The Experts below are selected from a list of 3438 Experts worldwide ranked by ideXlab platform

Honghua Zhao - One of the best experts on this subject based on the ideXlab platform.

  • Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space
    IEEE Access, 2020
    Co-Authors: Honghua Zhao, Xingguang Duan, Jian Zhao, Xuyin Gong, Guibin Bian
    Abstract:

    A multi-arm Robot for mandible reconstruction assisted surgery is developed. It has three manipulators and eighteen degrees of freedom. In order to prevent the collision of the manipulator caused by the overlap of the motion space of the manipulator during the space positioning of the whole mandible reconstruction operation, a collision avoidance path planning method for manipulator based on C-space is proposed. In order to obtain the space non-interference posture of one manipulator, and the interference posture of the other manipulators is taken as the obstacle mapping in C-space to obtain the free space after removing obstacles. At the same time, combining with the space position of the system manipulator, the C-space mapping mathematical model of feature points and line segments is studied, and the mapping mathematical model of any point and line segment in the plane is obtained. By introducing admissibility proof lemma to weigh the evaluation function, the improved heuristic A* search algorithm is used to search the best path for collision avoidance. The collision avoidance experiment is carried out through simulation and Robot platform, and finally the animal experiment is carried out. These experimental results verify the feasibility and validity of the collision avoidance path planning method for the space manipulator.

  • Development of a new needle insertion Medical Robot for breast tumor surgery
    2017 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2017
    Co-Authors: Mianpeng Chen, Honghua Zhao, Zhiping Li, Yaohua Zhao, Qianqian Tian
    Abstract:

    In recent years, with the increasingly attention on person's physical health, the treatment of diseases in breast tumors is being paid great attention by all social circles. Recently, the ablation minimal invasive surgery on breast tumors entered people's vision with a lot of advantages. Accurate needle insertion requires solving the problems of tissue deformation and target displacement. Breast biopsy guided by imaging techniques such as ultrasound is widely used to evaluate the suspicious masses in breast. However, there are several problems with this procedure: the complex interaction dynamics between the needle force and the breast tissue will displace the tumor from its original position. It is difficult to accurately puncture, causing surgeons' fatigue, patient' s discomfort, and compromising the integrity of the tissue specimen. In this work, Our system involves a preloading phase and a needle insertion phase. What' s more, we present a new concept for real-time manipulation of a tumor using a Robotic controller that monitors the image of the tumor to generate appropriate external force to position the tumor at a desired location.

  • Study on a Medical Robot for Mandible Reconstruction Surgery
    2015 IEEE International Conference on Mechatronics and Automation (ICMA), 2015
    Co-Authors: Honghua Zhao, Jianying Tian
    Abstract:

    The clinical treatment for jaw defects is MRS (Mandible Reconstruction Surgery) including bone grafts, distraction osteogenesis and bone tissue engineering, however, the mandible reconstruction surgery is operated by doctors without 3D navigation at present which leads to lots of disadvantages such as bad operational control, low positioning accuracy and poor stability. Therefore a Robotie surgical system was designed to assist surgeons on manipulating. In this paper, the Robot system was given in brief, then image processing were introduced in detail on the basis of process analysis of MRS. Four experiments were done to measure the performance of Robotic system, and experiment results show that the Robot works stably and aceurately. The development of this Medical Robot system contributes to the promotion and popularization of the MRS in clinics.

  • Control system for maxillofacial surgery Robot: Master-slave, motion control and safety design
    2012 ICME International Conference on Complex Medical Engineering (CME), 2012
    Co-Authors: Xingguang Duan, Qiang Huang, Honghua Zhao
    Abstract:

    As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm Medical Robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole Robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the Robot's smooth running and accurate positioning.

  • An active Medical supporting manipulator and experiments for vascular interventional Robot
    2012 IEEE International Conference on Mechatronics and Automation, 2012
    Co-Authors: Xiangzhan Kong, Xingguang Duan, Honghua Zhao, Yonggui Wang
    Abstract:

    In this paper, a new Medical Robot for vascular interventional surgery (VIS) has been proposed, which can be used for assisting surgeons in the vascular interventional operation and training unskilled surgeons to do the operation. The Robot includes a 5-DOF Active Supporting Medical Manipulator (ASMM) and a 2-DOF catheter operating system. Considering its application specially, safety design of the Robot are also mentioned and quintic polynomial interpolation is adopted in trajectory planning for smooth motion of manipulator. Based on structure analysis and trajectory planning, experiment showed that the active supporting manipulator run smoothly and positioned the catheter operating system accurately, which is essential to the safety of Medical Robot. The development of this Medical Robot system contributes to the promotion and popularization of the VIS in clinics.

Xingguang Duan - One of the best experts on this subject based on the ideXlab platform.

  • Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space
    IEEE Access, 2020
    Co-Authors: Honghua Zhao, Xingguang Duan, Jian Zhao, Xuyin Gong, Guibin Bian
    Abstract:

    A multi-arm Robot for mandible reconstruction assisted surgery is developed. It has three manipulators and eighteen degrees of freedom. In order to prevent the collision of the manipulator caused by the overlap of the motion space of the manipulator during the space positioning of the whole mandible reconstruction operation, a collision avoidance path planning method for manipulator based on C-space is proposed. In order to obtain the space non-interference posture of one manipulator, and the interference posture of the other manipulators is taken as the obstacle mapping in C-space to obtain the free space after removing obstacles. At the same time, combining with the space position of the system manipulator, the C-space mapping mathematical model of feature points and line segments is studied, and the mapping mathematical model of any point and line segment in the plane is obtained. By introducing admissibility proof lemma to weigh the evaluation function, the improved heuristic A* search algorithm is used to search the best path for collision avoidance. The collision avoidance experiment is carried out through simulation and Robot platform, and finally the animal experiment is carried out. These experimental results verify the feasibility and validity of the collision avoidance path planning method for the space manipulator.

  • Mechanical design and kinematic analysis of a Medical Robot assisted maxillofacial surgery
    2013 ICME International Conference on Complex Medical Engineering, 2013
    Co-Authors: Xingguang Duan, Yonggui Wang, Xiangzhan Kong, Meng Li, Yang Yang
    Abstract:

    Since the intricate anatomical structure of the maxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely high risk and difficult to implement. In contrast to traditional manual surgery, the paper introduces a multi-arm Medical Robot assisted the maxillofacial surgery using the optical navigation. The mechanical design was proposed gradually to satisfy the requirements of high precision, stability and safety in surgery, including the design of Robot arm, wrist and the passive joint of the end-effector. In addition, the jacobian matrix with differential method and flexibility analysis based on condition number were displayed to describe the motion performance analysis of the Medical Robot. Finally the kinematic simulation with forward and inverse kinematics validates the stabile motion regarding displacement, velocity and acceleration, to express that it could be implied in clinic.

  • Kinematics analysis and trajectory planning of a multiarm Medical Robot assisted maxillofacial surgery
    2012 ICME International Conference on Complex Medical Engineering (CME), 2012
    Co-Authors: Chao Chen, Xingguang Duan, Xing-tao Wang, Meng Li
    Abstract:

    As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm Medical Robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the Medical Robot system and mechanical structure of the Robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the Robot was calculated by simulations. Finally, the Robot model was established and an experiment was carried out which proved the Robot run smoothly and positioned accurately.

  • Control system for maxillofacial surgery Robot: Master-slave, motion control and safety design
    2012 ICME International Conference on Complex Medical Engineering (CME), 2012
    Co-Authors: Xingguang Duan, Qiang Huang, Honghua Zhao
    Abstract:

    As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm Medical Robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole Robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the Robot's smooth running and accurate positioning.

  • An active Medical supporting manipulator and experiments for vascular interventional Robot
    2012 IEEE International Conference on Mechatronics and Automation, 2012
    Co-Authors: Xiangzhan Kong, Xingguang Duan, Honghua Zhao, Yonggui Wang
    Abstract:

    In this paper, a new Medical Robot for vascular interventional surgery (VIS) has been proposed, which can be used for assisting surgeons in the vascular interventional operation and training unskilled surgeons to do the operation. The Robot includes a 5-DOF Active Supporting Medical Manipulator (ASMM) and a 2-DOF catheter operating system. Considering its application specially, safety design of the Robot are also mentioned and quintic polynomial interpolation is adopted in trajectory planning for smooth motion of manipulator. Based on structure analysis and trajectory planning, experiment showed that the active supporting manipulator run smoothly and positioned the catheter operating system accurately, which is essential to the safety of Medical Robot. The development of this Medical Robot system contributes to the promotion and popularization of the VIS in clinics.

Qiang Huang - One of the best experts on this subject based on the ideXlab platform.

  • Control system for maxillofacial surgery Robot: Master-slave, motion control and safety design
    2012 ICME International Conference on Complex Medical Engineering (CME), 2012
    Co-Authors: Xingguang Duan, Qiang Huang, Honghua Zhao
    Abstract:

    As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm Medical Robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole Robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the Robot's smooth running and accurate positioning.

  • 6-DOF Maxillofacial surgical Robotic manipulator controlled by Haptic device
    2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2012
    Co-Authors: Amjad Ali Syed, Xingguang Duan, Xiangzhan Kong, Meng Li, Qiang Huang
    Abstract:

    As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm Medical Robot are designed to assisting maxillofacial surgery and one of the 6-DOF arm of the Robot is controlled by Haptic device, which can improve surgical precision and reduce surgeon's strain for tele-Robotic surgery. Firstly, overview of the whole system is introduced. Then this paper focuses on the Surgical manipulator, Haptic device and its control Algorithm by inverse kinematics. Finally, the prototype was established and experiments were carried out under the observation of Navigation system to show the Robot's smooth running and accurate positioning.

  • Kinematics and trajectory planning of a supporting Medical manipulator for vascular interventional surgery
    The 2011 IEEE ICME International Conference on Complex Medical Engineering, 2011
    Co-Authors: Xing-tao Wang, Xingguang Duan, Honghua Zhao, Qiang Huang, Yue Chen, Hua-tao Yu
    Abstract:

    Conventional vascular interventional surgery (VIS) is performed under fluoroscopic guidance by surgeons. In order to reduce X-ray irradiation to the interventional radiologists, catheter operating systems have been developed to assist surgeons. This paper proposed an active supporting Medical manipulator, which can neatly adjust and accurately position the catheter operating system. Forward kinematics and inverse kinematics were solved based on kinematics analysis. Quintic polynomial interpolation was adopted in trajectory planning for smooth motion of manipulator. The kinematics and trajectory planning were validated by simulations. Based on kinematics solutions and trajectory planning, experiment showed that the supporting Medical manipulator run smoothly and positioned the catheter operating system accurately, which is essential to the safety of Medical Robot.

  • A novel Medical Robot assisting photodynamic therapy for port wine stains
    2010 8th World Congress on Intelligent Control and Automation, 2010
    Co-Authors: Guibin Bian, Xingguang Duan, Xing-tao Wang, Qiang Huang, Naiyan Huang, Ying Gu
    Abstract:

    Port wine stain (PWS) birthmarks are congenital vascular malformations, which usually appear at birth and tend to become darker and thicker with age's growth. Vasculartargeted photodynamic therapy (PDT) is an effective approach in the treatment of PWS. However, due to the arbitrariness of manual operation and pole points existing in laser radiation, the PWS zone was always cured unevenly in clinics. So we developed a novel Robotic system which consists of a passive arm and an active wrist, to assist doctors in exerting PDT treatments. The passive joints are easy to interaction with doctors, safer and more convenience; the active joints can automate the PDT so that the doctors can focus more on clinical judgements and treatments rather than heave manual works. In this paper, the mechanism of PWS and its treatments were described in brief, and then the Robotic system including the detailed Robot mechanical design and kinematic analysis was discussed based on the requirements of PDT. Finally, the Robot feasibility was validated by experimental results.

  • a Medical Robot for needle placement therapy in liver cancer
    Journal of Zhejiang University Science, 2010
    Co-Authors: Xingguang Duan, Xing-tao Wang, Honghua Zhao, Guibin Bian, Qiang Huang
    Abstract:

    Hepatocellular carcinoma (HCC) is the second most common malignancy in China. As microwave ablation (MWA) is an effective method for liver cancer, a Robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles. This Robotic system includes a surgical Robot with 5 degrees of freedom, a workstation for path-planning and image processing, a conventional 2D ultrasound device, and an electromagnetic (EM) tracking system. Surgery space, clinical operation requirements and optimal mechanical structure are the key factors to be considered in designing a Medical Robot suitable for use by surgeons. Based on the mechanics of the needle placement Robot, we have conducted detailed kinematic analysis, including a combined numerical algorithm and coordinate mapping. Finally, the feasibility of the needle placement Robot has been validated by experiment.

Guibin Bian - One of the best experts on this subject based on the ideXlab platform.

  • Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space
    IEEE Access, 2020
    Co-Authors: Honghua Zhao, Xingguang Duan, Jian Zhao, Xuyin Gong, Guibin Bian
    Abstract:

    A multi-arm Robot for mandible reconstruction assisted surgery is developed. It has three manipulators and eighteen degrees of freedom. In order to prevent the collision of the manipulator caused by the overlap of the motion space of the manipulator during the space positioning of the whole mandible reconstruction operation, a collision avoidance path planning method for manipulator based on C-space is proposed. In order to obtain the space non-interference posture of one manipulator, and the interference posture of the other manipulators is taken as the obstacle mapping in C-space to obtain the free space after removing obstacles. At the same time, combining with the space position of the system manipulator, the C-space mapping mathematical model of feature points and line segments is studied, and the mapping mathematical model of any point and line segment in the plane is obtained. By introducing admissibility proof lemma to weigh the evaluation function, the improved heuristic A* search algorithm is used to search the best path for collision avoidance. The collision avoidance experiment is carried out through simulation and Robot platform, and finally the animal experiment is carried out. These experimental results verify the feasibility and validity of the collision avoidance path planning method for the space manipulator.

  • A novel Medical Robot assisting photodynamic therapy for port wine stains
    2010 8th World Congress on Intelligent Control and Automation, 2010
    Co-Authors: Guibin Bian, Xingguang Duan, Xing-tao Wang, Qiang Huang, Naiyan Huang, Ying Gu
    Abstract:

    Port wine stain (PWS) birthmarks are congenital vascular malformations, which usually appear at birth and tend to become darker and thicker with age's growth. Vasculartargeted photodynamic therapy (PDT) is an effective approach in the treatment of PWS. However, due to the arbitrariness of manual operation and pole points existing in laser radiation, the PWS zone was always cured unevenly in clinics. So we developed a novel Robotic system which consists of a passive arm and an active wrist, to assist doctors in exerting PDT treatments. The passive joints are easy to interaction with doctors, safer and more convenience; the active joints can automate the PDT so that the doctors can focus more on clinical judgements and treatments rather than heave manual works. In this paper, the mechanism of PWS and its treatments were described in brief, and then the Robotic system including the detailed Robot mechanical design and kinematic analysis was discussed based on the requirements of PDT. Finally, the Robot feasibility was validated by experimental results.

  • a Medical Robot for needle placement therapy in liver cancer
    Journal of Zhejiang University Science, 2010
    Co-Authors: Xingguang Duan, Xing-tao Wang, Honghua Zhao, Guibin Bian, Qiang Huang
    Abstract:

    Hepatocellular carcinoma (HCC) is the second most common malignancy in China. As microwave ablation (MWA) is an effective method for liver cancer, a Robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles. This Robotic system includes a surgical Robot with 5 degrees of freedom, a workstation for path-planning and image processing, a conventional 2D ultrasound device, and an electromagnetic (EM) tracking system. Surgery space, clinical operation requirements and optimal mechanical structure are the key factors to be considered in designing a Medical Robot suitable for use by surgeons. Based on the mechanics of the needle placement Robot, we have conducted detailed kinematic analysis, including a combined numerical algorithm and coordinate mapping. Finally, the feasibility of the needle placement Robot has been validated by experiment.

  • Treatment modes and clinical experiment of Medical Robot assisted photodynamic therapy of port wine stains
    2010 IEEE International Conference on Robotics and Biomimetics, 2010
    Co-Authors: Xing-tao Wang, Xingguang Duan, Honghua Zhao, Guibin Bian, Qiang Huang, Naiyan Huang, Ying Gu
    Abstract:

    Port wine stains (PWS) are congenital vascular malformations, which usually appear at birth. Photodynamic therapy (PDT) is an effective approach in the treatment of PWS with laser. In clinical, the laser power density of laser spot used in PDT treatment is uneven and doctors need to keep moving laser fiber manually to uniformize laser irradiation, which is arbitrary and un-quantified, resulting in affecting the effect of treatment. In addition, long time manual operation makes doctors fatigue. So we developed a novel Robotic system to assist doctors. In order to achieve uniform laser irradiation and reduce doctors' labor intensity, we designed three treatment modes and analyzed the kinematics of each mode. The clinical results showed that these three treatment modes are useful in assisting doctors for PDT treatment of PWS.

Jinbao He - One of the best experts on this subject based on the ideXlab platform.

  • The 3D shape analysis of elastic rod in shape sensing Medical Robot system
    2010 IEEE International Conference on Robotics and Biomimetics, 2010
    Co-Authors: Xinhua Yi, Jinbao He
    Abstract:

    Interventional method as a Medical diagnosis has been developed for many years, but some flaws still exist during Medical diagnosis. To improve the comfort and safety of the patient, a shape sensing integration system of strain gauge-based shape sensing and binocular vision-based position of the handling part are presented, which use spatial curve curvature information to reconstruction flexible rod and binocular vision-based to detect the pose relative to reference global frame. Using 3D reconstruction technology and LAN-based data acquisition for strain gauge sensor, two systems are integrated into an effective shape sensing system which can be used to display the shape and pose relative to world coordinate system in real time and provide an intelligent platform for doctor in the process of colonoscopy to reduce the pain of the patient. Some simulation experiments have been done to verify the validity of the whole system.