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Zhou Z, Zhang Y, Bai J, Zhang W, Wang H, Pu W. Bioinspired Flexible Capacitive Sensor for Robot Positioning in Unstructured Environments. ACS APPLIED MATERIALS & INTERFACES 2024; 16:16589-16600. [PMID: 38506508 DOI: 10.1021/acsami.4c00699] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/21/2024]
Abstract
The evolution of bionic machines into intelligent robots to adapt to real scenarios is inseparable from positioning sensors. However, traditional positioning methods such as camera arrays, ultrasound, or GPS are limited in narrow concealed spaces, harsh temperatures, or dynamic light fields, which hinder the practical application of special robots. Here, we report a flexible sensor inspired by Gnathonemus petersii that enables robots to achieve contactless and high-precision spatial localization independent of the unstructured features of the environment. Sensors are obtained from low-cost materials (carbon nanotubes and polyimides) and simple structures (fibers) and preparation processes (spin-coating). Experiments and simulations confirmed the high resolution (<1 mm) of the sensor over a large distance detection range (>150 mm) and high bandwidth (0-520 MPa) of contact force. Moreover, the sensing capability is still feasible when the sensor is bent to various curvatures and not affected under harsh conditions such as ultralow temperatures (below -78 °C), ultrahigh temperatures (over 250 °C), darkness, or brightness. We demonstrate the practical potential of the proposed sensors for a biomimetic hyper-redundant continuum robot to locate and avoid collisions in unstructured environments.
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Affiliation(s)
- Zisong Zhou
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Yin Zhang
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Jialuo Bai
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Wang Zhang
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Haolun Wang
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
| | - Wei Pu
- School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
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Xie Y, Hou X, Wang S. Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots. ROBOTICS 2023. [DOI: 10.3390/robotics12020052] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/31/2023] Open
Abstract
Continuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main control stick could rotate around a fixed point. The rotational inertia is reduced by mounting all powertrain components on the base plane. Based on the design, kinematic and static models are proposed for position perception and force output analysis, while at the same time gravity compensation is also performed to calibrate the system. Using a continuum-mechanism-based trans-esophageal ultrasound robot as the test platform, a master–slave teleoperation scheme with position–velocity mapping and variable impedance control is proposed to integrate the speed regulation on the master side and the force perception on the slave side. The experimental results show that the main accuracy of the design is within 1.6°. The workspace of the control sticks is −60° to 110° in pitch angle, −40° to 40° in yaw angle, −180° to 180° in roll angle, and −90° to 90° in translation angle. The standard deviation of force output is within 8% of the full range, and the mean absolute error is 1.36°/s for speed control and 0.055 N for force feedback. Based on this evidence, it is believed that the proposed haptic joystick is a good addition to the existing work in the field with well-developed and effective features to enable the teleoperation of continuum robots for medical applications.
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Zhang J, Fang Q, Xiang P, Sun D, Xue Y, Jin R, Qiu K, Xiong R, Wang Y, Lu H. A Survey on Design, Actuation, Modeling, and Control of Continuum Robot. CYBORG AND BIONIC SYSTEMS 2022; 2022:9754697. [PMID: 38616914 PMCID: PMC11014731 DOI: 10.34133/2022/9754697] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2022] [Accepted: 06/27/2022] [Indexed: 04/16/2024] Open
Abstract
In this paper, we describe the advances in the design, actuation, modeling, and control field of continuum robots. After decades of pioneering research, many innovative structural design and actuation methods have arisen. Untethered magnetic robots are a good example; its external actuation characteristic allows for miniaturization, and they have gotten a lot of interest from academics. Furthermore, continuum robots with proprioceptive abilities are also studied. In modeling, modeling approaches based on continuum mechanics and geometric shaping hypothesis have made significant progress after years of research. Geometric exact continuum mechanics yields apparent computing efficiency via discrete modeling when combined with numerical analytic methods such that many effective model-based control methods have been realized. In the control, closed-loop and hybrid control methods offer great accuracy and resilience of motion control when combined with sensor feedback information. On the other hand, the advancement of machine learning has made modeling and control of continuum robots easier. The data-driven modeling technique simplifies modeling and improves anti-interference and generalization abilities. This paper discusses the current development and challenges of continuum robots in the above fields and provides prospects for the future.
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Affiliation(s)
- Jingyu Zhang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Qin Fang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Pingyu Xiang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Danying Sun
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yanan Xue
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
- Department of Plastic Surgery, Sir Run Run Shaw Hospital, Zhejiang University of Medicine, Hangzhou 310016, China
| | - Rui Jin
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Ke Qiu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Rong Xiong
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yue Wang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Haojian Lu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
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Yang Z, Yang L, Zhang M, Wang Q, Simon CH, Zhang L. Magnetic Control of a Steerable Guidewire Under Ultrasound Guidance Using Mobile Electromagnets. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3057295] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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A novel and easy approach to difficult transseptal puncture during atrial fibrillation ablation. J Interv Card Electrophysiol 2020; 62:269-276. [PMID: 33034794 DOI: 10.1007/s10840-020-00891-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 03/26/2020] [Accepted: 09/28/2020] [Indexed: 10/23/2022]
Abstract
AIMS Transseptal passage is sometimes difficult to obtain. This study evaluates the feasibility and safety of a novel and easy transseptal puncture (TSP) technique named 2D2G (using two dilators and two guidewires) in patients with difficult TSP. METHODS AND RESULTS Forty-four paroxysmal atrial fibrillation patients with difficult TSP were enrolled in this study. They were allocated to the 2D2G group or the conventional group in a 1:1 fashion. The primary endpoint in both groups was successful TSP without changing the puncture site or using auxiliary tools. The secondary endpoints were the safety, total transseptal puncture time, and ablation time. There were no differences in baseline demographic or clinical characteristics between the two groups. Successful LA access in the 2D2G group was 100% (vs. 64%, P < 0.05). The total TSP time (10 ± 3 min vs. 5 ± 1 min, P < 0.05) and ablation time (42 ± 19 min vs. 58 ± 22 min, P < 0.05) in the conventional group were significantly longer than those in the 2D2G group. No major complications occurred in either group, and all the patients underwent successful circumferential pulmonary vein isolation (CPVI). CONCLUSION In AF patients with difficult TSP, the 2D2G technique is safe, feasible, and time-saving.
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Zhou Y, Jiang G, Zhang C, Wang Z, Zhang Z, Liu H. Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction. Adv Robot 2019. [DOI: 10.1080/01691864.2019.1657947] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/26/2022]
Affiliation(s)
- Yuanyuan Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China
- Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing, People’s Republic of China
- Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China
- Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, People’s Republic of China
| | - Guohao Jiang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China
- Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing, People’s Republic of China
- Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China
- Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, People’s Republic of China
| | - Cheng Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China
- Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China
- Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, People’s Republic of China
| | - Zhidong Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China
- Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China
- Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan
| | - Zhongtao Zhang
- Department of General Surgery, Beijing Friendship Hospital Capital Medical University, Beijing, People’s Republic of China
| | - Hao Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China
- Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China
- Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, People’s Republic of China
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Zhang Z, Dequidt J, Back J, Liu H, Duriez C. Motion Control of Cable-Driven Continuum Catheter Robot Through Contacts. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2898047] [Citation(s) in RCA: 25] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
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Yu B, Fernández JDG, Tan T. Probabilistic Kinematic Model of a Robotic Catheter for 3D Position Control. Soft Robot 2019; 6:184-194. [DOI: 10.1089/soro.2018.0074] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/27/2022] Open
Affiliation(s)
- Bingbin Yu
- Robotics Innovation Center at German Research Center for Artificial Intelligence (DFKI), Bremen, Germany
| | - José de Gea Fernández
- Robotics Innovation Center at German Research Center for Artificial Intelligence (DFKI), Bremen, Germany
| | - Tao Tan
- Department of Biomedical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands
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Oliver-Butler K, Till J, Rucker C. Continuum Robot Stiffness Under External Loads and Prescribed Tendon Displacements. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2018.2885923] [Citation(s) in RCA: 63] [Impact Index Per Article: 12.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Jeon S, Hoshiar AK, Kim K, Lee S, Kim E, Lee S, Kim JY, Nelson BJ, Cha HJ, Yi BJ, Choi H. A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network. Soft Robot 2018; 6:54-68. [PMID: 30312145 PMCID: PMC6386781 DOI: 10.1089/soro.2018.0019] [Citation(s) in RCA: 93] [Impact Index Per Article: 15.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/21/2022] Open
Abstract
Magnetically actuated soft robots may improve the treatment of disseminated intravascular coagulation. Significant progress has been made in the development of soft robotic systems that steer catheters. A more challenging task, however, is the development of systems that steer sub-millimeter-diameter guidewires during intravascular treatments; a novel microrobotic approach is required for steering. In this article, we develop a novel, magnetically actuated, soft microrobotic system, increasing the steerability of a conventional guidewire. The soft microrobot is attached to the tip of the guidewire, and it is magnetically steered by changing the direction and intensity of an external magnetic field. The microrobot is fabricated via replica molding and features a soft body made of polydimethylsiloxane, two permanent magnets, and a microspring. We developed a mathematical model mapping deformation of the soft microrobot using a feed-forward approach toward steering. Then, we used the model to steer a guidewire. The angulation of the microrobot can be controlled from 21.1° to 132.7° by using a magnetic field of an intensity of 15 mT. Steerability was confirmed by two-dimensional in vitro tracking. Finally, a guidewire with the soft microrobot was tested by using a three-dimensional (3D) phantom of the coronary artery to verify steerability in 3D space.
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Affiliation(s)
- Sungwoong Jeon
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Ali Kafash Hoshiar
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Kangho Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Seungmin Lee
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Eunhee Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Sunkey Lee
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Jin-Young Kim
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
| | - Bradley J Nelson
- 2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea.,3 Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
| | - Hyo-Jeong Cha
- 4 Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea
| | - Byung-Ju Yi
- 4 Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea
| | - Hongsoo Choi
- 1 Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, South Korea.,2 DGIST-ETH Microrobotics Research Center (DEMRC), DGIST, Daegu, South Korea
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Experimental validation of robot-assisted cardiovascular catheterization: model-based versus model-free control. Int J Comput Assist Radiol Surg 2018; 13:797-804. [PMID: 29611096 DOI: 10.1007/s11548-018-1757-z] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/31/2018] [Accepted: 03/26/2018] [Indexed: 10/17/2022]
Abstract
PURPOSE In cardiac electrophysiology, a long and flexible catheter is delivered to a cardiac chamber for the treatment of arrhythmias. Although several robot-assisted platforms have been commercialized, the disorientation in tele-operation is still not well solved. We propose a validation platform for robot-assisted cardiac EP catheterization, integrating a customized MR Safe robot, a standard clinically used EP catheter, and a human-robot interface. Both model-based and model-free control methods are implemented in the platform for quantitative evaluation and comparison. METHODS The model-based and model-free control methods were validated by subject test (ten participants), in which the subjects have to perform a simulated radiofrequency ablation task using both methods. A virtual endoscopic view of the catheter is also provided to enhance hand-to-eye coordination. Assessment indices for targeting accuracy and efficiency were acquired for the evaluation. RESULTS (1) Accuracy: The average distance measured from catheter tip to the closest lesion target during ablation of model-free method was 19.1% shorter than that of model-based control. (2) Efficiency: The model-free control reduced the total missed targets by 35.8% and the maximum continuously missed targets by 46.2%, both indices corresponded to a low p value ([Formula: see text]). CONCLUSION The model-free method performed better in terms of both accuracy and efficiency, indicating the model-free control could adapt to soft interaction with environment, as compared with the model-based control that does not consider contacts.
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