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Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

CHINESE JOURNAL OF MECHANICAL ENGINEERING 2024年第1期37卷 1-16页

作者： Zheng, Hao Liang, Chenbo Gao, Feng Qi, Chenkun He, Bingze liu, renqiang Chen, Longhai Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai 200030 Peoples R China Shanghai Jiao Tong Univ Inst Med Robot Shanghai 200030 Peoples R China

The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures, improving the reliability of highly complex and precise surgeries. In turn, this urges the design and development of novel surgical robots to possess higher precision, stability, and enhanced motion capabilities. In response to this practical demand, this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs (parallel mechanisms), which have a total of 13 active DOFs (degrees of freedom). This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control. The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself. A comprehensive introduction and analysis of the surgical robot are provided, covering aspects such as design, kinematics, motion planning, and performance indicators. To address the pose allocation and coordination of motion between the macro platform and the micro platform, a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed. The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively. Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system. This research contributes innovative insights to the development of medical surgical robot systems, particularly in the domain of mechanism design.

关键词： Medical surgical robot Macro-micro integrated system Modular parallel mechanism High-precision robot

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Immunogenicity of a recombinant VSV-Vectored SARS-CoV vaccine induced robust immunity in rhesus monkeys after single-dose immunization

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Virologica Sinica 2022年第2期37卷 248-255页

作者： Dan Shan Xiaoyan Tang renqiang liu Dan Pan Xijun Wang Jinying Ge Zhiyuan Wen Zhigao Bu State Key Laboratory of Veterinary Biotechnology Harbin Veterinary Research InstituteChinese Academy of Agricultural SciencesHarbin150069China Jiangsu Co-innovation Center for Prevention and Control of Important Animal Infectious Diseases and Zoonoses Yangzhou UniversityYangzhou225127China

Severe acute respiratory syndrome(SARS)is a highly contagious zoonotic disease caused by SARS coronavirus(SARS-Co V).Since its outbreak in Guangdong Province of China in 2002,SARS has caused 8096 infections and774 deaths by December 31st,*** there have been no more SARS cases reported in human populations since 2004,the recent emergence of a novel coronavirus disease(COVID-19)indicates the potential of the recurrence of SARS and other coronavirus disease among ***,developing a rapid response SARS vaccine to provide protection for human populations is still ***(S)protein of SARS-Co V can induce neutralizing antibodies,which is a pivotal immunogenic antigen for vaccine *** we constructed a recombinant chimeric vesicular stomatitis virus(VSV)VSVΔG-SARS,in which the glycoprotein(G)gene is replaced with the SARS-Co V S ***ΔG-SARS maintains the bullet-like shape of the native VSV,with the heterogeneous S protein incorporated into its surface instead of G *** results of safety trials revealed that VSVΔG-SARS is safe and effective in mice at a dose of 1×10^(6)TCID_(50).More importantly,only a single-dose immunization of 2×10^(7)TCID_(50)can provide high-level neutralizing antibodies and robust T cell responses to non-human primate animal ***,our data indicate that VSVΔG-SARS can be used as a rapid response vaccine *** study on the recombinant VSV-vectored SARS-Co V vaccines can accumulate experience and provide a foundation for the new coronavirus disease in the future.

关键词： Severe acute respiratory syndrome coronavirus(SARS-CoV) Vesicular stomatitis virus(VSV) Vaccine Immunization

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Advances in the Studies of the Middle and Upper Atmosphere in 2004-2006

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空间科学学报 2006年第Z1期26卷 61-70页

作者： CHEN Zeyu liu renqiang CHEN Hongbin CHEN Wen LU Daren XU Jiyao HU Xiong Institute of Atmospheric Physics Chinese Academy of SciencesBeijing 100080China Center for Space Science and Application Research Chinese Academy of Sciences

This paper summarizes the research results obtained by Chinese scientists and/or through international collaborations during 2004 to *** the context of COSPAR,the progresses in the studies of the middle and upper atmosphere in China in the past two years are introduced with focusing the developments in facilities and instruments,and the advancements in scientific issues,e.g.,dynamics related processes,atmospheric constituents,and the coupling with the lower atmosphere.

关键词： Middle and upper atmosphere

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Double cores of the Ozone Low in the vertical direction over the Asian continent in satellite data sets

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Earth and Planetary Physics 2019年第2期3卷 93-101页

作者： Zhou Tang Dong Guo YuCheng Su ChunHua Shi ChenXi Zhang Yu liu XiangDong Zheng WenWen Xu JianJun Xu renqiang liu WeiLiang Li Key Laboratory of Meteorological Disaster Ministry of Education/Joint International Research Laboratory of Climate and Environment Change/Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters Nanjing University of Information Science & Technology The Global Environment and Natural Resources Institute (GENRI) College of Science George Mason University Center for Atmospheric Science Hampton University Chinese Academy of Meteorological Sciences Guangdong Ocean University

Using four satellite data sets(TOMS/SBUV, OMI, MLS, and HALOE), we analyze the seasonal variations of the total column ozone(TCO) and its zonal deviation(TCO*), and reveal the vertical structure of the Ozone Low(OV) over the Asian continent. Our principal findings are:(1) The TCO over the Asian continent reaches its maximum in the spring and its minimum in the autumn. The Ozone Low exists from May to September.(2) The Ozone Low has two negative cores, located in the lower and the upper stratosphere. The lower core is near 30 hPa in the winter and 70 hPa in the other seasons. The upper core varies from 10 hPa to 1 hPa among the four seasons.(3)The position of the Ozone Low in the lower and the upper stratosphere over the Asian continent shows seasonal variability.

关键词： Ozone Low Double core Asian continent Satellite data

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A seven-gene-deleted African swine fever virus is safe and effective as a live attenuated vaccine in pigs

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Science China(Life Sciences) 2020年第5期63卷 623-634页

作者： Weiye Chen Dongming Zhao Xijun He renqiang liu Zilong Wang Xianfeng Zhang Fang Li Dan Shan Hefeng Chen Jiwen Zhang Lulu Wang Zhiyuan Wen Xijun Wang Yuntao Guan Jinxiong liu Zhigao Bu State Key Laboratory of Veterinary Biotechnology Harbin Veterinary Research InstituteChinese Academy of Agricultural SciencesHarbin 150001China National High Containment Laboratory for Animal Diseases Control and Prevention Harbin 150069China

African swine fever(ASF)is a devastating infectious disease in swine that is severely threatening the global pig *** efficacious vaccine is urgently ***,we used the Chinese ASFV HLJ/18 as a backbone and generated a series of genedeleted *** virulence,immunogenicity,safety,and protective efficacy evaluation in specific-pathogen-free pigs,commercial pigs,and pregnant sows indicated that one virus,namely HLJ/18-7GD,which has seven genes deleted,is fully attenuated in pigs,cannot convert to the virulent strain,and provides complete protection of pigs against lethal ASFV *** study shows that HLJ/-18-7GD is a safe and effective vaccine against ASFV,and as such is expected to play an important role in controlling the spread of ASFV.

关键词： African swine fever vaccine safety protective efficacy pig

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Replication, pathogenicity, and transmission of SARS-CoV-2 in minks

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National Science Review 2021年第3期8卷 21-28页

作者： Lei Shuai Gongxun Zhong Quan Yuan Zhiyuan Wen Chong Wang Xijun He renqiang liu Jinliang Wang Qinjian Zhao Yuxiu liu Ningning Huo Junhua Deng Jingjing Bai Hongchao Wu Yuntao Guan Jianzhong Shi Kegong Tian Ningshao Xia Hualan Chen Zhigao Bu State Key Laboratory of Veterinary Biotechnology Harbin Veterinary Research Institute Chinese Academy of Agricultural Sciences National High Containment Laboratory for Animal Diseases Control and Prevention State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics National Institute of Diagnostics and Vaccine Development in Infectious DiseasesSchool of Public Health Xiamen University National Research Center for Veterinary Medicine

Minks are raised in many countries and have transmitted severe acute respiratory syndrome coronavirus 2(SARS-CoV-2) to ***,the biologic properties of SARS-CoV-2 in minks are largely ***,we investigated and found that SARS-CoV-2 replicates efficiently in both the upper and lower respiratory tracts,and transmits efficiently in minks via respiratory droplets;pulmonary lesions caused by SARS-CoV-2 in minks are similar to those seen in humans with *** further found that a spike protein-based subunit vaccine largely prevented SARS-CoV-2 replication and lung damage caused by SARS-CoV-2 infection in *** study indicates that minks are a useful animal model for evaluating the efficacy of drugs or vaccines against COVID-19 and that vaccination is a potential strategy to prevent minks from transmitting SARS-CoV-2.

关键词： SARS-CoV-2 mink replication pathogenicity transmission animal model

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Mouse-adapted SARS-CoV-2 replicates efficiently in the upper and lower respiratory tract of BALB/c and C57BL/6J mice

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Protein & Cell 2020年第10期11卷 776-782页

作者： Jinliang Wang Lei Shuai Chong Wang renqiang liu Ziruo Sun Dan Shan Jinying Ge Xijun Wang Ronghong Hua Gongxun Zhong Zhiyuan Wen Zhigao Bu Xijun He Xianfeng Zhang Zhigao Bu State Key Laboratory of Veterinary Biotechnology Harbin Veterinary Research Institute Chinese Academy of Agricultural Sciences Harbin 150069 China National High Containment Laboratory for Animal Diseases Control and Prevention Harbin 150069 China

Dear Editor,As of June,2020,more than ten million cases of COVID-19 have been reported *** causative pathogen of the disease is a novel coronavirus named severe acute respiratory syndrome coronavirus 2(SARS-CoV-2)(World Health Organization,2020).Animal infection models are important to characterize the infection,pathogenesis,and immunology of SARS・CoV・2,as well as for the development of medications and vaccines against *** are particularly attractive animal models for their identical genetic background,reliable reproducibility,well characterized biology,and the huge availability of research reagents and knockout *** in inbreed mice such as BALB/c and C57BL/6J(C57),which are widely used in research,are highly desired.

关键词： C57BL/6J BALB/c respiratory

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Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space

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Science China(Technological Sciences) 2016年第8期59卷 1167-1175页

作者： GAO Feng QI ChenKun REN AnYe ZHAOXianChao CAO Rui SUN Qiao WANG Qian HU Yan HE Jun JIN ZhenLin liu renqiang ZHANG Yong GUO WeiZhong HU ZhenYu TANG Ping NI Bo JING QianFeng WANG WeiJun GAO Peng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Institute of Aerospace System Engineering Shanghai Shanghai 201108 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

In the one-gravity environment on the ground, the simulation of the contact process of two flying objects in the zero-gravity environment of space has been a challenging issue since humans first explored space by flying objects. Hardware-in-the-loop （HIL） simulation is an important and effective method to test the usability, reliability, and safety of real docking mechanisms in space. There are four main issues for HIL simulation systems： Design of simulators capable of high frequency response, high motion precision, high velocity, and rapid acceleration; compensation for simulation distortion; design of a control model for the HIL simulation process; and experimental verification. Here, we propose a novel HIL simulator system with a 6-DOF 3-3 perpendicular parallel mechanism and a 3-DOF 3-PRS parallel mechanism; discover the principle of simulation distortion; present distortion compensation models for the force measurement system, dynamic response, and structural dynamics of the simulator; and provide a control model for the HIL simulation process. Two kinds of experiments were performed on the pas- sive-undamped elastic rod and the docking mechanisms to test their performances and to verify the effectiveness and usability of the HIL simulator. The HIL simulation system proposed in this paper is useful for developing space docking, berthing, refu- eling, repairing, upgrading, transporting, and rescuing technologies.

关键词： hardware-in-the-loop simulation hybrid simulation docking simulation contact dynamics parallel mechanisms simulation distortions distortions compensation

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大气潮汐的经典理论及有关现代模式的发展

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空间科学学报 2010年第3期30卷 235-242页

作者：刘仁强南京信息工程大学气象灾害省部共建教育部重点实验室南京210044

按照历史发展,回顾了从无耗无风背景下线性化的大气潮汐方程组出发得到一个二维定态变量可分离的基本偏微分方程及其全球Hough函数波模解的经典理论;介绍了主要由Forbes和Hagan发展起来的在真实有耗有风背景下线性化的本质上仍是二维定... 详细信息

按照历史发展,回顾了从无耗无风背景下线性化的大气潮汐方程组出发得到一个二维定态变量可分离的基本偏微分方程及其全球Hough函数波模解的经典理论;介绍了主要由Forbes和Hagan发展起来的在真实有耗有风背景下线性化的本质上仍是二维定态,但纬度和高度变量不可分离的现代数值模式GSWM;概述了近年来针对中高层大气的GCM(例如TIME-GCM,MUAM,CMAM和WACCM)来研究潮汐非线性及非迁移潮汐等的发展趋势.在融合理解的基础上对各模式的特点和模式间的差异进行了适当分析,从中可以看出,半个世纪以来人们在从第一原理出发试图揭示全球大气潮汐的真实结构特征和长短期变化机制等方面进行了持续的努力,这种努力又是与从利用地基雷达到卫星搭载仪器观测大气(特别是MLT区域的风场和温度场)的发展密不可分的.

关键词：大气潮汐 Hough函数 GSWM GCM

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水驱油田层系合理井网密度

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大庆石油地质与开发 2015年第4期34卷 78-81页

作者：刘仁强大庆油田有限责任公司勘探开发研究院黑龙江大庆163712

水驱油田的合理井网密度研究是油田开发方案设计和开发调整的一项重要工作。根据经济学的盈亏平衡原理,综合考虑油田开发过程中钻井投资、地面投资、原油销售收入和利率等因素推导得到了一种水驱油田层系合理井网密度计算模型,并对已有... 详细信息

水驱油田的合理井网密度研究是油田开发方案设计和开发调整的一项重要工作。根据经济学的盈亏平衡原理,综合考虑油田开发过程中钻井投资、地面投资、原油销售收入和利率等因素推导得到了一种水驱油田层系合理井网密度计算模型,并对已有的动态数据劈分方法进行了改进,考虑了生产压差对劈分结果的影响,提高了数据劈分的精度,为分层合理井网密度研究提供了可靠的数据基础。应用该模型解决了传统合理井网密度研究只是针对地面井网密度的局限性,使井网调整细化到不同物性、不同开发阶段的层系,使井网的调整和加密具有更强的针对性,为特高含水期油田分层系的井网调整提供了参考依据。

关键词：达西定律动态数据井网密度层系潜力

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