Optimization Algorithm for Operation Comfortability of Master Manipulator of Minimally Invasive Surgery Robot

To evaluate the operation comfortability in the master-slave robotic minimally invasive surgery(MIS), an optimal function was built with two operation comfortability decided indices, i.e., the center distance and volume contact ratio. Two verifying experiments on Phantom Desktop and Micro Hand S were conducted. Experimental results show that the operation effect at the optimal relative location is better than that at the random location, which means that the optimal function constructed in this paper is effective in optimizing the operation comfortability.

Motor Learning Based on the Cooperation of Cerebellum and Basal Ganglia for a Self-Balancing Two-Wheeled Robot

A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.

FORCE FEEDBACK MODEL OF ELECTRO-HYDRAULIC SERVO TELE-OPERATION ROBOT BASED ON VELOCITY CONTROL

The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.

Spatial Operator Algebra for Free-floating Space Robot Modeling and Simulation

As the dynamic equations of space robots are highly nonlinear,strongly coupled and nonholonomic constrained,the efficiency of current dynamic modeling algorithms is difficult to meet the requirements of real-time simulation.This paper combines an efficient spatial operator algebra（SOA） algorithm for base fixed robots with the conservation of linear and angular momentum theory to establish dynamic equations for the free-floating space robot,and analyzes the influence to the base body＇s position and posture when the manipulator is capturing a target.The recursive Newton-Euler kinematic equations on screw form for the space robot are derived,and the techniques of the sequential filtering and smoothing methods in optimal estimation theory are used to derive an innovation factorization and inverse of the generalized mass matrix which immediately achieve high computational efficiency.The high efficient SOA algorithm is spatially recursive and has a simple math expression and a clear physical understanding,and its computational complexity grows only linearly with the number of degrees of freedom.Finally,a space robot with three degrees of freedom manipulator is simulated in Matematica 6.0.Compared with ADAMS,the simulation reveals that the SOA algorithm is much more efficient to solve the forward and inverse dynamic problems.As a result,the requirements of real-time simulation for dynamics of free-floating space robot are solved and a new analytic modeling system is established for free-floating space robot.

Method for Analyzing Articulated Torques of Heavy-duty Six-legged Robot

The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.

Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capacity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electrically driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walking experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results show that the theoretical and experimental data are in the same trend. The walking modes which are most available to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the relationship between the walking modes and the forces of feet can quickly determine the optimal walking mode and gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability.

Oxidization resistance of Ni76Cr19AlTi valve alloy at temperatures under operating mode of heavy-duty engines

The oxidization resistance of the Ni76Cr19A1Ti alloy was studied by a static oxidization experiment at 600-800℃. The results show that the oxidation behavior of the alloy can be explained by a kinetic equation： （△m/S）2 = Kpt ＋ C, where Kp is a kinetic constant of the nickel-base alloy. The higher the experimental temperature, the higher the value of Kp. It is discovered that the microstructure of the oxide scales is compact and the thickness of it is less than 10 μm The oxidization of the alloy is in the first grade. It is also found that the oxide scales are mainly composed of Cr2O3 and TiO2. Chrome and titanium react more easily with oxygen at temperatures under the operating mode.

Influence of Robot-Assisted Tumor Surgery Nursing on Patient Rehabilitation in Operating Room and Discussion on Nursing Strategies

Objective: To evaluate the effect of operating room nursing on the outcome of patients undergoing robot-assisted tumor surgery. Methods: This research starts from October 2021 to October 2022. The number of patients with robot-assisted tumor surgery included in our hospital is 769. The patients are treated in the operating room, and the prognosis of the patients is summarized. Results: The intraoperative blood loss in patients undergoing robot-assisted tumor surgery was (57.51 ± 12.01) ml;the operation time was (3.57 ± 0.66) h;and the hospital stay was (6.04 ± 0.53) d. There were 21 cases of complications after robot-assisted tumor surgery, accounting for 2.73%. After surgery, all robot-assisted tumor surgery patients recovered and were discharged smoothly after being checked by doctors. Conclusion: Robot-assisted tumor surgery nursing has a definite effect on patients’ rehabilitation in the operating room.

A Novel Design Framework for Smart Operating Robot in Power System

This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers is discussed in the beginning of the paper. The discussion is based on the results of a field study in the Tianjin Power System Control Center in China. According to the study, one problem in power systems is that the power system analysis system in the control center is not fast and powerful enough to help the operators in time to deal with the incidents in the power system. Another issue in current power system control center is that the operation tickets are compiled manually by the operators, so that it is less efficient and human errors cannot be avoided. Based on these problems, a framework of the smart operating robot is proposed in this paper, which includes an intelligent power system analysis system and a smart operation ticket compiling system to solve the two problems in power system control centers. The proposed framework is mainly based on the AI techniques, especially the neural network with deep learning, since it is faster and more capable of dealing with the highly nonlinear and complex power system.

Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

An Improved Iterated Greedy Algorithm for Solving Rescue Robot Path Planning Problem with Limited Survival Time

Effective path planning is crucial for mobile robots to quickly reach rescue destination and complete rescue tasks in a post-disaster scenario.In this study,we investigated the post-disaster rescue path planning problem and modeled this problem as a variant of the travel salesman problem(TSP)with life-strength constraints.To address this problem,we proposed an improved iterated greedy(IIG)algorithm.First,a push-forward insertion heuristic(PFIH)strategy was employed to generate a high-quality initial solution.Second,a greedy-based insertion strategy was designed and used in the destruction-construction stage to increase the algorithm’s exploration ability.Furthermore,three problem-specific swap operators were developed to improve the algorithm’s exploitation ability.Additionally,an improved simulated annealing(SA)strategy was used as an acceptance criterion to effectively prevent the algorithm from falling into local optima.To verify the effectiveness of the proposed algorithm,the Solomon dataset was extended to generate 27 instances for simulation.Finally,the proposed IIG was compared with five state-of-the-art algorithms.The parameter analysiswas conducted using the design of experiments(DOE)Taguchi method,and the effectiveness analysis of each component has been verified one by one.Simulation results indicate that IIGoutperforms the compared algorithms in terms of the number of rescue survivors and convergence speed,proving the effectiveness of the proposed algorithm.

Overview of Key Technologies for Remote Wireless Operation Platform on Water Surface

The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.

天玑骨科机器人TiRobot Recon导航系统使用风险关键控制点确定及运维管理体系应用效果分析

目的:构建天玑骨科机器人TiRobot Recon导航系统风险控制点确定及运维管理体系(以下简称风险控制运维管理体系)并分析应用效果,为提高天玑骨科机器人临床服务效果和质量提供理论指导与参考。方法:通过查阅文献、总结临床实践经验等方式明确天玑骨科机器人TiRobot Recon导航系统风险关键控制点,据此构建风险控制运维管理体系,比较该体系实施前(2022年1月~2022年12月)与实施后(2023年1月~2023年12月)对天玑骨科机器人TiRobot Recon导航系统的管理效果。结果:实施风险控制运维管理体系后,天玑骨科机器人TiRobot Recon导航系统日均使用时间、预期目标达标率、系统风险事件上报准确性、风险预警及时性和风险事件数据规范性均高于实施前,系统故障待机时间和故障率低于实施前,差异有统计学意义(t=6.956、9.656、5.415、4.678、3.711、3.354、5.229,P<0.05);实施分线控制运维管理体系后,天玑骨科机器人TiRobot Recon导航系统的人员日常养护、使用前检查、使用后清洁、系统操作、故障应对、紧急处理等操作熟练度评分均高于实施前,差异有统计学意义(t=4.225、2.399、2.385、2.597、2.421、3.560,P<0.05)。结论:采用风险控制运维管理体系可提高天玑骨科机器人TiRobot Recon导航系统的使用效果,强化人员操作熟练度,临床应用优势明显,具有应用价值。

骨科机器人在临床应用中的分类及优缺点

背景:步入智能时代以来,人们对应用于医疗方面的人工智能技术的研究热情越发高涨。在骨科领域,机器人辅助技术是最具吸引力的人工智能技术之一。经过近40年的发展,机器人辅助技术逐渐成熟,可参与的骨科手术种类逐渐增多,且起到至关重要的作用。目的:总结到目前为止骨科机器人在临床的应用情况,并分析其优缺点。方法:通过对PubMed数据库和中国知网已收录的相关文献进行检索,英文检索词为“robot-assisted technology,surgical robots,orthopaedic robots,robotic arm,orthopaedic,orthopaedic surgery,joint,spine,trauma,bone tumor”,中文检索词为“机器人辅助技术,手术机器人,骨科机器人,机械臂,骨科,骨科手术,关节,脊柱,创伤,骨肿瘤”。按照入选标准进行筛选共得到82篇相关性高的文献。结果与结论:目前机器人辅助技术在临床中的应用比较成熟,可用于大多数骨科手术中,有着不错的临床表现;骨科机器人主要优点包括缓解临床医生的工作压力、减少术中副损伤、缩短辐射暴露时间等,但同时也可能存在手术操作时间延长和术后并发症增加的情况。未来骨科机器人的发展将沿着高智能、低成本、更快捷等方向发展。

任务导向训练联合下肢康复机器人对脑卒中偏瘫患者下肢功能的影响

目的:探讨下肢康复机器人联合任务导向训练对脑卒中偏瘫患者的治疗效果。方法:选取我院2023年1月~12月收治的脑卒中偏瘫患者100例,随机分为对照组和观察组各50例。对照组在康复师的辅助下进行任务导向训练,观察组在对照组基础上给予下肢康复机器人训练。观察两组患者治疗前后下肢平衡、下肢肌力、运动功能、踝关节功能、膝关节屈曲活动范围及行走能力。结果:治疗后,两组患者BBS评分、股四头肌评分、腘绳肌评分、FMA-LE评分及AOFAS评分均较治疗前升高(P<0.05),且观察组治疗后的BBS评分、股四头肌评分、腘绳肌评分、FMA-LE评分及AOFAS评分均显著高于对照组(P<0.05);治疗后,两组患者的膝关节屈曲活动范围及6 min步行距离均较治疗前升高(P<0.05),且观察组治疗后的膝关节屈曲活动范围及6 min步行距离显著大于对照组(P<0.05)。结论:在脑卒中患者的临床治疗中,任务导向训练与下肢康复机器人相结合,可有效提高下肢肌力,促进平衡功能的恢复,对运动功能的恢复效果显著,可提高脑卒中患者的行走能力和膝关节屈曲的活动范围,达到较为理想的治疗效果。

Simultaneous bilateral robotic partial nephrectomy: Case report and critical evaluation of the technique

We report our first simultaneous bilateral robot assisted partial nephrectomy(RAPN) in order to show and critically discuss the feasibility of this procedure. Materials and methods A 69-year-old male patient visited our department due to incidental finding of bilateral mesorenal small masses(2.5 cm on the right and 3.5 cm on the left) suspicious for malignancy. We started from the right side with patient in flank position. Port placement: 12-mm periumbilical camera port, two 8-mm robotic ports in wide ‘‘V''configuration, additional 12 mm assistant port on the midline between the umbilicus and symphysis pubis. A right unclamping RAPN with sliding clip renorrhaphy was performed. The trocars were removed and the robot undocked. Without interrupting the anesthesiological procedures, the patient was reported in supine position and, after 180 degrees rotation of the surgical bed, was newly placed in contralateral flank position. Using both the previous periumbilical and midline ports, two other 8-mm robotic trocars were placed. The robot was then redocked and RAPN was also performed on the left side using the same previously reported technique. Results Total time: 285 min. Estimated blood losses: 150 cc. Postoperativeperiod: uneventful. Pathological examination: bilateral renal cell carcinoma, negative surgical margins. Conclusions Our experience was encouraging and confirmed the feasibility and safety of this procedure. The planning of our technique was time and cost effective with cosmetic benefit for the patient. However, we think that an appropriate selection of the patients and a skill in robotic renal surgery are advisable before approaching this type of surgery.

Design and voice‐based control of a nasal endoscopic surgical robot

In traditional nasal surgery,surgeons are prone to fatigue and jitter by holding the endoscope for a long‐time.Some complex operations require assistant surgeon to assist with holding the endoscope.To address the above problems,the authors design a remote centre of motion based nasal robot,and propose a voice‐based robot control method.First,through the operation space analysis of nasal surgery,the design scheme of the robot based on RCM mechanism is proposed.On this basis,the design parameters of the robot are analysed to complete the entire design of robot.Then,considering that the surgeon's hands are occupied by surgical instruments during complex surgical operations,a voice‐based robot control method is proposed.This method obtains direction instructions from surgeons by analysing the movement of the endoscopic image.Afterward,a commercial speech recognition interface is used to realise the offline grammar controlwords lib compatible with both Chinese and English,and the overall strategy of robot control is proposed.Finally,an experimental platform for virtual robot control is established,and the voice‐based robot control experiment is performed.The results show that the proposed voice‐based control method is feasible,and it provides guidance for the subsequent development and control of the actual robot system.

The Fuzzy Neural Network Control Scheme With H∞ Tracking Characteristic of Space Robot System With Dual-arm After Capturing a Spin Spacecraft

In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler method.Based on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law.The closed chain system is formed in the post-impact phase.Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics.With the closed chain constraint equations,the composite system dynamic equations are derived.Secondly,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter.In order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking characteristic.According to the Lyapunov theory,the global stability is demonstrated.Meanwhile,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators.At last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results.

Robotic cholecystectomy with new port sites

AIM:To introduce robotic cholecystectomy(RC) using new port sites on the low abdominal area.METHODS:From June 2010 to June 2011,a total of 178 RCs were performed at Ajou University Medical Center.We prospectively collected the set-up time(working time and docking time) and console time in all robotic procedures.RESULTS:Eighty-three patients were male and 95 female;the age ranged from 18 to 72 years of age(mean 54.6 ± 15.0 years).All robotic procedures were successfully completed.The mean operation time was 52.4 ± 17.1 min.The set-up time and console time were 11.9 ± 5.4 min(5-43 min) and 15.1 ± 8.0 min(4-50 min),respectively.The conversion rate to laparoscopic or open procedures was zero.The complication rate was 0.6%(n = 1,bleeding).There was no bile duct injury or mortality.The mean hospital stay was 1.4 ± 1.1 d.There was a significant correlation between the console time and white blood cell count(r = 0.033,P = 0.015).In addition,the higher the white blood cell count(more than 10000),the longer the console time.CONCLUSION:Robotic cholecystectomy using new port sites on the low abdominal area can be safely and efficiently performed,with sufficient patient satisfaction.

Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncertain parameters

Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.