1.Introduction Due to the continuous progress in surgical methodologies and the swift evolution of surgical tools,minimally invasive procedures have emerged as the dominant approach in urologic oncology surgeries.Nota...1.Introduction Due to the continuous progress in surgical methodologies and the swift evolution of surgical tools,minimally invasive procedures have emerged as the dominant approach in urologic oncology surgeries.Notably,robot-assisted surgery(RAS)has led to its extensive adoption in the surgical management of urinary system tumors due to its enhanced maneuverability,precision in suturing,and anastomotic capabilities.展开更多
A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinema...A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equat!ons of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFP＇s 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC ＋ ＋. Test results have indicated that this system can perform RFP＇s kinematics simulation in virtual environment. It can also imitate RFP＇s motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operator＇s vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFP＇s teleoperation with vision telepresence.展开更多
The development of artificial intelligence technology has promoted the rapid improvement of human-computer interaction. This system uses the Kinect visual image sensor to identify human bone data and complete the reco...The development of artificial intelligence technology has promoted the rapid improvement of human-computer interaction. This system uses the Kinect visual image sensor to identify human bone data and complete the recognition of the operator’s movements. Through the filtering process of real-time data by the host computer platform with computer software as the core, the algorithm is programmed to realize the conversion from data to control signals. The system transmits the signal to the lower computer platform with Arduino as the core through the transmission mode of the serial communication, thereby completing the control of the steering gear. In order to verify the feasibility of the theory, the team built a 4-DOF robotic arm control system and completed software development. It can display other functions such as the current bone angle and motion status in real time on the computer operation interface. The experimental data shows that the Kinect-based motion recognition method can effectively complete the tracking of the expected motion and complete the grasping and transfer of the specified objects, which has extremely high operability.展开更多
Colon cancer has the fifth highest incidence worldwide and has the sixth highest mortality.Compared with rectal cancer,colon cancer currently has the worst 5-year overall survival for patients with stage Ⅱ and Ⅲ dis...Colon cancer has the fifth highest incidence worldwide and has the sixth highest mortality.Compared with rectal cancer,colon cancer currently has the worst 5-year overall survival for patients with stage Ⅱ and Ⅲ disease.Complete mesocolic excision has been developed as a standardized and optimized surgical technique for the excision of colon cancers.This technique has traditionally been performed through an open approach since laparoscopy is generally considered technically challenging.The robotic approach has been slowly implemented for colon cancer,but the newest robotic platforms allow for a safer and optimized approach for right colon cancer.Several robotic approaches have been developed and explored.The expansion of the current robotic platform ecosystem is gradually providing new outputs in the application of the robotic approach to complete mesocolic excision.This review gains an oversight of existing literature on robotic complete mesocolic excision for right colon cancer(learning curve,training,techniques,approach,platforms,and future perspectives).展开更多
This paper proposes a method of humanoid robot data structure definition based on the characteristics of a graph with tree structure. It applies the depth-first search algorithm to traverse and uses screw theory and c...This paper proposes a method of humanoid robot data structure definition based on the characteristics of a graph with tree structure. It applies the depth-first search algorithm to traverse and uses screw theory and chain of multiplication to describe the robot＇s postures. The platform references zero moment point theory as the stability constraint of the robot＇s dynamic walking and plans the gaits accordingly, h also realizes the visualization of motion control. This study provides superior means and methods to the evolution of a humanoid robot.展开更多
Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physica...Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.展开更多
The intrinsic pressure framework,which treats self-propelling force as an external force,provides a convenient and consistent description of mechanical equilibrium in active matter.However,direct experimental evidence...The intrinsic pressure framework,which treats self-propelling force as an external force,provides a convenient and consistent description of mechanical equilibrium in active matter.However,direct experimental evidence is still lacking.To validate this framework,here we employ a programmable robotic platform,where a single light-controlled wheeled robot travels in an activity landscape.Our experiments quantitatively demonstrate that the intrinsic pressure difference across the activity interface is balanced by the emerged polarization force.This result unambiguously confirms the theoretical predictions,thus validating the intrinsic pressure framework and laying the experimental foundation for the intrinsic pressure-based mechanical description of dry active matter.展开更多
Natural orifice translumenal endoscopic surgery(NOTES) is the integration of laparoscopic minimally invasive surgery techniques with endoscopic technology.Despite the advances in NOTES technology,the approach presents...Natural orifice translumenal endoscopic surgery(NOTES) is the integration of laparoscopic minimally invasive surgery techniques with endoscopic technology.Despite the advances in NOTES technology,the approach presents several unique instrumentation and techniquespecific challenges.Current ? exible endoscopy platforms for NOTES have several drawbacks including limited stability,triangulation and dexterity,and lack of adequate visualization,suggesting the need for new and improved instrumentation for this approach.Much of the current focus is on the development of flexible endoscopy platforms that incorporate robotic technology.An alternative approach to access the abdominal viscera for either a laparoscopic or NOTES procedure is the use of small robotic devices that can be implanted in an intracorporeal manner.Multiple,independent,miniature robots can be simultaneously inserted into the abdominal cavity to provide a robotic platform for NOTES surgery.The capabilities of the robots include imaging,retraction,tissue and organ manipulation,and precise maneuverability in the abdominal cavity.Such a platform affords several advantages including enhanced visualization,better surgical dexterity and improved triangulation for NOTES.This review discusses the current status and future perspectives of this novel miniature robotics platform for the NOTES approach.Although these technologies are still in pre-clinical development,a miniature robotics platform provides a unique method for addressing the limitations of minimally invasive surgery,and NOTES in particular.展开更多
基金supported by grants from the National Natural Science Foundation of China(No.82172741 to Ye D)Shanghai Municipal Health Bureau(No.2020CXJQ03 to Ye D)Xuhui District Hospital Local Cooperation Project(No.23XHYD-14 to Ye D).
文摘1.Introduction Due to the continuous progress in surgical methodologies and the swift evolution of surgical tools,minimally invasive procedures have emerged as the dominant approach in urologic oncology surgeries.Notably,robot-assisted surgery(RAS)has led to its extensive adoption in the surgical management of urinary system tumors due to its enhanced maneuverability,precision in suturing,and anastomotic capabilities.
基金Sponsored by Independent Research Projects of State Key Laboratory (ZDKT08-05)
文摘A method of 3 D kinematics simulation of robot fighting platform （RFP） in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equat!ons of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFP＇s 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC ＋ ＋. Test results have indicated that this system can perform RFP＇s kinematics simulation in virtual environment. It can also imitate RFP＇s motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operator＇s vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFP＇s teleoperation with vision telepresence.
文摘The development of artificial intelligence technology has promoted the rapid improvement of human-computer interaction. This system uses the Kinect visual image sensor to identify human bone data and complete the recognition of the operator’s movements. Through the filtering process of real-time data by the host computer platform with computer software as the core, the algorithm is programmed to realize the conversion from data to control signals. The system transmits the signal to the lower computer platform with Arduino as the core through the transmission mode of the serial communication, thereby completing the control of the steering gear. In order to verify the feasibility of the theory, the team built a 4-DOF robotic arm control system and completed software development. It can display other functions such as the current bone angle and motion status in real time on the computer operation interface. The experimental data shows that the Kinect-based motion recognition method can effectively complete the tracking of the expected motion and complete the grasping and transfer of the specified objects, which has extremely high operability.
文摘Colon cancer has the fifth highest incidence worldwide and has the sixth highest mortality.Compared with rectal cancer,colon cancer currently has the worst 5-year overall survival for patients with stage Ⅱ and Ⅲ disease.Complete mesocolic excision has been developed as a standardized and optimized surgical technique for the excision of colon cancers.This technique has traditionally been performed through an open approach since laparoscopy is generally considered technically challenging.The robotic approach has been slowly implemented for colon cancer,but the newest robotic platforms allow for a safer and optimized approach for right colon cancer.Several robotic approaches have been developed and explored.The expansion of the current robotic platform ecosystem is gradually providing new outputs in the application of the robotic approach to complete mesocolic excision.This review gains an oversight of existing literature on robotic complete mesocolic excision for right colon cancer(learning curve,training,techniques,approach,platforms,and future perspectives).
文摘This paper proposes a method of humanoid robot data structure definition based on the characteristics of a graph with tree structure. It applies the depth-first search algorithm to traverse and uses screw theory and chain of multiplication to describe the robot＇s postures. The platform references zero moment point theory as the stability constraint of the robot＇s dynamic walking and plans the gaits accordingly, h also realizes the visualization of motion control. This study provides superior means and methods to the evolution of a humanoid robot.
文摘Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.
基金supported by the National Natural Science Foundation of China (Grant Nos.T2325027,12274448,T2350007,12404239,12174041,12325405,12090054,and T2221001)the National Key R&D Program of China (Grant No.2022YFF0503504)。
文摘The intrinsic pressure framework,which treats self-propelling force as an external force,provides a convenient and consistent description of mechanical equilibrium in active matter.However,direct experimental evidence is still lacking.To validate this framework,here we employ a programmable robotic platform,where a single light-controlled wheeled robot travels in an activity landscape.Our experiments quantitatively demonstrate that the intrinsic pressure difference across the activity interface is balanced by the emerged polarization force.This result unambiguously confirms the theoretical predictions,thus validating the intrinsic pressure framework and laying the experimental foundation for the intrinsic pressure-based mechanical description of dry active matter.
文摘Natural orifice translumenal endoscopic surgery(NOTES) is the integration of laparoscopic minimally invasive surgery techniques with endoscopic technology.Despite the advances in NOTES technology,the approach presents several unique instrumentation and techniquespecific challenges.Current ? exible endoscopy platforms for NOTES have several drawbacks including limited stability,triangulation and dexterity,and lack of adequate visualization,suggesting the need for new and improved instrumentation for this approach.Much of the current focus is on the development of flexible endoscopy platforms that incorporate robotic technology.An alternative approach to access the abdominal viscera for either a laparoscopic or NOTES procedure is the use of small robotic devices that can be implanted in an intracorporeal manner.Multiple,independent,miniature robots can be simultaneously inserted into the abdominal cavity to provide a robotic platform for NOTES surgery.The capabilities of the robots include imaging,retraction,tissue and organ manipulation,and precise maneuverability in the abdominal cavity.Such a platform affords several advantages including enhanced visualization,better surgical dexterity and improved triangulation for NOTES.This review discusses the current status and future perspectives of this novel miniature robotics platform for the NOTES approach.Although these technologies are still in pre-clinical development,a miniature robotics platform provides a unique method for addressing the limitations of minimally invasive surgery,and NOTES in particular.
