Cyborg and bionic systems (Washington, D.C.)最新文献_第9页

Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery. 机器人辅助微创手术的三维避碰方法。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0042

Ling Li, Xiaojian Li, Bo Ouyang, Hangjie Mo, Hongliang Ren, Shanlin Yang

{"title":"Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery.","authors":"Ling Li, Xiaojian Li, Bo Ouyang, Hangjie Mo, Hongliang Ren, Shanlin Yang","doi":"10.34133/cbsystems.0042","DOIUrl":"https://doi.org/10.34133/cbsystems.0042","url":null,"abstract":"In the robot-assisted minimally invasive surgery, if a collision occurs, the robot system program could be damaged, and normal tissues could be injured. To avoid collisions during surgery, a 3-dimensional collision avoidance method is proposed in this paper. The proposed method is predicated on the design of 3 strategic vectors: the collision-with-instrument-avoidance (CI) vector, the collision-with-tissues-avoidance (CT) vector, and the constrained-control (CC) vector. The CI vector demarcates 3 specific directions to forestall collision among the surgical instruments. The CT vector, on the other hand, comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget tissues. Meanwhile, the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position, ensuring precision in its movements, in alignment with the surgical goals. Simulation results verify the proposed collision avoidance method for robot-assisted minimally invasive surgery. The code and data are available at https://github.com/cynerelee/collision-avoidance.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0042"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10479965/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10171621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Method of Human-Like Compliant Assembly Based on Variable Admittance Control for Space Maintenance. 基于变导纳控制的仿人柔性装配空间维修方法。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0046

Xiaolei Cao, Xiao Huang, Yan Zhao, Zeyuan Sun, Hui Li, Zhihong Jiang, Marco Ceccarelli

{"title":"A Method of Human-Like Compliant Assembly Based on Variable Admittance Control for Space Maintenance.","authors":"Xiaolei Cao, Xiao Huang, Yan Zhao, Zeyuan Sun, Hui Li, Zhihong Jiang, Marco Ceccarelli","doi":"10.34133/cbsystems.0046","DOIUrl":"https://doi.org/10.34133/cbsystems.0046","url":null,"abstract":"On-orbit assembly has become a crucial aspect of space operations, where the manipulator frequently and directly interacts with objects in a complex assembly process. The traditional manipulator control has limitations in adapting to diverse assembly tasks and is vulnerable to vibration, leading to assembly failure. To address this issue, we propose a human-like variable admittance control method based on the variable damping characteristics of the human arm. By collecting the velocity and contact force of human arm operations in assembly, we analyze the damping change of human arm and establish the active compliance model based on S-type damping variation rule in assembly. Furthermore, 3 passive contact models are proposed between the end of the human arm and the environment: one-sided bevel contact, both sides bevel contact, and pin-hole contact. On the basis of these active and passive models, a typical space assembly task for a robot is designed, and a human-like variable admittance controller is established and simulated. Finally, we build a ground verification platform and complete different assembly tasks, thereby successfully verifying the safety, robustness, and adaptability of the human-like variable admittance control method.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0046"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10482162/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10189853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Predicting Moral Elevation Conveyed in Danmaku Comments Using EEGs. 用脑电图预测弹马库评论中表达的道德高尚。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0028

Chenhao Bao, Xin Hu, Dan Zhang, Zhao Lv, Jingjing Chen

{"title":"Predicting Moral Elevation Conveyed in Danmaku Comments Using EEGs.","authors":"Chenhao Bao, Xin Hu, Dan Zhang, Zhao Lv, Jingjing Chen","doi":"10.34133/cbsystems.0028","DOIUrl":"https://doi.org/10.34133/cbsystems.0028","url":null,"abstract":"Moral elevation, the emotion that arises when individuals observe others' moral behaviors, plays an important role in determining moral behaviors in real life. While recent research has demonstrated the potential to decode basic emotions with brain signals, there has been limited exploration of affective computing for moral elevation, an emotion related to social cognition. To address this gap, we recorded electroencephalography (EEG) signals from 23 participants while they viewed videos that were expected to elicit moral elevation. More than 30,000 danmaku comments were extracted as a crowdsourcing tagging method to label moral elevation continuously at a 1-s temporal resolution. Then, by employing power spectra features and the least absolute shrinkage and selection operator regularized regression analyses, we achieved a promising prediction performance for moral elevation (prediction r = 0.44 ± 0.11). Our findings indicate that it is possible to decode moral elevation using EEG signals. Moreover, the small-sample neural data can predict the continuous moral elevation experience conveyed in danmaku comments from a large population.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0028"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10284275/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10089661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Highly Energy-Efficient Body-Coupled Transceiver Employing a Power-on-Demand Amplifier. 采用按需功率放大器的高能效体耦合收发器。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0030

Tao He, Yabin Zheng, Xu Liang, Jiamin Li, Longyang Lin, Wenfeng Zhao, Yongfu Li, Jian Zhao

{"title":"A Highly Energy-Efficient Body-Coupled Transceiver Employing a Power-on-Demand Amplifier.","authors":"Tao He, Yabin Zheng, Xu Liang, Jiamin Li, Longyang Lin, Wenfeng Zhao, Yongfu Li, Jian Zhao","doi":"10.34133/cbsystems.0030","DOIUrl":"https://doi.org/10.34133/cbsystems.0030","url":null,"abstract":"Wearable body sensor nodes require massive data transmission under limited energy. However, it suffers from drastically varying channel loss, which limits its energy efficiency in practical scenarios. This paper presents a power-driven body-channel transceiver (TRX), whose power consumption can be adaptively tuned against varying channel loss. An out-band programmable gain amplifier (PGA) is proposed to save power and generate a quasi-linear correlation between PGA gain and power. By using the quasi-linear gain-power relationship, we propose an auto gain/power control technique to realize on-demand power consumption. In addition, a differential balanced transmitter is designed to eliminate base-band harmonics in on-off keying modulation and increase the power delivered by the transmitter (TX). The TX and receiver (RX) of the prototype were integrated into 1 chip and fabricated in a 55-nm complementary metal oxide semiconductor process. During the measurement, 2 chips were configured as TX and RX, respectively. Both the TX and the RX were wearable, powered by lithium batteries, and attached to the subject's hands. The prototype achieved a 5.25-Mbps data rate with 16-pJ/bit energy efficiency at a 1.5-m straight-line ground path distance. Furthermore, the proposed TRX maintained stable communication within a 1.5-m distance, while dynamically reducing power consumption.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0030"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10408381/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10344702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Three-Dimensional Sulfated Bacterial Cellulose/Gelatin Composite Scaffolds for Culturing Hepatocytes. 用于肝细胞培养的三维硫酸细菌纤维素/明胶复合支架。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0021

Xinmeng Li, Weixiao Ding, Shujun Wang, Luyu Yang, Qingqing Yu, Changji Xiao, Guangbo Chen, Lei Zhang, Shanyue Guan, Dongping Sun

{"title":"Three-Dimensional Sulfated Bacterial Cellulose/Gelatin Composite Scaffolds for Culturing Hepatocytes.","authors":"Xinmeng Li, Weixiao Ding, Shujun Wang, Luyu Yang, Qingqing Yu, Changji Xiao, Guangbo Chen, Lei Zhang, Shanyue Guan, Dongping Sun","doi":"10.34133/cbsystems.0021","DOIUrl":"https://doi.org/10.34133/cbsystems.0021","url":null,"abstract":"The liver is the hub of human metabolism and involves many diseases. To better work on the mechanism and treatment of liver diseases, it is of particular interest to design 3-dimensional scaffolds suitable for culturing hepatocytes in vitro to simulate their metabolic and regenerative abilities. In this study, sulfated bacterial cellulose (SBC) was prepared as the building block of cell scaffolds, motivated by the anionic nature and 3-dimensional structure of hepatic extracellular matrix, and its reaction condition for sulfate esterification was optimized by changing the reaction time. The analysis and study of the microscopic morphology, structure, and cytocompatibility of SBCs showed that they possess good biocompatibility and meet the requirements for tissue engineering. Next, SBC was mixed with gelatin for composite scaffolds (SBC/Gel) for culturing hepatocytes by homogenization and freeze-drying methods, whose physical properties such as pore size, porosity, and compression properties were compared with gelatin (Gel) scaffolds as the control group, and the cytological activity and hemocompatibility of the composite scaffolds were investigated. The results showed that the SBC/Gel composite has better porosity and compression properties, as well as good cytocompatibility and hemocompatibility, and could be applied to 3-dimensional culture of hepatocytes for drug screening or liver tissue engineering.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0021"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10202184/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9871516","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Ground Reaction Force and Moment Estimation through EMG Sensing Using Long Short-Term Memory Network during Posture Coordination. 基于长短期记忆网络的地面反作用力和力矩估计。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0016

Sei-Ichi Sakamoto, Yonatan Hutabarat, Dai Owaki, Mitsuhiro Hayashibe

{"title":"Ground Reaction Force and Moment Estimation through EMG Sensing Using Long Short-Term Memory Network during Posture Coordination.","authors":"Sei-Ichi Sakamoto, Yonatan Hutabarat, Dai Owaki, Mitsuhiro Hayashibe","doi":"10.34133/cbsystems.0016","DOIUrl":"https://doi.org/10.34133/cbsystems.0016","url":null,"abstract":"Motion prediction based on kinematic information such as body segment displacement and joint angle has been widely studied. Because motions originate from forces, it is beneficial to estimate dynamic information, such as the ground reaction force (GRF), in addition to kinematic information for advanced motion prediction. In this study, we proposed a method to estimate GRF and ground reaction moment (GRM) from electromyography (EMG) in combination with and without an inertial measurement unit (IMU) sensor using a machine learning technique. A long short-term memory network, which is suitable for processing long time-span data, was constructed with EMG and IMU as input data to estimate GRF during posture control and stepping motion. The results demonstrate that the proposed method can provide the GRF estimation with a root mean square error (RMSE) of 8.22 ± 0.97% (mean ± SE) for the posture control motion and 11.17 ± 2.16% (mean ± SE) for the stepping motion. We could confirm that EMG input is essential especially when we need to predict both GRF and GRM with limited numbers of sensors attached under knees. In addition, we developed a GRF visualization system integrated with ongoing motion in a Unity environment. This system enabled the visualization of the GRF vector in 3-dimensional space and provides predictive motion direction based on the estimated GRF, which can be useful for human motion prediction with portable sensors.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0016"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10044327/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9289117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

CVT-Based Asynchronous BCI for Brain-Controlled Robot Navigation. 基于cvt的异步脑机接口脑控机器人导航。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0024

Mengfan Li, Ran Wei, Ziqi Zhang, Pengfei Zhang, Guizhi Xu, Wenzhe Liao

{"title":"CVT-Based Asynchronous BCI for Brain-Controlled Robot Navigation.","authors":"Mengfan Li, Ran Wei, Ziqi Zhang, Pengfei Zhang, Guizhi Xu, Wenzhe Liao","doi":"10.34133/cbsystems.0024","DOIUrl":"https://doi.org/10.34133/cbsystems.0024","url":null,"abstract":"Brain-computer interface (BCI) is a typical direction of integration of human intelligence and robot intelligence. Shared control is an essential form of combining human and robot agents in a common task, but still faces a lack of freedom for the human agent. This paper proposes a Centroidal Voronoi Tessellation (CVT)-based road segmentation approach for brain-controlled robot navigation by means of asynchronous BCI. An electromyogram-based asynchronous mechanism is introduced into the BCI system for self-paced control. A novel CVT-based road segmentation method is provided to generate optional navigation goals in the road area for arbitrary goal selection. An event-related potential of the BCI is designed for target selection to communicate with the robot. The robot has an autonomous navigation function to reach the human selected goals. A comparison experiment in the single-step control pattern is executed to verify the effectiveness of the CVT-based asynchronous (CVT-A) BCI system. Eight subjects participated in the experiment, and they were instructed to control the robot to navigate toward a destination with obstacle avoidance tasks. The results show that the CVT-A BCI system can shorten the task duration, decrease the command times, and optimize navigation path, compared with the single-step pattern. Moreover, this shared control mechanism of the CVT-A BCI system contributes to the promotion of human and robot agent integration control in unstructured environments.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0024"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10202181/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9871521","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Dual-Hand Motion Capture by Using Biological Inspiration for Bionic Bimanual Robot Teleoperation. 利用生物学灵感实现仿生双手机器人遥操作的双手动作捕捉。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0052

Qing Gao, Zhiwen Deng, Zhaojie Ju, Tianwei Zhang

{"title":"Dual-Hand Motion Capture by Using Biological Inspiration for Bionic Bimanual Robot Teleoperation.","authors":"Qing Gao, Zhiwen Deng, Zhaojie Ju, Tianwei Zhang","doi":"10.34133/cbsystems.0052","DOIUrl":"https://doi.org/10.34133/cbsystems.0052","url":null,"abstract":"Bionic bimanual robot teleoperation can transfer the grasping and manipulation skills of human dual hands to the bionic bimanual robots to realize natural and flexible manipulation. The motion capture of dual hands plays an important role in the teleoperation. The motion information of dual hands can be captured through the hand detection, localization, and pose estimation and mapped to the bionic bimanual robots to realize the teleoperation. However, although the motion capture technology has achieved great achievements in recent years, visual dual-hand motion capture is still a great challenge. So, this work proposed a dual-hand detection method and a 3-dimensional (3D) hand pose estimation method based on body and hand biological inspiration to achieve convenient and accurate monocular dual-hand motion capture and bionic bimanual robot teleoperation. First, a dual-hand detection method based on body structure constraints is proposed, which uses a parallel structure to combine hand and body relationship features. Second, a 3D hand pose estimation method with bone-constraint loss from single RGB images is proposed. Then, a bionic bimanual robot teleoperation method is designed by using the proposed hand detection and pose estimation methods. Experiment results on public hand datasets show that the performances of the proposed hand detection and 3D hand pose estimation outperform state-of-the-art methods. Experiment results on a bionic bimanual robot teleoperation platform shows the effectiveness of the proposed teleoperation method.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0052"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10499487/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10263033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Practical Tracking Method based on Best Buddies Similarity. 基于最佳伙伴相似性的实用跟踪方法。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0050

Haiyu He, Zhen Chen, Haikuo Liu, Xiangdong Liu, Youguang Guo, Jian Li

{"title":"Practical Tracking Method based on Best Buddies Similarity.","authors":"Haiyu He, Zhen Chen, Haikuo Liu, Xiangdong Liu, Youguang Guo, Jian Li","doi":"10.34133/cbsystems.0050","DOIUrl":"https://doi.org/10.34133/cbsystems.0050","url":null,"abstract":"Visual tracking is a crucial skill for bionic robots to perceive the environment and control their movement. However, visual tracking is challenging when the target undergoes nonrigid deformation because of the perspective change from the camera mounted on the robot. In this paper, a real-time and scale-adaptive visual tracking method based on best buddies similarity (BBS) is presented, which is a state-of-the-art template matching method that can handle nonrigid deformation. The proposed method improves the original BBS in 4 aspects: (a) The caching scheme is optimized to reduce the computational overhead, (b) the effect of cluttered backgrounds on BBS is theoretically analyzed and a patch-based texture is introduced to enhance the robustness and accuracy, (c) the batch gradient descent algorithm is used to further speed up the method, and (d) a resample strategy is applied to enable the BBS to track the target in scale space. The proposed method on challenging real-world datasets is evaluated and its promising performance is demonstrated.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0050"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10465019/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10118285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Novel Robotic Bronchoscope System for Navigation and Biopsy of Pulmonary Lesions. 用于肺部病变导航和活检的新型机器人支气管镜系统

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 Epub Date: 2023-03-15 DOI: 10.34133/cbsystems.0013

Xingguang Duan, Dongsheng Xie, Runtian Zhang, Xiaotian Li, Jiali Sun, Chao Qian, Xinya Song, Changsheng Li

{"title":"A Novel Robotic Bronchoscope System for Navigation and Biopsy of Pulmonary Lesions.","authors":"Xingguang Duan, Dongsheng Xie, Runtian Zhang, Xiaotian Li, Jiali Sun, Chao Qian, Xinya Song, Changsheng Li","doi":"10.34133/cbsystems.0013","DOIUrl":"10.34133/cbsystems.0013","url":null,"abstract":"Transbronchial biopsy sampling, as a minimally invasive method with relatively low risk, has been proved to be a promising treatment in the field of respiratory surgery. Although several robotic bronchoscopes have been developed, it remains a great challenge to balance size and flexibility, while integrating multisensors to realize navigation during complex airway networks. This paper proposes a novel robotic bronchoscope system composed by end effector with relatively small size, relevant actuation unit, and navigation system with path planning and surgical guidance capability. The main part of the end effector is machined by bidirectional groove on a nickel-titanium tube, which can realize bending, rotation, and translation 3 degrees of freedom. A prototype of the proposed robotic bronchoscope system is designed and fabricated, and its performance is tested through several experiments to verify the stiffness, flexibility, and navigation performance. The results show that the proposed system is with good environment adaptiveness, and it can become a promising biopsy method through natural cavity of the human body.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0013"},"PeriodicalIF":10.5,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10026825/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9657545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0