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An Automatic Implementation of Oropharyngeal Swab Sampling for Diagnosing Respiratory Infectious Diseases via Soft robotic End-Effectors

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 55-67页

作者： Yafeng Cui Wenjie Yu Jingjing Li Qi Shao Ding Weng Guoping Yin Xiaohao Zhang Xinjun Liu Jingying Ye Jiadao Wang Huichan Zhao Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China Beijing Huakang Tongbang Technology Company Beijing 102609China Department of Otorhinolaryngology Beijing Tsinghua Changgung HospitalSchool of Clinical MedicineTsinghua UniversityBeijing 102218China Tianjin Research Institute for Advanced Equipment Tsinghua UniversityTianjin 300300China

The most widely adopted method for diagnosing respiratory infectious diseases is to conduct polymerase chain reaction(PCR)assays on patients’respiratory specimens,which are collected through either nasal or oropharyngeal *** manual swab sampling process poses a high risk to the examiner and may cause false-negative results owing to improper *** this paper,we propose a pneumatically actuated soft end-effector specifically designed to achieve all of the tasks involved in swab *** soft end-effector utilizes circumferential instability to ensure grasping stability,and exhibits several key properties,including high load-to-weight ratio,error tolerance,and variable swab-tip stiffness,leading to successful automatic robotic oropharyngeal swab sampling,from loosening and tightening the transport medium tube cap,holding the swab,and conducting sampling,to snapping off the swab tail and sterilizing *** an industrial collaborative robotic arm,we integrated the soft end-effector,force sensor,camera,lights,and remote-control stick,and developed a robotic oropharyngeal swab sampling *** this swab sampling system,we conducted oropharyngeal swab-sampling tests on 20 *** Digital PCR assay results(RNase P RNA gene absolute copy numbers for the samples)revealed that our system successfully collected sufficient numbers of cells from the pharyngeal wall for respiratory disease *** summary,we have developed a pharyngeal swab-sampling system based on an“enveloping”soft actuator,studied the sampling process,and imple-mented whole-process robotic oropharyngeal swab-sampling.

关键词： Diagnosis medical robot Soft end-effector Swab-sampling Digital PCR

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State of the art in movement around a remote point:a review of remote center of motion in robotics

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Frontiers of Mechanical Engineering 2024年第2期19卷 1-28页

作者： Wuxiang ZHANG Zhi WANG Ke MA Fei LIU Pengzhi CHENG Xilun DING School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315832China Intelligent Aerospace Manufacturing Engineering Technology Co. Ltd.Beijing 100191China

The concept of remote center of motion(RCM)is pivotal in a myriad of robotic applications,encompa-ssing areas such as medical robotics,orientation devices,and exoskeletal *** efficacy of RCM technology is a determining factor in the success of these robotic *** paper offers an exhaustive review of RCM technologies,elaborating on their various methodologies and practical *** delves into the unique characteristics of RCM across different degrees of freedom(DOFs),aiming to distill their fundamental *** addition,this paper categorizes RCM approaches into two primary classifications:design based and control *** are further organized according to their respective DOFs,providing a concise summary of their core *** upon the understanding of RCM’s versatile capabilities,this paper then transitions to an in-depth exploration of its applications across diverse robotic *** this review,we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their *** discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

关键词： remote center of motion mechanism robotics medical robot orientation device exoskeleton

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Development of a nurse robot serving in infectious disease isolation wards

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High Technology Letters 2007年第3期13卷 261-266页

作者：孙立宁 Zhao Jianwen Du Zhijiang Dong Wei robotics Institute Harbin Institute of Technology Harbin 150001 P.R. China

A prototype of nurse robot system serving in infectious disease wards is developed by analyzing the systems requirement. Firstly, the type synthesis and dimension synthesis for optimizing the workspace are presented. Secondly, the tele-control system based on velocity control mode is introduced, and tele-control program is written. Finally, the imitation of position workspace and experiment of transforming objects from buffer area to isolation area are carried out.

关键词： medical robot nurse robot isolation ward parallel mechanism

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Workspace and Accuracy Analysis on a Novel 6‑UCU Bone‑attached Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2022年第3期35卷 148-160页

作者： Kaijie Dong Duanling Li Xingyu Xue Chang Xu Haowei Wang Xianming Gao School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China th Research Institute of China Electronics Technology Group Corporation Hefei 340100China Beijing Institute of Spacecraft System Engineering China Academy of Space TechnologyBeijing 100094China College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 712000China

With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical *** bone-attached robot,a popular orthopedic robot in recent years,has a tendency of miniaturization and ***,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force *** optimize the structure and make it more compact,the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint,and workspace model is established through spherical coordinate search *** study also analyzes the influence of structural parameters on workspace,which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large ***,to improve the motion accuracy,an error modeling method is developed based on the structure of 6-UCU *** to this established error model,the output pose error curves are drawn using MATLAB software when the structure parameters change,and the influence of the structure and pose parameters change on the output pose error of PMs is *** proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.

关键词： medical robot Bone-attached robot Parallel manipulator Workspace analysis Accuracy analysis

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A Novel medical robotic System for Laser-based Therapies

A Novel Medical Robotic System for Laser-based Therapies

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第三十届中国控制会议

作者： LIU Xin-Ge School of Automation,Beijing Institute of Technology,Beijing 100081,P.R.China

＜正＞Port wine stain（PWS） birthmarks are congenital vascular malformations,which usually appear at birth and tend to become darker and thicker with age’s ***-targeted photodynamic therapy（PDT） is an effective approach in the treatment of ***,due to the arbitrariness of manual operation and existing pole points of laser radiation,the PWS zone was always cured unevenly in *** we developed a novel robotic system,which consists of passive arm and active wrist,to assist doctors in exerting PDT *** joints are easy to interface with doctors,safe and convenience;active joints can automate the PDT,so that let doctors focus on clinical judgements and the treatments rather than heave manual *** this paper,the mechanism of PWS and PDT were described in brief;the robotic system including the detailed robot mechanical design and kinematic analysis is discussed based on the requirements of PDT. Finally,the robot feasibility was validated by experimental results.

关键词： medical robot Passive Manipulator Kinematic Analysis

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ACTIVE robotIC ENDOSCOPE FOR MINIMALLY INVASIVE SURGERY

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Chinese Journal of Mechanical Engineering 2002年第2期15卷 126-130页

作者： MiZhinan Qian Jinwu Gong Zhenbang Mi Zhiwei Shen Linyong School of Mechatronics and Automation, Shanghai University, Shanghai 200072, China School of Mechatronics and Automation Shanghai University Shanghai 200072 China ***

A robotic endoscope is mainly composed of a tactile array sensor, soft mobilemechanism for earthworm locomotion and turning mechanism based on shape memory effect. The tactilearray sensor can provide the information about magnitude and orientation of interacting forcesbetween the robotic endoscope and the wall of gastrointestinal tracts. The soft mobile mechanismcontacts gastrointestinal tracts with air-in inflatable balloons, so it has better soft andnon-invasive properties. The turning mechanism can be actively bent by shape memory alloy componentsand conform to the complex shape of gastrointestinal tracts. The working principle of roboticendoscope is dealt with.

关键词： medical robot Endoscope Earthworm locomotion Shape memory alloy

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Main Stages of Evolution from Mechanical Automatic Systems to Humanoid robot

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Journal of Mechanics Engineering and Automation 2015年第5期5卷 309-316页

作者： Ionel Staretu Product Design Mechatronics and Environment Department Product Design and Environment Faculty Transylvania University ofBrasov Brasov 500036 Romania

Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of greatest interest. This article aims to highlight the most significant moments of the evolution from mechanical creatures mythical or real, from antiquity to the present humanoid robots. There are thus shown the most significant variants humanoid imagined or realized since Talos, described in Greek mythology, continuing with mechanical machines during late Roman Empire, the Byzantine Empire and then the Renaissance of the post-renaissance, then they are shown the main achievements of the industrialization period from the nineteenth to the early part of the twentieth century, then to the most important made in the last decades of the twentieth century and early twenty-first century. The work is important to stimulate concerns academic theorists and practice but also in the industrial practice specializing in robotics and more generally in mechatronics. It also opens the prospect of defining the concept of an artificial humanoid useful both for human prosthesis with certain disabilities, and a humanoid robot performance.

关键词： Mechanical automate humanoid robot service robot medical robot robotics market.

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A Novel robotic Control System Mimics Doctor’s Operation to Assist Percutaneous Coronary Intervention

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Cardiovascular Innovations and Applications 2022年第2期6卷 225-231页

作者： Boda Zhou Qizhong Li Yajun Xue Lihao Huang Jie Zhou Ou Zhang Ping Zhang Gangtie Zheng Department of Cardiology Beijing Tsinghua Changgung HospitalSchool of Clinical MedicineTsinghua UniversityBeijing 102218China School of Aerospace Engineering Tsinghua UniversityBeijing 100084China

Objectives:The use of current robotic systems to assist in percutaneous coronary intervention(PCI)fundamentally differs from performing conventional *** overcome this problem,we developed a novel master-slave robotic control system to assist in PCI,and evaluated its safety and feasibility in the delivery and manipulation of coronary guidewires in vitro and in ***:The novel robotic assist PCI system is composed of three parts:1)a master actuator,which imitates the traditional torque used by surgeons in conventional PCI,2)a slave actuator,including a guidewire delivery system and force monitoring equipment,and 3)a local area network based communication ***:The experiment was performed in six *** robotic and manual control completed the operation with no device-or procedure-associated *** experienced interventional cardiologist who was aﬁrst-time user of the novel robotic PCI system was able to advance the guidewire into a distal branch of a coronary artery within a similar time to that required with the manual ***:This early in vivo experiment with the novel robotic assisted PCI control system demonstrated that its feasibility,safety,and procedural effectiveness are comparable to those of manual *** novel robotic-assisted PCI control system required signiﬁcantly less time to learn than other currently available systems.

关键词： medical robot PCI control system

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State-of-the-art of intelligent minimally invasive surgical robots Masakatsu

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Frontiers of Medicine 2020年第4期14卷 404-416页

作者： G.Fujie Bo Zhang Future robotics Organization Waseda UniversityTokyo 1620044Japan Beijing Advanced Innovation Centre for Intelligent robots and Systems Beijing Institute of TechnologyBeijing 100081China

A number of developed countries are rapidly turning into super-aged ***,the demand for reduced surgical invasiveness and enhanced efficiency in the medical field has increased due to the need to reduce the physical burden on older patients and shorten their recovery *** surgical robot systems offer high precision,high safety,and reduced *** paper presents a review of current intelligent surgical robot *** history of robots and three types of intelligent surgical robots are *** problems with current surgical robot systems are then *** aspects that should be considered in designing new surgical systems are discussed in *** paper ends with a summary of the work and a discussion of future prospects for surgical robot development.

关键词： robot history medical robot surgical robot radiofrequency ablation organ model

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