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
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
Legged robots have considerable potential for traversing unstructured situations;nonetheless,their inflexible frameworks often constrain adaptability and obstacle negotiation.The study article presents a revolutionary...Legged robots have considerable potential for traversing unstructured situations;nonetheless,their inflexible frameworks often constrain adaptability and obstacle negotiation.The study article presents a revolutionary Soft Tri-Legged Robot(STLR)that improves movement and obstacle-avoidance skills by using a bio-inspired pneumatic artificial muscle(Bubble Artificial Muscles)and a bio-inspired tactile sensor(TacTip).The STLR is activated by BAMs,which are flexible,pneu-matic-driven actuators that provide fine control over forward,backward,and steering movements.Obstacle identification and avoidance are facilitated by the TacTip sensor,which delivers tactile input for traversing unstructured terrains.We delineate the mechanical features of the BAMs,assess the functionality of the robot's legs,and elaborate on the incorpora-tion of the tactile sensing system.Experimental results demonstrate that the STLR can effectively achieve multi-directional flexible movement and obstacle avoidance through a cross-modal perception-actuation mechanism.This study highlights the promise of soft robotics for search and rescue,medical aid,and autonomous exploration,while delineating difficulties and opportunities for future improvements in functionality and efficiency.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.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
Supernumerary robotic limbs(SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference a...Supernumerary robotic limbs(SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration,while playing an important role in improving social security and public services. In this paper, representative SRLs are summarized from the aspects of related literature analysis,research status, ontology structure design, control and driving,sensing and perception, and application fields. This paper also analyzes and summarizes the current technical challenges faced by SRLs, and reviews development progress and key technologies,thus giving a prospect of future technical development trends.展开更多
1.Introduction The continuous integration of advanced technologies into medicine has brought profound changes across nearly all specialties.In urology,a field traditionally characterized by its reliance on delicate,pr...1.Introduction The continuous integration of advanced technologies into medicine has brought profound changes across nearly all specialties.In urology,a field traditionally characterized by its reliance on delicate,precision-driven procedures,the impact of innovations such as robotics,artificial intelligence(AI),telepresence,and telesurgery has been transformative.展开更多
The integration of artificial intelligence(AI)into the realm of robotic urologic surgery represents a remarkable paradigm shift in the field of urology and surgical healthcare.AI,with its advanced data analysis and ma...The integration of artificial intelligence(AI)into the realm of robotic urologic surgery represents a remarkable paradigm shift in the field of urology and surgical healthcare.AI,with its advanced data analysis and machine learning capabilities,has not only expedited the evolution of robotic surgical procedures but also significantly improved diagnostic accuracy and surgical outcomes.展开更多
Master robots are integral components of teleoperated robot-assisted minimally invasive surgery systems.Among them,parallel mechanism-based 6-degree-of-freedom master robots are distinguished by low inertia and high-f...Master robots are integral components of teleoperated robot-assisted minimally invasive surgery systems.Among them,parallel mechanism-based 6-degree-of-freedom master robots are distinguished by low inertia and high-force feedback.However,complex kinematics and singularities are the main barriers limiting its usage.This study converts the Hexa-type 6-RUS mechanism into a master robot to construct master-slave teleoperation system.The clinical background is briefly introduced and a representative surgical robot is employed to analyze the master-slave mapping relationship.The inverse/forward kinematics,the Jacobian matrix,and the translation and orientation workspace are derived as the bases of master robot’s application.The architecture parameters are optimized by the global transmission index to achieve better motion/force transmissibility.Based on the optimal result,the prototype and the master-slave control loop are constructed.Finally,the corresponding master-slave teleoperation experiment and model experiment demonstrate that the proposed master robot satisfies the basic need for medical application.展开更多
Treatment of intracranial gliomas has increasingly favored minimally invasive surgery,with a growing focus on leveraging microrobots for efficient drug delivery while overcoming the impact of body fluids.Inspired by h...Treatment of intracranial gliomas has increasingly favored minimally invasive surgery,with a growing focus on leveraging microrobots for efficient drug delivery while overcoming the impact of body fluids.Inspired by honeybee stingers,this study proposed a novel microspike robot.This robot firmly adhered to the tissue surface,enabling direct drug delivery from a hydrogel on its back into the targeted tissue via microspikes.The drug delivery rate was influenced by temperature and could be controlled by an alternating magnetic field.Microrobots could be delivered rapidly through a clinical Ommaya reservoir into the postoperative cavity or ventricle of the skull.The microrobot could be actuated for adhesion and retrieval,with its motion posture and trajectory highly precisely controlled by external magnetic fields.Biological experiments confirmed the excellent biocompatibility and biosafety of the microspike robot and demonstrated its effectiveness in treating gliomas by loading unconventional therapeutic drugs.The proposed microspike robot has significant potential for long-term drug delivery to target gliomas and other future clinical applications.展开更多
Segmentation of demonstration trajectories and learning the contained motion primitives can effectively enhance the assistive robot's intelligence to flexibly reproduce learnt tasks in an unstructured environment....Segmentation of demonstration trajectories and learning the contained motion primitives can effectively enhance the assistive robot's intelligence to flexibly reproduce learnt tasks in an unstructured environment.With the aim to conveniently and accurately segment demonstration trajectories,a novel demonstration trajectory segmentation approach is proposed based on the beta process autoregressive hidden Markov model(BP-ARHMM)algorithm and generalised time warping(GTW)algorithm aiming to enhance the segmentation accuracy utilising acquired demonstration data.This approach first adopts the GTW algorithm to align the multiple demonstration trajectories for the same task.Then,it adopts the BP-AR-HMM algorithm to segment the demonstration trajectories,acquire the contained motion primitives,and establish the related task library.This segmentation approach is validated on the 6-degree-of-freedom JACO robotic arm by assisting users to accomplish a holding water glass task and an eating task.The experimental results show that the motion primitives within the trajectories can be correctly segmented with a high segmentation accuracy.展开更多
Mechanical vibration sputum clearance is commonly used for airway clearance.However,existing handheld vibration-assisted expectorators confront several challenges including operator’s hand fatigue and a high risk of ...Mechanical vibration sputum clearance is commonly used for airway clearance.However,existing handheld vibration-assisted expectorators confront several challenges including operator’s hand fatigue and a high risk of cross-infection between medical staff and patients.To address these issues,this study presents a novel design for an intelligent percussion-based sputum clearance robot.The robot is designed to assist medical staff in providing percussion-based sputum clearance nursing for patients.Initially,the structure of the robot is designed based on the environmental conditions in the intensive care unit(ICU).To mitigate the impact of the vibrations generated by the vibration percussion head on the robotic arm operation,a fixture equipped with a vibration damper is designed to ensure that the robot’s standard functionality remains unaffected.Furthermore,a human back detection(HBD)framework constructed from multi-subtask modules is proposed to address the shortcomings of existing robotic systems in terms of human perception capabilities.These modules are designed to accurately identify and map the anatomical features of the human back.This effectively improves the capability of the robot to interact with the human body.Based on this framework,the robotic arm is controlled precisely to emulate the percussion strategies employed by physicians.Finally,extensive experiments are conducted in a real-world setting with multiple participants.The results indicate that the robot could provide percussion-based sputum clearance nursing that is practically equivalent to the operations by medical staff.展开更多
Visual perception is critical in robotic operations,particularly in collaborative and autonomous robot systems.Through efficient visual systems,robots can acquire and process environmental information in real-time,rec...Visual perception is critical in robotic operations,particularly in collaborative and autonomous robot systems.Through efficient visual systems,robots can acquire and process environmental information in real-time,recognise objects,assess spatial relationships,and make adaptive decisions.This review aims to provide a comprehensive overview of the latest advancements in the field of vision as applied to robotic perception,focusing primarily on visual applications in the areas of object perception,self-perception,human-robot collaboration,and multi-robot collaboration.By summarising the current state of development and analysing the challenges and opportunities that remain in these areas,this paper offers a thorough examination of the integration of visual perception with operational robotics.It further inspires future research and drives the application and development of visual perception across various robotic domains,enabling operational robots to better adapt to complex environments and reliably accomplish tasks.展开更多
The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisciplinary interface that contributes to advancing the field...The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisciplinary interface that contributes to advancing the field of system autonomy,and pushes the engineering boundaries beyond the existing techniques.The present research adopts the experimental aspects of quantum entanglement and quantum cryptography,and integrates these established quantum capabilities into distributed robotic platforms,to explore the possibility of achieving increased autonomy for the control of multi-agent robotic systems engaged in cooperative tasks.Experimental quantum capabilities are realized by producing single photons(using spontaneous parametric down-conversion process),polarization of photons,detecting vertical and horizontal polarizations,and single photon detecting/counting.Specifically,such quantum aspects are implemented on network of classical agents,i.e.,classical aerial and ground robots/unmanned systems.With respect to classical systems for robotic applications,leveraging quantum technology is expected to lead to guaranteed security,very fast control and communication,and unparalleled quantum capabilities such as entanglement and quantum superposition that will enable novel applications.展开更多
Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation ...Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.展开更多
Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a ...Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.展开更多
Capsule Robots(CRs)with active locomotion improve on the inefficiency of passive locomotion in capsule endoscopes,showing great potential for clinical use.However,despite the development of various CR types,efficient ...Capsule Robots(CRs)with active locomotion improve on the inefficiency of passive locomotion in capsule endoscopes,showing great potential for clinical use.However,despite the development of various CR types,efficient locomotion and functional integration remain challenges due to space limitations and increasing demands.Additionally,many CRs are overly complex,so simplifying their structure while maintaining functionality is essential.This paper presents a novel magnetically actuated CR with two internal permanent magnets for oscillating locomotion and anchoring,along with a Shape Memory Alloy(SMA)-driven actuator for biopsy sampling.Compared to existing CRs,this design simplifies the structure while ensuring biopsy functionality and leaving space for a micro-CCD.The robot’s dynamics are modeled to guide its structural design and locomotion strategy.SMA characteristics are also examined to optimize the biopsy module’s parameters,improving efficiency and success rates.The CR undergoes experiments to assess safety,locomotion performance,and functionality,with results showing stable steering,and advantages in driving height,speed,and accuracy.Finally,the CR’s biopsy capabilities are validated in a gastric model and ex vivo stomach.This work offers a novel solution for gastrointestinal disease diagnosis and treatment,enhancing the application of CRs in biomedical engineering.展开更多
To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for con...To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for constructing an industrial robot assembly system based on virtual reality technology.Focusing on the shaft hole assembly,the mechanical characteristics of the industrial robot shaft hole assembly process are analyzed and a dynamic model is established for shaft hole assembly operations.The key elements of virtual assembly operations for industrial robots are summarized and a five-dimensional model is proposed for industrial robot virtual operations.Utilizing the Unity3D engine based on the 5-D model for industrial robot virtual operations,an industrial robot shaft hole assembly system is developed.This system enables virtual assembly operations,displays physical attributes,and provides valuable references for the research of virtual systems.展开更多
Objective To report our preliminary clinical experience and outcomes of uro-oncology procedures conducted utilizing the SSI Mantra^(TM)surgical robotic system.Methods Data of consecutive patients who underwent various...Objective To report our preliminary clinical experience and outcomes of uro-oncology procedures conducted utilizing the SSI Mantra^(TM)surgical robotic system.Methods Data of consecutive patients who underwent various robot-assisted uro-oncology procedures using the SSI Mantra^(TM)surgical robotic system at our institution between July 2022 and September 2023 were recorded.The specific surgical configurations employed with the SSI Mantra^(TM)for these procedures were duly noted.We assessed the feasibility of these procedures with this novel surgical robotic system and report the outcomes.Results A total of 156 patients were operated with the SSI Mantra^(TM)surgical robotic system.The spectrum of procedures performed comprised robot-assisted laparoscopic radical prostatectomy with bilateral extended pelvic lymph node dissection(n=77),robot-assisted radical cystectomy with bilateral extended pelvic lymph node dissection with extracorporeal urinary diversion(n=39),robot-assisted radical nephrectomy(n=32),robot-assisted partial nephrectomy(n=6),robot-assisted radical nephroureterectomy with bladder cuff excision(n=1),and bilateral robot-assisted video endoscopic inguinal lymph node dissection(n=1).One robot-assisted laparoscopic radical prostatectomy had to be converted to open in view of system malfunction.However,no system-related intraoperative complications or injuries were encountered.Conclusion The SSI Mantra^(TM)surgical robotic system demonstrates significant promise as an innovative robotic platform.In this single-center experience,we have demonstrated the feasibility of a diverse array of surgical procedures using this platform.Further research,involving a larger cohort of patients,is imperative to refine the operative techniques and comprehensively understand the perioperative outcomes of the SSI Mantra^(TM)surgical robotic system,particularly in comparison to other robotic surgical platforms.展开更多
Existing control methods for humanoid robots,such as Model Predictive Control(MPC)and Reinforcement Learning(RL),generally lack the modeling and exploitation of rhythmic mechanisms.As a result,they struggle to balance...Existing control methods for humanoid robots,such as Model Predictive Control(MPC)and Reinforcement Learning(RL),generally lack the modeling and exploitation of rhythmic mechanisms.As a result,they struggle to balance stability,energy efficiency,and gait transition capability during typical rhythmic motions like walking and running.To address this limitation,we propose Walk2Run,a unified control framework inspired by biological rhythmicity.The method introduces control priors based on the frequency modulation observed in human walk-run transitions.Specifically,we extract rhythmic parameters from motion capture data to construct a Rhythm Generator grounded in Central Pattern Generator(CPG)principles,which guides the policy to produce speed-adaptive periodic motion.This rhythmic guidance is further integrated with a constrained reinforcement learning framework using barrier function optimization,enhancing training stability and output feasibility.Experimental results demonstrate that our method outperforms traditional approaches across multiple metrics,achieving more natural rhythmic motion with improved energy efficiency in medium-to high-speed scenarios,while also enhancing gait stability and adaptability to the robotic platform.展开更多
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the Natural Science Foundation of China(Project for Young Scientists:Grant No.52105010,Regular Project:Grant No.62173096)Natural Science Foundationof Guangdong Province(Regular Project:Grant No.2025A1515012124,Grant No.2022A1515010327)Guangdong-Hong Kong-Macao Key Laboratory of Multi-scaleInformation Fusion and Collaborative Optimization Control Manufacturing Process.
文摘Legged robots have considerable potential for traversing unstructured situations;nonetheless,their inflexible frameworks often constrain adaptability and obstacle negotiation.The study article presents a revolutionary Soft Tri-Legged Robot(STLR)that improves movement and obstacle-avoidance skills by using a bio-inspired pneumatic artificial muscle(Bubble Artificial Muscles)and a bio-inspired tactile sensor(TacTip).The STLR is activated by BAMs,which are flexible,pneu-matic-driven actuators that provide fine control over forward,backward,and steering movements.Obstacle identification and avoidance are facilitated by the TacTip sensor,which delivers tactile input for traversing unstructured terrains.We delineate the mechanical features of the BAMs,assess the functionality of the robot's legs,and elaborate on the incorpora-tion of the tactile sensing system.Experimental results demonstrate that the STLR can effectively achieve multi-directional flexible movement and obstacle avoidance through a cross-modal perception-actuation mechanism.This study highlights the promise of soft robotics for search and rescue,medical aid,and autonomous exploration,while delineating difficulties and opportunities for future improvements in functionality and efficiency.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
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 in part by theNational Key R&D Program of China (2018YFB1304600)the Natural Science Foundation of China (51775541)CAS Interdisciplinary Innovation Team (JCTD-2018-11)。
文摘Supernumerary robotic limbs(SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration,while playing an important role in improving social security and public services. In this paper, representative SRLs are summarized from the aspects of related literature analysis,research status, ontology structure design, control and driving,sensing and perception, and application fields. This paper also analyzes and summarizes the current technical challenges faced by SRLs, and reviews development progress and key technologies,thus giving a prospect of future technical development trends.
文摘1.Introduction The continuous integration of advanced technologies into medicine has brought profound changes across nearly all specialties.In urology,a field traditionally characterized by its reliance on delicate,precision-driven procedures,the impact of innovations such as robotics,artificial intelligence(AI),telepresence,and telesurgery has been transformative.
文摘The integration of artificial intelligence(AI)into the realm of robotic urologic surgery represents a remarkable paradigm shift in the field of urology and surgical healthcare.AI,with its advanced data analysis and machine learning capabilities,has not only expedited the evolution of robotic surgical procedures but also significantly improved diagnostic accuracy and surgical outcomes.
基金the National Natural Science Foundation of China(No.62211540723)the Interdisciplinary Program of Shanghai Jiao Tong University(Nos.YG2023ZD05 and YG2023ZD14)+1 种基金the Quanzhou High-Level Talent Innovation and Entrepreneurship Project(No.2021C003R)the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong University。
文摘Master robots are integral components of teleoperated robot-assisted minimally invasive surgery systems.Among them,parallel mechanism-based 6-degree-of-freedom master robots are distinguished by low inertia and high-force feedback.However,complex kinematics and singularities are the main barriers limiting its usage.This study converts the Hexa-type 6-RUS mechanism into a master robot to construct master-slave teleoperation system.The clinical background is briefly introduced and a representative surgical robot is employed to analyze the master-slave mapping relationship.The inverse/forward kinematics,the Jacobian matrix,and the translation and orientation workspace are derived as the bases of master robot’s application.The architecture parameters are optimized by the global transmission index to achieve better motion/force transmissibility.Based on the optimal result,the prototype and the master-slave control loop are constructed.Finally,the corresponding master-slave teleoperation experiment and model experiment demonstrate that the proposed master robot satisfies the basic need for medical application.
基金supported by the National Key R&D Program of China(No.2023YFB4705600)the National Natural Science Foundation of China(Nos.U23A20342,62273331,61925307,and 61821005)+1 种基金the CAS Project for Young Scientists in Basic Research(No.YSBR-036)the CAS/SAFEA International Partnership Program for Creative Research Teams.
文摘Treatment of intracranial gliomas has increasingly favored minimally invasive surgery,with a growing focus on leveraging microrobots for efficient drug delivery while overcoming the impact of body fluids.Inspired by honeybee stingers,this study proposed a novel microspike robot.This robot firmly adhered to the tissue surface,enabling direct drug delivery from a hydrogel on its back into the targeted tissue via microspikes.The drug delivery rate was influenced by temperature and could be controlled by an alternating magnetic field.Microrobots could be delivered rapidly through a clinical Ommaya reservoir into the postoperative cavity or ventricle of the skull.The microrobot could be actuated for adhesion and retrieval,with its motion posture and trajectory highly precisely controlled by external magnetic fields.Biological experiments confirmed the excellent biocompatibility and biosafety of the microspike robot and demonstrated its effectiveness in treating gliomas by loading unconventional therapeutic drugs.The proposed microspike robot has significant potential for long-term drug delivery to target gliomas and other future clinical applications.
基金Doctoral Research Start-up Fund of Shandong Jiaotong University,Grant/Award Number:BS2024009Natural Science Foundation of Shandong Province of China,Grant/Award Number:ZR2022ME087+1 种基金State Key Laboratory of Robotics and Systems(HIT),Grant/Award Number:SKLRS-2024-KF-09Open Access Publication Fund of Universität Hamburg。
文摘Segmentation of demonstration trajectories and learning the contained motion primitives can effectively enhance the assistive robot's intelligence to flexibly reproduce learnt tasks in an unstructured environment.With the aim to conveniently and accurately segment demonstration trajectories,a novel demonstration trajectory segmentation approach is proposed based on the beta process autoregressive hidden Markov model(BP-ARHMM)algorithm and generalised time warping(GTW)algorithm aiming to enhance the segmentation accuracy utilising acquired demonstration data.This approach first adopts the GTW algorithm to align the multiple demonstration trajectories for the same task.Then,it adopts the BP-AR-HMM algorithm to segment the demonstration trajectories,acquire the contained motion primitives,and establish the related task library.This segmentation approach is validated on the 6-degree-of-freedom JACO robotic arm by assisting users to accomplish a holding water glass task and an eating task.The experimental results show that the motion primitives within the trajectories can be correctly segmented with a high segmentation accuracy.
基金Supported by National Key R&D Program of China(Grant No.2021YFC0122700).
文摘Mechanical vibration sputum clearance is commonly used for airway clearance.However,existing handheld vibration-assisted expectorators confront several challenges including operator’s hand fatigue and a high risk of cross-infection between medical staff and patients.To address these issues,this study presents a novel design for an intelligent percussion-based sputum clearance robot.The robot is designed to assist medical staff in providing percussion-based sputum clearance nursing for patients.Initially,the structure of the robot is designed based on the environmental conditions in the intensive care unit(ICU).To mitigate the impact of the vibrations generated by the vibration percussion head on the robotic arm operation,a fixture equipped with a vibration damper is designed to ensure that the robot’s standard functionality remains unaffected.Furthermore,a human back detection(HBD)framework constructed from multi-subtask modules is proposed to address the shortcomings of existing robotic systems in terms of human perception capabilities.These modules are designed to accurately identify and map the anatomical features of the human back.This effectively improves the capability of the robot to interact with the human body.Based on this framework,the robotic arm is controlled precisely to emulate the percussion strategies employed by physicians.Finally,extensive experiments are conducted in a real-world setting with multiple participants.The results indicate that the robot could provide percussion-based sputum clearance nursing that is practically equivalent to the operations by medical staff.
基金supported by the National Natural Science Foundation of China(Grant 62306185)the Guangdong Basic and Applied Basic Research Foundation(Grant 2024A1515012065)the Shenzhen Science and Technology Program(Grants JSGGKQTD20221101115656029 and KJZD20230923113801004).
文摘Visual perception is critical in robotic operations,particularly in collaborative and autonomous robot systems.Through efficient visual systems,robots can acquire and process environmental information in real-time,recognise objects,assess spatial relationships,and make adaptive decisions.This review aims to provide a comprehensive overview of the latest advancements in the field of vision as applied to robotic perception,focusing primarily on visual applications in the areas of object perception,self-perception,human-robot collaboration,and multi-robot collaboration.By summarising the current state of development and analysing the challenges and opportunities that remain in these areas,this paper offers a thorough examination of the integration of visual perception with operational robotics.It further inspires future research and drives the application and development of visual perception across various robotic domains,enabling operational robots to better adapt to complex environments and reliably accomplish tasks.
文摘The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisciplinary interface that contributes to advancing the field of system autonomy,and pushes the engineering boundaries beyond the existing techniques.The present research adopts the experimental aspects of quantum entanglement and quantum cryptography,and integrates these established quantum capabilities into distributed robotic platforms,to explore the possibility of achieving increased autonomy for the control of multi-agent robotic systems engaged in cooperative tasks.Experimental quantum capabilities are realized by producing single photons(using spontaneous parametric down-conversion process),polarization of photons,detecting vertical and horizontal polarizations,and single photon detecting/counting.Specifically,such quantum aspects are implemented on network of classical agents,i.e.,classical aerial and ground robots/unmanned systems.With respect to classical systems for robotic applications,leveraging quantum technology is expected to lead to guaranteed security,very fast control and communication,and unparalleled quantum capabilities such as entanglement and quantum superposition that will enable novel applications.
文摘Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.
基金Project(61273344)supported by the National Natural Science Foundation of ChinaProject(SKLRS-2010-ZD-40)supported by the StateKey Laboratory of Robotics and Systems(HIT),China+1 种基金Project(2008AA04Z208)supported by the National Hi-tech Research and Development Program of ChinaProject(20121101110011)supported by PhD Program Foundation of Ministry of Education,China
文摘Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.
基金supported in part by the National Key R&D Program of China(Grant number 2023YFB4705600)in part by the Natural Science Foundation of Heilongjiang Province of China(Grant number YQ2024F011)in part by the Pre-research Task of State Key Laboratory of Robotics and Systems(HIT)(Grant number SKLRS202419B).
文摘Capsule Robots(CRs)with active locomotion improve on the inefficiency of passive locomotion in capsule endoscopes,showing great potential for clinical use.However,despite the development of various CR types,efficient locomotion and functional integration remain challenges due to space limitations and increasing demands.Additionally,many CRs are overly complex,so simplifying their structure while maintaining functionality is essential.This paper presents a novel magnetically actuated CR with two internal permanent magnets for oscillating locomotion and anchoring,along with a Shape Memory Alloy(SMA)-driven actuator for biopsy sampling.Compared to existing CRs,this design simplifies the structure while ensuring biopsy functionality and leaving space for a micro-CCD.The robot’s dynamics are modeled to guide its structural design and locomotion strategy.SMA characteristics are also examined to optimize the biopsy module’s parameters,improving efficiency and success rates.The CR undergoes experiments to assess safety,locomotion performance,and functionality,with results showing stable steering,and advantages in driving height,speed,and accuracy.Finally,the CR’s biopsy capabilities are validated in a gastric model and ex vivo stomach.This work offers a novel solution for gastrointestinal disease diagnosis and treatment,enhancing the application of CRs in biomedical engineering.
基金Sponsored by the National Natural Science Foundation of China(Grant No.52005003)the Science and Technology Planning Project of Wuhu City(Grant No.2022jc41)。
文摘To address the challenges of insufficient visualization in the industrial robot assembly operation system and the limitation of visualizing only geometric attributes of physical properties,a method is proposed for constructing an industrial robot assembly system based on virtual reality technology.Focusing on the shaft hole assembly,the mechanical characteristics of the industrial robot shaft hole assembly process are analyzed and a dynamic model is established for shaft hole assembly operations.The key elements of virtual assembly operations for industrial robots are summarized and a five-dimensional model is proposed for industrial robot virtual operations.Utilizing the Unity3D engine based on the 5-D model for industrial robot virtual operations,an industrial robot shaft hole assembly system is developed.This system enables virtual assembly operations,displays physical attributes,and provides valuable references for the research of virtual systems.
文摘Objective To report our preliminary clinical experience and outcomes of uro-oncology procedures conducted utilizing the SSI Mantra^(TM)surgical robotic system.Methods Data of consecutive patients who underwent various robot-assisted uro-oncology procedures using the SSI Mantra^(TM)surgical robotic system at our institution between July 2022 and September 2023 were recorded.The specific surgical configurations employed with the SSI Mantra^(TM)for these procedures were duly noted.We assessed the feasibility of these procedures with this novel surgical robotic system and report the outcomes.Results A total of 156 patients were operated with the SSI Mantra^(TM)surgical robotic system.The spectrum of procedures performed comprised robot-assisted laparoscopic radical prostatectomy with bilateral extended pelvic lymph node dissection(n=77),robot-assisted radical cystectomy with bilateral extended pelvic lymph node dissection with extracorporeal urinary diversion(n=39),robot-assisted radical nephrectomy(n=32),robot-assisted partial nephrectomy(n=6),robot-assisted radical nephroureterectomy with bladder cuff excision(n=1),and bilateral robot-assisted video endoscopic inguinal lymph node dissection(n=1).One robot-assisted laparoscopic radical prostatectomy had to be converted to open in view of system malfunction.However,no system-related intraoperative complications or injuries were encountered.Conclusion The SSI Mantra^(TM)surgical robotic system demonstrates significant promise as an innovative robotic platform.In this single-center experience,we have demonstrated the feasibility of a diverse array of surgical procedures using this platform.Further research,involving a larger cohort of patients,is imperative to refine the operative techniques and comprehensively understand the perioperative outcomes of the SSI Mantra^(TM)surgical robotic system,particularly in comparison to other robotic surgical platforms.
基金supported in part by the National Natural Science Foundation of China(Grant Numbers:U2013602)the National Key R&D Program of China(Grant Number:2022YFB4601802)+1 种基金the Self-Planned Task of the State Key Laboratory of Robotics and System(Grant Number:2023FRFK01001)the National Independent Project of China(Grant Number:SKLR202301A12).
文摘Existing control methods for humanoid robots,such as Model Predictive Control(MPC)and Reinforcement Learning(RL),generally lack the modeling and exploitation of rhythmic mechanisms.As a result,they struggle to balance stability,energy efficiency,and gait transition capability during typical rhythmic motions like walking and running.To address this limitation,we propose Walk2Run,a unified control framework inspired by biological rhythmicity.The method introduces control priors based on the frequency modulation observed in human walk-run transitions.Specifically,we extract rhythmic parameters from motion capture data to construct a Rhythm Generator grounded in Central Pattern Generator(CPG)principles,which guides the policy to produce speed-adaptive periodic motion.This rhythmic guidance is further integrated with a constrained reinforcement learning framework using barrier function optimization,enhancing training stability and output feasibility.Experimental results demonstrate that our method outperforms traditional approaches across multiple metrics,achieving more natural rhythmic motion with improved energy efficiency in medium-to high-speed scenarios,while also enhancing gait stability and adaptability to the robotic platform.
