidence of gastrointestinal(GI)cancer has triggered an urgent need for effective early intervention strategies.Traditional endoscopic techniques often cause patient discomfort,and it is difficult to navigate deep regions of complex organ structures.This work proposes a kind of bio-inspired magnetic soft robot(BMSR)to address these challenges.The design of the BMSRs is inspired by the rolling motion of the golden wheel spider.Two six-degree-of-freedom(6-DOF)robotic arms are used,where one arm is responsible for real-time manipulation of the BMSRs,and the other is dedicated to monitoring their status.Under the actuation of an external rotating magnetic field,the BMSRs can flexibly climb on inclined surfaces at any angle,involving the inverted surface.Through the powerful output force,the BMSRs can overcome the mobility barrier induced by different human organs,including mucus,folds,and height differences of up to 8 cm.Such an exceptional mobility enables the BMSRs to deliver drugs in the targeted complex GI environment.Moreover,in combination with an endoscope,it provides real-time visual feedback for precise navigation.In vitro animal experiments validate the feasibility of BMSRs,paving a way for their usage in minimally invasive GI treatment.This work advances the potential applications of magnetic soft robots in the biomedical field.
文摘Objective:To assess the safety and effectiveness of urological tumor surgeries using the hinotori^(TM)Surgical Robot System(hinotori)in a real-world clinical setting.Methods:All surgeries including robot-assisted radical prostatectomy(RARP),robot-assisted partial nephrectomy(RAPN),robot-assisted radical nephrectomy(RARN),robot-assisted nephroureterectomy(RANU),robot-assisted adrenalectomy(RAA),and robot-assisted radical cystectomy with intracorporeal urinary diversion(RARC+ICUD)for urological tumors with the hinotori and da Vinci surgical system(da Vinci)from January 2022 to September 2023 were enrolled.We evaluated the safety and effectiveness of surgeries using the hinotori compared with those using the da Vinci.Results:Robotic surgeries using the hinotori were performed in a total of 91 cases,comprising 42 cases of RARP,18 cases of RAPN,six cases of RARN,10 cases of RANU,13 cases of RAA,and two cases of RARC+ICUD;no major intraoperative complications were observed in any of the cases using the hinotori;no major postoperative complications occurred in any of the cases;no case experienced an unrecoverable equipment error during surgery.Meanwhile,robotic surgeries using the da Vinci were performed in a total of 277 cases,comprising 126 cases of RARP,94 cases of RAPN,12 cases of RARN,10 cases of RANU,20 cases of RAA,and 15 cases of RARC+ICUD;major intraoperative complications occurred in two cases;major postoperative complications occurred in seven cases;seven cases required transfusion;one case underwent conversion to open surgery;during the study period,no case experienced an unrecoverable equipment error.Surgical outcomes for cases with the hinotori were comparable to those with the da Vinci.Conclusion:This study demonstrated that the hinotori is a safe and feasible tool for robotic surgeries in the field of urology.
文摘The Chinese SME’s vision shows the bright side of humanoid robots:rather than replacing human workers,they are handling everyday mechanical tasks,leaving human staff to focus on improving service and emotional experiences.IN the Jinqiao Economic and Technological Development Zone in Pudong New Area,Shanghai,KEENON Robotics,a national-level“Little Giant”(innovative SME),is leading the transformation of the service robots industry.Amid the wave of embodied intelligence development,the humanoid service robots created by this company have become a focal point of the industry and businesses alike.
文摘With the progress of Industry 4.0,collaborative robots(cobots) have become a key area of innovation.However,safety standards such as ISO/TS 15066 often lag behind rapid technological advances,failing to balance safety and innovation.This paper analyzes the conflicts between standards and innovation of industrial cobots,including lag,rigidity,and safetyperformance trade-offs.It proposes flexible standards,regulatory sandboxes,and lifecycle safety approaches to align safety with technological progress.
文摘Human life is invaluable,and timely efforts are crucial to rescue individuals trapped under debris following an earthquake.To identify opportunities for improving post-earthquake search and rescue(SAR)robotics,we get insights through four different sources:(i)A literature review of disaster robotics and victim psychology,(ii)A public survey on earthquake awareness and their view of rescue robots,(iii)Semi-structured interviews with first responders,and(iv)Responses from GenAI chatbots which were prompted to assume the role of expert rescuers.The triangulated analysis show that there are challenges in mobility,autonomy,communication,situational awareness,and human-robot collaboration.The public respondents showed high acceptance of robot-assisted rescue and prioritised survivor detection,sensing,and communication as essential functionalities of robots.The experts expressed limitations in current equipment,the need for improved victim localisation,and interest in XR-based training and robot-assisted debris handling.The GenAI chatbots highlighted structural risk assessment,multi-sensor fusion,and supervised autonomy.Therefore,this study identifies critical robot features,outlines multi-modal interaction requirements,and highlights gaps in current SAR practice.These findings offer robot design directions for developing effective,trustworthy SAR robots,which can be integrated to future response disaster-workflows.
基金National Natural Science Foundation of China(Grant No.61903157)the Foundation of State Key Laboratory of Robotics(Grand No.2024-O08).
文摘Microrobotic systems are emerging as transformative technology for minimally invasive medicine,driven by innovations in actuation mechanisms,advanced fabrication paradigms,and multifunctional system integration.This comprehensive review analyzes the evolution of microrobotic technologies through three critical dimensions:(1)actuation modalities,including magnetic,optical,acoustic,chemical,and biological actuation,with a focus on the synergistic advantages of hybrid actuation strategies in complex internal physiological environments;(2)Fabrication methods cover technolo-gies such as photolithography,microinjection molding,self-assembly,and 3D printing,emphasizing innovative strategies involving multi-technology integration and collaborative manufacturing of bio/non-bio hybrid materials;(3)Internal phys-iological applications involve disease diagnosis,targeted drug delivery,minimally invasive surgery,tissue engineering,and cell manipulation,highlighting the broad prospects of microrobots in precision medicine.Despite remarkable progress,critical challenges remain,including low actuation efficiency,as seen in acoustic systems,limited biocompatibility,exem-plified by the toxicity of hydrogen peroxide in chemical actuation,delayed clinical translation,and other related challenges that must be addressed to advance the field.
文摘Background:The Da Vinci Single-Port Robotic System(Da Vinci-SP),introduced by Intuitive(CA,USA)in 2018 in the USA and in 2024 in Europe,integrates advanced features like a flexible camera and articulating instruments.It has garnered significant interest in urology.Our report presents the first described European series of Radical Prostatectomies using the Da Vinci SP at the leading Italian center,Istituto Nazionale Tumori di Napoli,IRCCS“G.Pascale”Foundation,detailing the technical differences and challenges faced by experienced multiport robotic surgeons.Methods:Sixteen patients have been enrolled and underwent Single-Port(SP)Robot-Assisted Radical Prostatectomy(SP-RARP).Baseline characteristics of the patients were collected.We provided a step-by-step description of the surgical technique.Oncological outcomes have been evaluated and compared with magnetic resonance imaging(MRI)and biopsy results.Intraoperative,perioperative,and postoperative complications,surgical outcomes,functional outcomes,and technical issues of the new system were also documented.Results:All surgeries were successfully performed without the need for conversion.An extraperitoneal approach was used for all patients.Median Console time was 110 min.No complications were reported.The estimated median blood loss was 175 cc.Discharge from the hospital was on the first post-operative day for all patients.Bladder catheter removal was on day 7 without the need for cystography.Conclusions:We presented the first European case series of SP-RARP,reporting our experience and confirming the procedure’s feasibility for a highly experienced robotic surgeon.Experience with an extraperitoneal approach using the multiport(MP)platform,combined with well-conducted training for the SP system,may facilitate the transition to SP surgery.Further procedures and studies are needed to evaluate the oncological and functional outcomes.
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
基金the National Natural Science Foundation of China[62525301,62127811,62433019]the New Cornerstone Science Foundation through the XPLORER PRIZEthe financial support by the China Postdoctoral Science Foundation[GZB20240797].
文摘Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.
基金co-supported by the National Key Research and Development Program of China(No.2024YFB4711201)National Natural Science Foundation of China(Nos.U22A20204,52305472)。
文摘Carbon Fiber Reinforced Polymer(CFRP)and aluminum stacked are widely used in aircraft assemble thanks to the high strength-to-weight ratio.Riveting is an important joining technique of stacked structure and requires drilling and countersinking.Robotic machining systems are gradually used in the machining of holes due to their high flexibility.However,weakly rigid stacked structure and low-stiffness industrial robot system bring about complex and diverse countersinking depth errors,which significantly affects the fatigue life of components.In this paper,the influence mechanism of ultrasonic energy on the accuracy of robotic countersinking of stacked structure is investigated.Firstly,a workpiece deformation model is established with the thinwalled plate deformation theory,defined as static error.Then,the vibration of the industrial robot is calculated from the acceleration with the frequency domain integration,defined as dynamic error.The suppression of ultrasonic energy on the two kinds of errors were elucidated,respectively.Base on this,a depth compensation model of robotic ultrasonic countersinking is established.Finally,the feasibility of the accuracy compensation is experimentally verified,and the countersinking depth error can be controlled within±0.09 mm.
基金financially supported by the Natural Science Foundation of Jiangsu Province,China(No.BK 20221502)the National Natural Science Foundation of China(No.42477147)。
文摘In this research,a comparative analysis was conducted on the performance and efficiency of the dual-anchor soft robot(DASR)and the extension-contraction soft robot(ECSR).These robots were constructed by imitating the locomotion of razor clams.The penetration force for extension actuators and the anchorage force for expansion actuators in dry sand with distinct relative densities were tested by differentiating input air pressure and length-to-diameter ratios(λ).On the basis of the findings,a DASR and an ECSR were developed.DASR comprised two expansion actuators as the head and the tail segments at two ends,and one extension actuator as the middle segment.ECSR was composed of an extension actuator.A method based on the force equilibrium was introduced to ascertain and adjust the geometric parameters(length of each segment)of DASR.The burrowing-out performance and efficiency of DASR and ECSR in sands with distinct relative densities were explored.The results revealed that DASR exhibited high efficiency in dense sand in terms of lower time of burrowing-out,slip-to-advancement ratio,and cost of transport.ECSR might perform better in looser sand in terms of higher average burrowing-out velocity,higher advancement in each cycle,and lower energy consumption.However,it had larger slips than DASR.DASR could realize steady advancement and net displacement in each cycle and effectively decrease slips.These findings demonstrate the benefits and usability of the dual-anchor motion and offer new insights into the application of the dual-anchor mechanism in the burrowing of robots.
基金funded by the National Institutes of Health(R01AR077132)AHA collaborative award(944227)supported by Marie-Curie post-doctoral fellowship awarded by European Commission(GAP-101109659)。
文摘Muscle cell-powered biohybrid robots represent a transformative fusion of biological tissue engineering and robotics,offering unprecedented potential for biomedical applications targeted at drug delivery,regenerative medicine,bioengineered heart patches,lab-on-a-chip devices,biosensors,and soft surgical tools.This review categorizes the currently available examples and further explores advanced biofabrication techniques that drive the development of biohybrid systems,with a focus on 3D bioprinting,electrospinning,micro/nano patterning,self-assembly,and microfluidic devices.These fabrication strategies facilitate precise cell alignment,enhance electrical and mechanical properties,and enable the seamless integration of biological components with engineered structures.By incorporating both cardiomyocytes and skeletal muscle cells,biohybrid robots achieve controlled actuation,autonomous movement,and adaptability to environmental stimuli.Furthermore,we discuss the latest optimization strategies in biofabrication,addressing key challenges such as scalability,biocompatibility,and functional integration.Biohybrid robots,including swimmers,actuators,and pumps,enable targeted drug delivery,assistive devices,and fluid transport in engineered tissues.Their integration with biological systems advances regenerative medicine,disease modeling,drug screening,and soft robotics.This review provides a comprehensive perspective on the state-of-the-art advancements and potential optimization in the fabrication techniques,paving the way for the next generation of biohybrid robotic systems.
文摘Objective:Robotic colorectal surgery(RCS)provides a stable,magnifiedthree-dimensional visual field and enhanced ergonomics enabling precise dissection and tremor suppression.We postulate that this technique is associated with less tissue trauma and improved postoperative outcomes than laparoscopic colorectal surgery(LCS).This study aimed to explore the inflammatoryresponse following RCS by measuring postoperative C-reactive protein(CRP)levels and compare them with LCS data reported in the literature.Methods:This single centre retrospective study included consecutive elective robotic colon and rectum resections via the da Vinci®Xi platform for benign and malignant colorectal tumours,performed by a single surgeon between January 2017 and December 2023 at the Sydney Adventist Hospital,Sydney.CRP values were measured on post-operative days(PODs)3 and 5.A narrative review of the literature was performed via EMBASE,MEDLINE via PubMed and Google Scholar from inception to December 2024 for comparative CRP values following LCS.Descriptive statistical comparisons were performed between the RCS and LCS.Results:One hundred ninety-three patients were identifiedin the RCS cohort.The median age was 73 y(range:62–83 y).Most colectomies were performed for adenocarcinoma(90.2%),with right hemicolectomy being the most common type of procedure(49.3%).The median CRP levels on PODs 3 and 5 were 83.10 mg/L(IQR:49.80–124.12 mg/L)and 26.20 mg/L(IQR:17.70–80.00 mg/L),respectively.The reported CRP after LCS was heterogeneous,with mean POD 3 values ranging from 69 mg/L to 99.5 mg/L,and mean POD 4–5 values ranging from 62.4 mg/L to 72.85 mg/L.Conclusions:There were similar,if not lower,POD 3 and 5 CRP values,suggesting that RCS was probably non-inferior to LCS regarding postoperative tissue trauma.In particular,there appeared to be a quicker recovery of the inflammatory response with RCS.
基金supported by the National Science and Technology Council of under Grant NSTC 114-2221-E-130-007.
文摘This paper presents an intelligent patrol and security robot integrating 2D LiDAR and RGB-D vision sensors to achieve semantic simultaneous localization and mapping(SLAM),real-time object recognition,and dynamic obstacle avoidance.The system employs the YOLOv7 deep-learning framework for semantic detection and SLAM for localization and mapping,fusing geometric and visual data to build a high-fidelity 2D semantic map.This map enables the robot to identify and project object information for improved situational awareness.Experimental results show that object recognition reached 95.4%mAP@0.5.Semantic completeness increased from 68.7%(single view)to 94.1%(multi-view)with an average position error of 3.1 cm.During navigation,the robot achieved 98.0%reliability,avoided moving obstacles in 90.0%of encounters,and replanned paths in 0.42 s on average.The integration of LiDAR-based SLAMwith deep-learning–driven semantic perception establishes a robust foundation for intelligent,adaptive,and safe robotic navigation in dynamic environments.
基金Natural Science Foundation of Beijing Municipality under Grant L243004the National Natural Science Foundation of China under Grant 62403060.
文摘Protective hardware is essential for mitigating damage caused by unavoidable falls in humanoid robots.Despite notable progress in fall protection hardware,the theoretical foundation for modeling and the feasibility of conducting full-scale fall experiments on robots or their surrogates remain somewhat limited.This paper proposes a method for optimizing the thickness of Expandable Polyethylene(EPE),which is used as back protection for the Chubao humanoid robot,based on small-scale impact test data to predict full-scale behavior.The optimal thickness is defined as a balance between compact design and protective effectiveness.An equivalent impact model characterized by four parameters:contact area S,mass m,fall height h,and cushioning material thickness d is introduced to describe impact conditions.The relationship between the peak impact acceleration ap and material thickness d,which forms the core of the method and gives rise to the name AP-D,is analyzed through their plotted curves.After introducing three characteristic parameters and two correction fac-tors,the relationship among the aforementioned variables is derived.Subsequently,both the optimal thickness do and its corresponding peak impact acceleration aop are predicted via nonlinear and linear regression models.Finally,the accuracy and effectiveness of the theoretically derived optimal thickness are validated on both a dummy and the actual robot.With the cushioning material applied,the peak chest acceleration is reduced to 41.57g for the dummy and 32.08g for the robot.
基金Supported by National Natural Science Foundation of China(Grant No.52205009)Open Foundation of State Key Laboratory of Mechanical Transmission for Advanced Equipment of Chongqing University of China(Grant No.SKLMT-MSKFKT-202307)Taihu Lake Innovation Fund for the School of Future Technology of Southeast University of China.
文摘How to substitute the human operator with a robot in various assembly tasks has to be taken into full con-sideration in intelligent manufacturing.Autonomous robotic assembly not only brings with high working effi-ciency,better product quality and low labor cost,but also helps relieve the increasingly severe problem of population aging.However,numerous existing challenges still prevent its wide applications when a robot is assigned to finish general tasks in unstructured environment.In order to provide a fundamental understanding of the various problems involved in robotic assembly,this paper carries out a review on its recent progress and challenges with 5 key technologies focused on:perception,end-effectors,control methods,learning methods and performance evaluation.Main works in these fields are reviewed and their characteristics are analyzed while typical assembly scenarios are covered.The challenges and future directions in robotic assembly are also dis-cussed on precise perception,robotic hand,error recovery and collaborative robot.In addition to providing a systematic summarization of the required key technologies,this work is aimed at motivating more potential researches in the community of robotics,artificial intelligence,and automation engineering.
文摘Embodied intelligence is redefining policing On the first day of 2026 chunyun,a period of high mobility associated with the Chinese New Year,the city of Jingzhou in Hubei Province welcomed new participants in road safety:police robots capable of moving autonomously and interacting with passengers.Deployed on a trial basis on 2 February,these robots quickly demonstrated their usefulness in various urban settings.
基金Shenzhen Science and Technology Program(Grant No.20220817171811004)(Grant No.RCBS20231211090816033)+4 种基金the Major Key Project of PCL,China under Grant PCL2025A13Longgang District,Shenzhen's"Ten-Action Plan"for Supporting Innovation Projects(Grant No.LGKCSDPT2024002,LGKCSDPT2024003,LGKCSDPT2024004)the"Zhiguo"Action of Guangxi Science and Technology Program(Grant No.ZG2503980003)Guangdong S&T Program under(Grant No.2025B0909040003)Guangdong Provincial Leading Talent Program(Grant No.2024TX08Z319).
文摘The main cable is the primary load-bearing component of a suspension bridge,continuously exposed to harsh environmental conditions,such as wind and rain,throughout the year.These adverse conditions contribute to varying degrees of degradation and damage to the main cable,necessitating regular inspections to prevent catastrophic failures.Traditional manual inspection methods not only suffer from low efficiency but also pose significant safety risks to personnel.To address these challenges and ensure the safe and effective inspection of suspension bridge main cables,this study introduces a novel cooperative climbing robot,designated as Main Cable Robot Version II(CCRobot-M-II),inspired by the locomotion of the inchworm.The robot employs an alternating opening and closing mechanism of four gripper sets,mimicking the inchworm's movement to achieve efficient crawling along the suspension bridge handrails.This paper provides a comprehensive analysis of the structural design,key components,and motion mechanisms of CCRobot-M-II.A detailed force analysis of the robot's crawling process is also presented,followed by the design of the control system and the development of an efficient motion control algorithm.Laboratory experiments demonstrate that the robot achieves a positional error of 00.64%during crawling,with a maximum average crawling speed of 7.6 m/min.Furthermore,the biomimetic design enables the robot to overcome obstacles up to 30 mm in height and possess the capability to handle suspension bridge cables with spans ranging from 740 to 1100 mm.Finally,CCRobot-M-II successfully conducted an inspection of the main cable on a suspension bridge,marking the world's first successful deployment of a climbing robot for main cable inspection on a suspension bridge.
基金Supported by National Natural Science Foundation of China(Grant No.52375009)Fujian Provincial Young and Middle-Aged Teacher Education Research Project of China(Grant No.JAT220029).
文摘Parallel machining robot is a new type of robotized equipment for high-efficiency machining structural com-ponents with complex geometries.Terminal rigidity is of great importance index for such type of equipment,which affects their load capacity and working accuracy.Before a parallel machining robot can be used for heavy-load and high-efficiency machining,its terminal rigidity should be evaluated systematically.The present study is to quantitatively reveal the stiffness properties of a previously invented Z4 redundantly actuated parallel ma-chining robot(RAPMR).For this purpose,two critical issues,i.e.,stiffness modelling and index construction,are clarified to carry out stiffness evaluation of the Z4 RAPMR.Firstly,drawing on the screw theory,a semi-analytic stiffness model of the proposed RAPMR is established at a component level.Secondly,a set of virtual work-based stiffness indices is constructed to evaluate the terminal rigidity of parallel robots.Those indices have a consistent physical unit in describing linear and angular terminal rigidity.With these indices,the local and the global stiffness performance of the Z4 RAPMR are predicted.Thirdly,a laboratory prototype of the proposed RAPMR is fabricated.And the experimental test is performed to verify the correctness of the established stiffness model.The present work is expected to provide fundamental information for further light-weight design and rigidity enhancement.
