.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,pre....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
This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic systems.We introduce two novel compliant actuators,na...This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic systems.We introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental results.These actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle technology.Then,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are presented.Experiments demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic aesthetics.Compared to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.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
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
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
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
Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for ...Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.展开更多
Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(F...Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(FWMRs)have garnered widespread attention among scientists due to their superior miniaturized aerodynamic theory,reduced noise,and enhanced resistance to disturbances in complex and diverse environments.Flying insects,it not only has remarkable flapping flight ability(wings),but also takeoff and landing habitat ability(legs).If the various functions of flying insects can be imitated,efficient biomimetic FWMRs can be produced.This paper provides a review of the flight kinematics,aerodynamics,and wing structural parameters of insects.Then,the traditional wings and folding wings of insect-inspired FWMRs were compared.The research progress in takeoff and landing of FWMRs was also summarized,and the future developments and challenges for insect-inspired FWMRs were discussed.展开更多
Adhesive patches offer an effective approach for wound closure,making them highly suitable for biomedical applications.However,conventional patches often face limitations such as dual-sided adhesion,lack of shape adap...Adhesive patches offer an effective approach for wound closure,making them highly suitable for biomedical applications.However,conventional patches often face limitations such as dual-sided adhesion,lack of shape adaptability,and limited maneuverability,which restrict their applications in deeper tissues.In this paper,we develop a magnetic patch robot(PatchBot),for targeted Janus adhesion with tissues.The PatchBot features a unique triple-layer structure,with adhesive,shape-morphing,and anti-adhesive layers,each fulfilling roles to support targeted attachment,enable shape transformation,and prevent unwanted adhesion to surrounding tissues.The Janus adhesion of the PatchBot was extensively demonstrated across a variety of tissues.A localized near-infrared(NIR)laser irradiation was used to induce programmable shape transformations.Magnetic actuation of the PatchBot for targeted adhesion was successfully demonstrated in ex vivo porcine stomach tissue.NIR light-activated shape-morphing and multimodal magnetic actuation significantly enhance its maneuverability and adaptability in confined in vivo environments while ensuring the structural integrity of the adhesive surface during deployment.This proof-of-concept study demonstrates the feasibility of using PatchBot for targeted wound adhesion,showing its potential for minimally invasive,precision therapies in complex in vivo environments.展开更多
Aiming at the innovative design requirements of rehabilitation robots with multiple kinematically coupled components and the current absence of systematic processes in the design of such mechanisms,this paper presents...Aiming at the innovative design requirements of rehabilitation robots with multiple kinematically coupled components and the current absence of systematic processes in the design of such mechanisms,this paper presents the concept of a multi-output component mechanism(MOCM).A classification methodology for the MOCM is proposed based on the operational coupling between the actuators and the output components within closedloop mechanisms.Building on the classification results,a design methodology for a kinematically coupled MOCM(KCMOCM)is proposed based on the actuation distribution within the closed-loop sub-mechanisms.First,the number and relative kinematic characteristics of the output components are determined based on the application environment of the mechanism.These components are then grouped and classified according to motion similarity principles,followed by the design of closed-loop sub-mechanisms with actuators for each group,ultimately forming a complete KCMOCM.Taking the sit-stand-lie-bed mechanism in a spinal cord injury lower-limb rehabilitation robot as an example,this study comprehensively considers the multi-posture transition task requirements and spatial constraint characteristics of lower-limb rehabilitation training to design the mechanism.By applying the mechanism design methodology,six practical novel configurations are developed with established evaluation criteria,and kinematic analysis and experimental validation are performed on the optimized configuration.The results demonstrate that the optimized configuration satisfies the multi-posture rehabilitation training requirements for lower limbs.This validates the efficacy of the design methodology.Furthermore,the scalability of the design methodology is validated through the development of a robotic finger rehabilitation mechanism.展开更多
To effectively improve the adaptability and traversal abilities of a multi-terrain mobile robot under the dynamic excitation of multiple roads,we explore the mobile robot’s vibration and joint driving output stall ca...To effectively improve the adaptability and traversal abilities of a multi-terrain mobile robot under the dynamic excitation of multiple roads,we explore the mobile robot’s vibration and joint driving output stall caused by the dynamic excitation of the road spectrum function and analyze techniques for reducing the vibration and enhancing the driving moment of a four-wheel differential-speed mobile robot.A double-wishbone vibration reduction suspension and a moment compensator were designed for a multi-terrain mobile robot by theoretically describing its suspensionwheel-road dynamics.Also,the mobile robot’s road adaptability and traversal abilities were mathematically characterized under dynamic excitation.Co-simulation in ADAMS-MATLAB/Simulink is performed such as the harsh condition of in situ rotation and outdoor experimental schemes are implemented in which the experimental data are analyzed.The experimental result verifies the correctness of the theoretical analysis,as well as the effectiveness of the vibration reduction suspension and the moment compensator.The compatibility of the mobile robot’s driving mechanisms with road traversal abilities has been improved under various terrain conditions in complex field operation scenarios.展开更多
Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater...Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater robots are widely employed in marine science,resource surveys,seabed geological investigations,and marine life observations,owing to their compact size,minimal noise,and agile move-ment.In recent years,researchers have developed diverse miniature underwater robots inspired by bion-ics and other disciplines,leading to many landmark achievements such as centimeter-level wireless control,movement speeds up to hundreds of millimeters per second,underwater three-dimensional motion capabilities,robot swarms,and underwater operation robots.This article offers an overview of the actuation methods and locomotion patterns utilized by miniature underwater robots and assesses the advantages and disadvantages of each method.Furthermore,the challenges confronting currently available miniature underwater robots are summarized,and future development trends are explored.展开更多
In pedicle screw fixation,surgical robot and preoperative planning are enabling technologies to improve the accuracy and safety of pedicle screw placement.In this study,an automatic segmentation method for the pedicle...In pedicle screw fixation,surgical robot and preoperative planning are enabling technologies to improve the accuracy and safety of pedicle screw placement.In this study,an automatic segmentation method for the pedicle and vertebral body is proposed based on the 3D anatomical features of vertebrae.Further,an optimal insertion path is obtained to balance the safety of pedicle screw placement and the vertebral-screw interface strength.The pedicle screw radius is then determined based on the pedicle radius.A classification method is proposed to assess the accuracy of path planning.Finally,the surgical robot’s path can be updated based on the actual positions of the surgical robot and the patient.The CT data of 12 human vertebrae(T6−L5),10 porcine vertebrae(L1−L5)and 5 ovine vertebrae(L1−L5)are used to validate the effectiveness of the proposed method.All pedicle screw placement paths are successfully generated,achieving an excellence or good rate of 98%.Ex vivo pedicle screw placement experiments are conducted on human spine phantom,porcine and ovine spines,and in vivo experiment is conducted on a Bama miniature pig.In the proposed method,both safety and accuracy of pedicle screw placement are improved.According to the widely recognized Gertzbein-Robbins classification,93.18%of the outcomes achieve Grade A,showing promising potential in clinics.展开更多
The Hugo^(TM)robot-assisted surgery(RAS)system(Medtronic)is being successfully adopted in surgical procedures across Asia-Pacific,Latin America,and Europe.1e6 The Santo Antonio University Hospital in Porto,Portugal is...The Hugo^(TM)robot-assisted surgery(RAS)system(Medtronic)is being successfully adopted in surgical procedures across Asia-Pacific,Latin America,and Europe.1e6 The Santo Antonio University Hospital in Porto,Portugal is the first Portuguese hospital to implement the Hugo^(TM)RAS system.To date,this hospital has been very successful in adopting RAS,with 271 RAS procedures performed in the first year of robot implementation and 366 RAS procedures performed in approximately 15 months.The strategies that supported this successful implementation of the Hugo^(TM)RAS system in this hospital can serve as an example for improving and optimizing the adoption of RAS at other locations.This manuscript explores the measures taken to enable the successful adoption of the Hugo^(TM)RAS system in the Santo Antonio University Hospital,with a particular focus on the organizational,managerial,and economic aspects of the process.展开更多
文摘.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.
基金research project funded by the National Natural Science Foundation of China(NSFC)under Grant 91948302 and Grant 52021003Research England fund at NERIC.
文摘This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic systems.We introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental results.These actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle technology.Then,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are presented.Experiments demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic aesthetics.Compared to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.
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.
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.
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supported by the National Natural Science Foundation of China(No.62273117)Pre-research Task(No.SKLRS202418B)of State Key Laboratory of Robotics and Systems(HIT).
文摘Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.
基金supported by the National Natural Science Foundation of China(grant numbers 52305321 and 62273246)The Natural Science Foundation of Jiangsu Province(BK20230496)+3 种基金China Postdoctoral Science Foundation Funded Project(2023M732536 and 2024T170630)Jiangsu Province Excellence Postdoctoral Program(2023ZB218)The National Key R&D Program of China(2022YFB4702202)The Jiangsu Provincial Key Technology R&D Program(BE2021009-02).
文摘Micro aerial vehicles(MAVs)have flexibility and maneuverability,which can offer vast potential for applications in both civilian and military domains.Compared to Fixed-wing/Rotor-wing MAVs,Flapping Wing Micro Robots(FWMRs)have garnered widespread attention among scientists due to their superior miniaturized aerodynamic theory,reduced noise,and enhanced resistance to disturbances in complex and diverse environments.Flying insects,it not only has remarkable flapping flight ability(wings),but also takeoff and landing habitat ability(legs).If the various functions of flying insects can be imitated,efficient biomimetic FWMRs can be produced.This paper provides a review of the flight kinematics,aerodynamics,and wing structural parameters of insects.Then,the traditional wings and folding wings of insect-inspired FWMRs were compared.The research progress in takeoff and landing of FWMRs was also summarized,and the future developments and challenges for insect-inspired FWMRs were discussed.
基金supported by the National Key Technologies R&D Program of China(Grant No.2023YFC2415900)the National Natural Science Foundation of China(Grant Nos.62373182 and 52405619)+2 种基金the China Postdoctoral Science Foundation(Grant No.2024M751300)supported by the Shenzhen Science and Technology Program(Grant No.JCYJ20241202125417024)Guangdong Basic and Applied Basic Research Foundation(Grant No.2024A1515011915).
文摘Adhesive patches offer an effective approach for wound closure,making them highly suitable for biomedical applications.However,conventional patches often face limitations such as dual-sided adhesion,lack of shape adaptability,and limited maneuverability,which restrict their applications in deeper tissues.In this paper,we develop a magnetic patch robot(PatchBot),for targeted Janus adhesion with tissues.The PatchBot features a unique triple-layer structure,with adhesive,shape-morphing,and anti-adhesive layers,each fulfilling roles to support targeted attachment,enable shape transformation,and prevent unwanted adhesion to surrounding tissues.The Janus adhesion of the PatchBot was extensively demonstrated across a variety of tissues.A localized near-infrared(NIR)laser irradiation was used to induce programmable shape transformations.Magnetic actuation of the PatchBot for targeted adhesion was successfully demonstrated in ex vivo porcine stomach tissue.NIR light-activated shape-morphing and multimodal magnetic actuation significantly enhance its maneuverability and adaptability in confined in vivo environments while ensuring the structural integrity of the adhesive surface during deployment.This proof-of-concept study demonstrates the feasibility of using PatchBot for targeted wound adhesion,showing its potential for minimally invasive,precision therapies in complex in vivo environments.
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB1312500)。
文摘Aiming at the innovative design requirements of rehabilitation robots with multiple kinematically coupled components and the current absence of systematic processes in the design of such mechanisms,this paper presents the concept of a multi-output component mechanism(MOCM).A classification methodology for the MOCM is proposed based on the operational coupling between the actuators and the output components within closedloop mechanisms.Building on the classification results,a design methodology for a kinematically coupled MOCM(KCMOCM)is proposed based on the actuation distribution within the closed-loop sub-mechanisms.First,the number and relative kinematic characteristics of the output components are determined based on the application environment of the mechanism.These components are then grouped and classified according to motion similarity principles,followed by the design of closed-loop sub-mechanisms with actuators for each group,ultimately forming a complete KCMOCM.Taking the sit-stand-lie-bed mechanism in a spinal cord injury lower-limb rehabilitation robot as an example,this study comprehensively considers the multi-posture transition task requirements and spatial constraint characteristics of lower-limb rehabilitation training to design the mechanism.By applying the mechanism design methodology,six practical novel configurations are developed with established evaluation criteria,and kinematic analysis and experimental validation are performed on the optimized configuration.The results demonstrate that the optimized configuration satisfies the multi-posture rehabilitation training requirements for lower limbs.This validates the efficacy of the design methodology.Furthermore,the scalability of the design methodology is validated through the development of a robotic finger rehabilitation mechanism.
基金Supported by Anhui Engineering Research Center on Information Fusion and Control of Intelligent Robot(Grant No.IFCIR2024014)Open Fund Key Laboratory of Machine Vision Inspection of Anhui Provincial,China(Grant No.KLMVI-2024-HIT-14)+2 种基金University Synergy Innovation Program of Anhui Province,China(Grant No.GXXT-2023-076)Anhui Future Technology Research Institute Enterprise Cooperation Project(Grant No.2023qyhz35)2024 Wuhu Science and Technology Planning Project(Grant Nos.2024cj40,2024cxy24).
文摘To effectively improve the adaptability and traversal abilities of a multi-terrain mobile robot under the dynamic excitation of multiple roads,we explore the mobile robot’s vibration and joint driving output stall caused by the dynamic excitation of the road spectrum function and analyze techniques for reducing the vibration and enhancing the driving moment of a four-wheel differential-speed mobile robot.A double-wishbone vibration reduction suspension and a moment compensator were designed for a multi-terrain mobile robot by theoretically describing its suspensionwheel-road dynamics.Also,the mobile robot’s road adaptability and traversal abilities were mathematically characterized under dynamic excitation.Co-simulation in ADAMS-MATLAB/Simulink is performed such as the harsh condition of in situ rotation and outdoor experimental schemes are implemented in which the experimental data are analyzed.The experimental result verifies the correctness of the theoretical analysis,as well as the effectiveness of the vibration reduction suspension and the moment compensator.The compatibility of the mobile robot’s driving mechanisms with road traversal abilities has been improved under various terrain conditions in complex field operation scenarios.
基金supported by the Natural Science Foundation of Jiangsu Province,China(BK20220813)the Fundamental Research Funds for the Central Universities(2242023K40014).
文摘Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater robots are widely employed in marine science,resource surveys,seabed geological investigations,and marine life observations,owing to their compact size,minimal noise,and agile move-ment.In recent years,researchers have developed diverse miniature underwater robots inspired by bion-ics and other disciplines,leading to many landmark achievements such as centimeter-level wireless control,movement speeds up to hundreds of millimeters per second,underwater three-dimensional motion capabilities,robot swarms,and underwater operation robots.This article offers an overview of the actuation methods and locomotion patterns utilized by miniature underwater robots and assesses the advantages and disadvantages of each method.Furthermore,the challenges confronting currently available miniature underwater robots are summarized,and future development trends are explored.
基金Supported by Guangdong Basic and Applied Basic Research Foundation(Grant No.2024A1515011897)Shenzhen Science and Technology Program(Grant No.KQTD20210811090143060)+1 种基金Sustainable Development Science and Technology Special Project of Shenzhen(Grant No.KCXFZ20230731100900002)Tianjin Municipal Science and Technology Program(Grant No.22JCYBJC01240).
文摘In pedicle screw fixation,surgical robot and preoperative planning are enabling technologies to improve the accuracy and safety of pedicle screw placement.In this study,an automatic segmentation method for the pedicle and vertebral body is proposed based on the 3D anatomical features of vertebrae.Further,an optimal insertion path is obtained to balance the safety of pedicle screw placement and the vertebral-screw interface strength.The pedicle screw radius is then determined based on the pedicle radius.A classification method is proposed to assess the accuracy of path planning.Finally,the surgical robot’s path can be updated based on the actual positions of the surgical robot and the patient.The CT data of 12 human vertebrae(T6−L5),10 porcine vertebrae(L1−L5)and 5 ovine vertebrae(L1−L5)are used to validate the effectiveness of the proposed method.All pedicle screw placement paths are successfully generated,achieving an excellence or good rate of 98%.Ex vivo pedicle screw placement experiments are conducted on human spine phantom,porcine and ovine spines,and in vivo experiment is conducted on a Bama miniature pig.In the proposed method,both safety and accuracy of pedicle screw placement are improved.According to the widely recognized Gertzbein-Robbins classification,93.18%of the outcomes achieve Grade A,showing promising potential in clinics.
文摘The Hugo^(TM)robot-assisted surgery(RAS)system(Medtronic)is being successfully adopted in surgical procedures across Asia-Pacific,Latin America,and Europe.1e6 The Santo Antonio University Hospital in Porto,Portugal is the first Portuguese hospital to implement the Hugo^(TM)RAS system.To date,this hospital has been very successful in adopting RAS,with 271 RAS procedures performed in the first year of robot implementation and 366 RAS procedures performed in approximately 15 months.The strategies that supported this successful implementation of the Hugo^(TM)RAS system in this hospital can serve as an example for improving and optimizing the adoption of RAS at other locations.This manuscript explores the measures taken to enable the successful adoption of the Hugo^(TM)RAS system in the Santo Antonio University Hospital,with a particular focus on the organizational,managerial,and economic aspects of the process.
