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Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0698-y

摘要： Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand−eye coordination intuitive control. The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes. Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eye calibration is essential, which is a key component for developing intuitive control algorithm. We proposed a novel two-step modified dual quaternion for hand−eye calibration in this study. The dual quaternion was exploited to solve the hand−eye calibration simultaneously and powered by an iteratively separate solution. The obtained hand−eye calibration result was applied to the intuitive control by using the hand−eye coordination criterion. Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system. We extensively compared the proposed method with state-of-the-art methods. Results demonstrate this method can improve the calibration accuracy. The effectiveness of the intuitive control algorithm was quantitatively evaluated, and an improved hand−eye calibration method was developed. The relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery hand−eye calibration intuitive control surgical robot dual quaternion

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一种同时控制非完整约束底盘和机械臂的混合视觉伺服方法 Research Articles

李玮,熊蓉

《信息与电子工程前沿（英文）》 2021年第22卷第2期页码 141-286 doi: 10.1631/FITEE.1900460

摘要：视觉伺服控制规则是指利用机器人上所安装相机获取的图像数据进行机器人运动规划的控制方法，通常分为基于图像的视觉伺服、基于位置的视觉伺服和混合视觉伺服（HVS）控制规则。移动操作可扩大机械臂的工作范围和灵活性，但目前将视觉伺服控制应用于完整移动作业机器人运动的研究较少。本文提出一种面向6自由度机械臂与非完整移动基座组合构成的移动操作机器人HVS运动控制方法。基于移动操作机器人的运动学微分方程，推导了整个机器人的全局雅可比矩阵，进而结合位置信息和视觉图像信息推导了HVS控制方程。夹持器和目标之间的距离是通过安装在夹持器上的摄像机观察标记来计算的，并计算了在图像坐标系中标记特征点位置与期望位置之间的差异。将这些差异代入控制方程，可得到移动操作机器人各自由度的速度控制规律。为避免由观测引起的位置误差，引入卡尔曼滤波来校正机械臂末端的位置和方向。最后，在一台由Bulldog底盘、UR5机械臂和ZED相机组成的移动操作平台上进行了实验验证。

关键词：移动作业；混合视觉伺服；眼在手上；全局雅可比；卡尔曼滤波

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Review of hand, foot and mouth disease

Lan-Juan LI MD,

《医学前沿（英文）》 2010年第4卷第2期页码 139-146 doi: 10.1007/s11684-010-0033-6

摘要： Hand, foot and mouth disease (HFMD) is an acute viral illness that primarily affects infants and young children, and often occurs in clusters or outbreaks. The major causative agents of HFMD are coxsackievirus A16 (CVA16), human enterovirus 71 (HEV71) and coxsackievirus A10 (CVA10), of the genus in the family Picornaviridae. HFMD caused by EV71 is associated with severe neurological complications and death. Since the late 1990s, several major epidemics of EV71 HFMD have swept through the Asia-Pacific region, associated with a rapid fulminant course, severe neurological complications, and a large number of fatalities. Until now, little has been known about the genetics and transmission trends of the fast-mutation virus, and there is no effective and specific antiviral therapy or vaccine for HFMD. It is time to step up efforts to understand the molecular epidemics and pathogenesis so that we can develop effective management strategies and surveillance programs.

关键词： hand foot and mouth disease epidemiology pathogenesis management surveillance

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Acupuncture for the management of dry eye disease

《医学前沿（英文）》 2022年第16卷第6期页码 975-983 doi: 10.1007/s11684-022-0923-4

摘要： The effectiveness of using acupuncture for dry eye disease (DED) is controversial. Thus, this systematic review investigated the effectiveness and feasibility of using acupuncture for DED in accordance with the 2020 PRISMA statement. The outcomes of interests were (1) to evaluate the efficacy of acupuncture in improving the ocular surface disease index (OSDI), Schirmer I test score, and tear breakup time from baseline to the last follow-up; (2) to determine possible complications of using acupuncture; and (3) to investigate the superiority of acupuncture over other commonly used treatments for DED. Data from 394 patients were collected. Results showed that acupuncture significantly prolonged the tear breakup time (P < 0.0001), significantly increased the Schirmer I test score ( P < 0.0001), and significantly reduced the OSDI ( P < 0.0001) from baseline to the last follow-up. Compared with the control group, the acupuncture group had significantly greater Schirmer I test score ( P < 0.0001), significantly longer tear breakup time ( P = 0.0004), and significantly lower OSDI (P = 0.002). These results suggest that acupuncture is effective and feasible in improving symptoms and signs of DED. No severe adverse effects of acupuncture were observed.

关键词： dry eye disease xerophthalmus acupuncture

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The influence of hand hole on the ultimate strength and crack pattern of shield tunnel segment joints

Shaochun WANG, Xi JIANG, Yun BAI

《结构与土木工程前沿（英文）》 2019年第13卷第5期页码 1200-1213 doi: 10.1007/s11709-019-0546-2

摘要： With the shield tunnel going deeper and deeper, the circumferential axial force becomes the governing factor rather than the bending moment. The hand hole acts as a weak point and initial damage in the segment joint especially when the circumferential axial force is extremely high. Despite the wide application of steel fiber or synthetic fiber in the tunneling, limited researches focus on the structural responses of segment joint with macro structural synthetic fiber (MSSF). In this paper, a 1:2 reduced-scale experiment was conducted to study the structural performance of the segment joint with different types of hand holes under ultra-high axial force. Special attention is paid to failure mode and structural performance (bearing capacity, deformation, cracking, and toughness). Moreover, segment joints with MSSF are also tested to evaluate the effects of MSSF on the failure mode and structural performance of the segment joints. The experiment results show that the hand hole becomes the weakest point of the segment joint under ultra-high axial force. A \ /-type crack pattern is always observed before the final failure of the segment joints. Different types and sizes of the hand hole have different degree of influences on the structural behavior of segment joints. The segment joint with MSSF shows higher ultimate bearing capacity and toughness compared to segment joint with common concrete. Besides, the MSSF improves the initial cracking load and anti-spallling resistance of the segment joint.

关键词： shield tunneling structural synthetic fiber concrete hand hole segment joint ultimate bearing capacity crack pattern

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promotes macrophage pyroptosis by driving the glycolytic reprogramming of corneal epithelial cells in dry eye

《医学前沿（英文）》 2023年第17卷第4期页码 781-795 doi: 10.1007/s11684-023-0986-x

摘要： Tear film hyperosmolarity plays a core role in the development of dry eye disease (DED) by mediating the disruption of ocular surface homeostasis and triggering inflammation in ocular surface epithelium. In this study, the mechanisms involving the hyperosmolar microenvironment, glycolysis mediating metabolic reprogramming, and pyroptosis were explored clinically, in vitro, and in vivo. Data from DED clinical samples indicated that the expression of glycolysis and pyroptosis-related genes, including PKM2 and GSDMD, was significantly upregulated and that the secretion of IL-1β significantly increased. In vitro, the indirect coculture of macrophages derived from THP-1 and human corneal epithelial cells (HCECs) was used to discuss the interaction among cells. The hyperosmolar environment was found to greatly induce HCECs’ metabolic reprogramming, which may be the primary cause of the subsequent inflammation in macrophages upon the activation of the related gene and protein expression. 2-Deoxy-d-glucose (2-DG) could inhibit the glycolysis of HCECs and subsequently suppress the pyroptosis of macrophages. In vivo, 2-DG showed potential efficacy in relieving DED activity and could significantly reduce the overexpression of genes and proteins related to glycolysis and pyroptosis. In summary, our findings suggested that hyperosmolar-induced glycolytic reprogramming played an active role in promoting DED inflammation by mediating pyroptosis.

关键词： dry eye disease glycolytic reprogramming pyroptosis inflammation 2-DG

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A novel shape memory alloy actuated soft gripper imitated hand behavior

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0700-8

摘要： The limited length shrinkage of shape memory alloy (SMA) wire seriously limits the motion range of SMA-based gripper. In this paper, a new soft finger without silicone gel was designed based on pre bent SMA wire, and the finger was back to its original shape by heating SMA wire, rather than relying only on heat exchange with the environment. Through imitating palm movement, a structure with adjustable spacing between fingers was made using SMA spring and rigid spring. The hook structure design at the fingertip can form self-locking to further improve the load capacity of gripper. Through the long thin rod model, the relationship of the initial pre bent angle on the bending angle and output force of the finger was analyzed. The stress-strain model of SMA spring was established for the selection of rigid spring. Three grasping modes were proposed to adapt to the weight of the objects. Through the test of the gripper, it was proved that the gripper had large bending amplitude, bending force, and response rate. The design provides a new idea for the lightweight design and convenient design of soft gripper based on SMA.

关键词： shape memory alloy (SMA) pre bent wire gripper grasping mode lightweight

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Performance of vertical axis water turbine with eye-shaped baffle for pico hydropower

Zhuohuan HU, Dongcheng WANG, Wei LU, Jian CHEN, Yuwen ZHANG

《能源前沿（英文）》 2022年第16卷第4期页码 683-696 doi: 10.1007/s11708-020-0689-9

摘要： A series of inline pico hydropower systems, which could be used in confined space, especially for water distribution networks (WDNs), was designed and investigated. The turbine with an eye-shaped vertical water baffle was developed to evaluate the hydraulic performance. A three-dimensional dynamic mesh was employed and the inlet velocity was considered as the inlet boundary condition, whereas the outlet boundary was set as the outflow. Then, numerical simulations were conducted and the standard turbulence model was found to be the best capable of predicting flow features through the comparison with the experimental results. The effects of the opening diameter of the water baffle and installation angle of the rotor on the flow field in the turbine were investigated. The results suggested that the water baffle opening at = 30 mm and the rotor at a 52° angle could achieve the highest efficiency of 5.93%. The proper eye-shaped baffle not only accelerates the fluid flow and generates positive hydrodynamic torque, but also eliminates the flow separation. The scheme proposed in this paper can be exploited for practical applications in the water pipelines at various conditions and power requirements.

关键词： vertical axis water turbine eye-shaped vertical water baffle pico hydropower

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A virtual reality system for arm and hand rehabilitation

Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO

《机械工程前沿（英文）》 2011年第6卷第1期页码 23-32 doi: 10.1007/s11465-011-0202-6

摘要：

This paper presents a virtual reality (VR) system for upper limb rehabilitation. The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composed of a range of the optical linear encoders (OLE) and the inertial measurement units (IMU), and two interactive practice applications designed for driving users to perform the required functional and non-functional motor recovery tasks. We describe the technique details about the two motion track components and the rational to design two practice applications. The experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately track the elbow and wrist positions. The repeatability of the Smart Glove on measuring the five fingers’ movement can be satisfied. Given the low cost, high accuracy and easy installation, the system thus promises to be a valuable complement to conventional therapeutic programs offered in rehabilitation clinics and at home.

关键词： motion tracking rehabilitation optical linear encoder (OLE) virtual reality

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使用曲率尺度空间描述符从单眼深度图像中提取手关节

Shao-fan WANG,Chun LI,De-hui KONG,Bao-cai YIN

《信息与电子工程前沿（英文）》 2016年第17卷第1期页码 41-54 doi: 10.1631/FITEE.1500126

摘要：

我们提出了使用曲率标度空间（CSS）描述符从单眼深度图像中进行手关节检测的框架。我们从输入的深度图像中提取手部轮廓，并使用轮廓的修改CSS映射的局部极值获得轮廓的指尖和手指谷。然后我们根据轮廓内部点深度的局部变化恢复未检测到的指尖。与使用角度检测器或凸包检测器的传统基于外观的方法相比，修改后的CSS描述符可以更精确地提取指尖和手指谷，因为它对嘈杂或损坏的数据更可靠；此外，深度的局部极值可以恢复指尖不能很好地弯曲手指，而传统的基于外观的方法在不匹配手模型的情况下几乎无法工作。实验结果表明，与三种基于外观的最先进方法相比，我们的方法能够更精确地捕获手部关节。

关键词：曲率尺度空间；手部关节；凸包；手形轮廓

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Sensory innervation of the anterior eye segment in rats: a retrograde tracing study

Haixia LIU MD , Zhiwang LI MD , Min YANG MD , Xiang TIAN MS , Chaoying LI PhD , Lei PEI PhD ,

《医学前沿（英文）》 2009年第3卷第3期页码 352-356 doi: 10.1007/s11684-009-0065-y

摘要： This study aimed to investigate the sensory innervation of the anterior eye segment in rats by retrograde tracing with 1,1-dioleyl-3,3,3,3-tetrameth-ylindocarbocyanine, 4-chlorobenesulfonate (FAST Dil) injected into the anterior chamber. In our study, the sensory innervation of distinct elements of the anterior segment of the rat’s eye, i.e. the cornea, ciliary body, iris, and trabecular meshwork, were studied by retrograde tracing using FAST Dil as a tracer. FAST Dil was injected into the anterior chambers of the rat’s eyes. The animals were sacrificed at different time points, i.e., 2, 3, 4, and 5 days after the injection. FAST Dil localization in trigeminal ganglions was studied with a fluorescent microscope. Two days after FAST Dil injection into the anterior chambers, the cornea, the ciliary body, the iris, and the trabecular meshwork were heavily labeled. Neurons in the ipsilateral trigeminal ganglion were also consistently labeled. The number of labeled cells increased over time until 4 days after FAST Dil injection. FAST Dil-labeled neurons could be divided into two parts. Most of the Dil-labeled neurons were concentrated in a sharp, longitudinal, spindle-like stripe, located in the dorso-medial side of the trigeminal ganglion, approximately two thirds of the dorsal portion. The other part of Dil-labeled neurons scattered laterally to the stripe, but just in one third of the dorsal region. Thus, with our preliminary results, we conclude that the primary afferent sensory neurons innervating the rat’s anterior eye segments aggregate in the dorso-medial part of the ipsilateral trigeminal ganglion. It is feasible to identify them using retrograde tracing with FAST Dil anterior chamber injection.

关键词： trigeminal ganglion retrograde tracing

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0696-0

摘要： The loss of hand functions in upper limb amputees severely restricts their mobility in daily life. Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions. In a prosthetic hand design, replicating the natural and dexterous grasping functions with a few actuators remains a big challenge. In this study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand. An optimization function of different functional conditions of full-phalanx contact, total contact force, and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance. Using a genetic algorithm, the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements. Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes. A prosthetic finger was fabricated and tested with grasping experiments. The mean absolute percentage error between the theoretical value and the experimental result is less than 10%, demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible. This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage, which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

《机械工程前沿（英文）》 2006年第1卷第1期页码 33-39 doi: 10.1007/s11465-005-0015-6

摘要：

A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.

关键词： control real-time control superunderactuation TH-2 personification

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一种机械臂在线标定装置开发 Research Article

万梓威1,2,周春琳1,3,张昊天4,吴俊1

《信息与电子工程前沿（英文）》 2023年第24卷第2期页码 217-230 doi: 10.1631/FITEE.2200172

摘要：

提出一种名为MultiCal的新型接触式三维测量装置，可用于机械臂的现场标定和在线精度测量，具有使用方便、成本低（低于5000美元）、性能可靠等优点。该设备可灵活地设置在机械臂的工作环境中进行微米级精度三维测量。在标定过程中，通过一个三维位移测量装置，让机械臂的工具中心点运动至一个固定点，之后再绕该点旋转运动至不同姿态角并测量各关节角度（单点约束测量）。然后采用一个创新设计的夹具，将三维位移测量装置精确地安装在该夹具的不同工位上，并重复上述测量过程，从而实现多点约束测量。夹具上不同工位的相对位置在标定前已被精确测量，并作为标定的先验信息，以提高标定的精度与鲁棒性。理论分析表明，在相同水平的测量误差下，MultiCal的理论标定精度与传统的非接触式三维或六维测量设备（如激光跟踪器）相比降低10%—20%。而在Staubli TX90机械臂上进行的实际标定实验结果表明，MultiCal实际标定精度仅比带激光扫描仪的测量臂低7%—14%，时间效率比六维双目视觉测量系统低21%—30%，标定后的机械臂的最大和平均绝对定位误差分别为0.831 mm和0.339 mm。

关键词：标定装置；运动学标定；现场标定；绝对定位精度

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Remote calibration system for frequency based on in-place benchmark

Xiaobin HONG, Guixiong LIU, Zhuokui WU, Xipeng DU,

《机械工程前沿（英文）》 2010年第5卷第3期页码 316-321 doi: 10.1007/s11465-010-0021-1

摘要： According to the deficiencies of remote calibration mode based on material object reference, a new model of a remote calibration system for frequency based on in-place benchmark is introduced, which is made of a calibration subsystem on the spot and a remote management subsystem. The key technology of some key problems for the remote calibration system is particularly discussed, including the time and frequency benchmark receiving module based on global positioning system (GPS), frequency comparison based on a phase method, frequency division based on dual high-frequency phase locked loop (PLL), and remote calibration based on the web. The results show that the system possesses some characteristics, such as high precision, good versatility, and no limitation of time and place.

关键词： remote calibration in-place benchmark frequency comparison global position system (GPS)