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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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A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

《机械工程前沿（英文）》 2014年 第9卷 第4期   页码 317-330 doi: 10.1007/s11465-014-0304-z

摘要：

Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.

关键词： mobile robot     obstacle avoidance     Invasive Weed Optimization     navigation    

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Application of the invasive weed optimization algorithm to economic dispatch problems

T. JAYABARATHI, Afshin YAZDANI, V. RAMESH

《能源前沿（英文）》 2012年 第6卷 第3期   页码 255-259 doi: 10.1007/s11708-012-0202-1

摘要： In this paper the invasive weed optimization algorithm has been applied to a variety of economic dispatch (ED) problems. The ED problem is concerned with minimizing the fuel cost by optimally loading the electrical generators which are committed to supply a given demand. Some involve prohibited operating zones, transmission losses and valve point loading. In general, they are non-linear non-convex optimization problems which cannot be directly solved by conventional methods. In this work the invasive weed algorithm, a meta-heuristic method inspired by the proliferation of weeds, has been applied to four numerical examples and has resulted in promising solutions compared to published results.

关键词： economic dispatch (ED)     invasive weed optimization     non-convexity     prohibited operating zones (POZ)     valve point loading     meta-heuristic    

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Combined heat and power economic dispatch problem using the invasive weed optimization algorithm

T. JAYABARATHI, Afshin YAZDANI, V. RAMESH, T. RAGHUNATHAN

《能源前沿（英文）》 2014年 第8卷 第1期   页码 25-30 doi: 10.1007/s11708-013-0276-4

摘要： Cogeneration units which produce both heat and electric power are found in many process industries. These industries also consume heat directly in addition to electricity. The cogeneration units operate only within a feasible zone. Each point within the feasible zone consists of a specific value of heat and electric power. These units are used along with other units which produce either heat or power exclusively. Hence the economic dispatch problem for these plants optimizing the fuel cost is quite complex and several classical and meta-heuristic algorithms have been proposed earlier. This paper applies the invasive weed optimization algorithm which is inspired by the ecological process of weed colonization and distribution. The results obtained have been compared with those obtained by other methods earlier and showed a marked improvement over earlier ones.

关键词： combined heat and power (CHP)     economic dispatch     meta-heuristic algorithm     invasive weed optimization     cogeneration    

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Non-invasive continuous blood pressure monitoring: a review of current applications

null

《医学前沿（英文）》 2013年 第7卷 第1期   页码 91-101 doi: 10.1007/s11684-013-0239-5

摘要：

Blood pressure monitoring has come a long way from the initial observations made by Reverend Hales in the 18th century. There are none that deny the importance of monitoring perioperative blood pressure; however, the limited ability of the current prevalent technology (oscillometric blood pressure monitoring) to offer continuous blood pressure measurements leaves room for improvement. Invasive monitoring is able to detect beat-to-beat blood pressure measurement, but the risks inherent to the procedure make it unsuitable for routine use except when this risk is outweighed by the benefits. This review focuses on the discoveries which have led up to the current blood pressure monitoring technologies, and especially the creation of those offering non-invasive but continuous blood pressure monitoring capabilities, including their methods of measurement and limitations.

关键词： non-invasive blood pressure monitoring     continuous blood pressure monitoring     invasive blood pressure monitoring     Riva-Rocci technique     oscillometric     Pe?áz technique     arterial tonometry     pulse transit time    

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Functional trait differences between native bunchgrasses and the invasive grass

Huiqin HE, Thomas A. MONACO, Thomas A. JONES

《农业科学与工程前沿（英文）》 2018年 第5卷 第1期   页码 139-147 doi: 10.15302/J-FASE-2017175

摘要： We conducted 30- and 60-d greenhouse experiments to compare functional traits of (invasive annual grass) and four perennial bunchgrasses under well-watered or drought conditions. Even under drought, experienced significantly less stress (i.e., higher xylem pressure potential and greater shoot water content, water use per day and water-use efficiency) and biomass production than the perennial grasses after 30 d. However, after 60 d, its superiority was reduced under infrequent watering. Differences among perennial grasses were more pronounced for physiological traits under infrequent watering and for morphological traits under frequent watering. (fast-growing species) had a higher transpiration rate, lower leaf temperature, and lower water-use efficiency than the other grasses after 30 d. In contrast, (slow-growing) had lower xylem pressure potential and higher leaf temperature than all other grasses under infrequent watering. Under frequent watering, shoot dry mass and specific leaf area of was matched by (moderate-growing species). Our results indicate that multiple-species plantings or seedings are necessary to foster greater weed resistance against . We also emphasize that when choosing plant material for restoration, performance during both pulse (resource-rich) and inter-pulse (resource-poor) periods should be considered.

关键词： annual grass     comparative growth     drought response     invasive plant     native grass     specific leaf area     soil-water use    

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Strategies of minimally invasive treatment for intrahepatic and extrahepatic bile duct stones

null

《医学前沿（英文）》 2017年 第11卷 第4期   页码 576-589 doi: 10.1007/s11684-017-0536-5

摘要：

Cholelithiasis is a kind of common and multiple diseases. In recent years, traditional laparotomy has been challenged by a minimally invasive surgery. Through literature review, the therapeutic method, effect, and complications of minimally invasive treatment of intrahepatic and extrahepatic bile duct stones by combining our practical experience were summarized as follows. (1) For intrahepatic bile duct stones, the operation may be selected by laparoscopic liver resection, laparoscopic common bile duct exploration (LCBDE), or percutaneous transhepatic cholangioscopy. (2) For concomitant gallstones and common bile duct stones, the surgical approach can be selected as follows: laparoscopic cholecystectomy (LC) combined with endoscopic sphincterotomy (EST) or endoscopic papillary balloon dilatation, LC plus laparoscopic transcystic common bile duct exploration, LC plus LCBDE, and T-tube drainage or primary suture. (3) For concomitant intrahepatic and extrahepatic bile duct stones, laparoscopic liver resection, choledochoscopy through the hepatic duct orifice on the hepatectomy cross section, LCBDE, EST, and percutaneous transhepatic cholangioscopic lithotripsy could be used. According to the abovementioned principle, the minimally invasive treatment approach combined with the surgical technique and equipment condition will be significant in improving the therapeutic effect and avoiding the postoperative complications or hidden dangers of intrahepatic and extrahepatic bile duct stones.

关键词： laparoscopy     choledochoscopy     duodenoscopy     cholelithiasis     minimally invasive treatment    

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Can intravesical bacillus Calmette-Guérin reduce recurrence in patients with non-muscle invasive bladder

null

《医学前沿（英文）》 2014年 第8卷 第2期   页码 241-249 doi: 10.1007/s11684-014-0328-0

摘要：

Approximately 70% of newly diagnosed bladder tumors are non-muscle invasive bladder cancer (NMIBC). NMIBC accounts for approximately 80% of total bladder cancer cases. Bacillus Calmette-Guérin (BCG) instillation and maintenance is considered as the standard adjuvant treatment for superficial bladder cancer. A number of randomized studies have focused on the benefit of maintenance therapy following initial BCG induction. To provide further insights into the effect of intravesical instillation on recurrence in patients with NMIBC, we analyzed this relationship by conducting an updated detailed meta-analysis. Evidence suggested that adjuvant intravesical BCG with maintenance treatment is significantly effective for the prophylaxis of tumor recurrence in patients with NMIBC.

关键词： non-muscle invasive bladder cancer     bacillus Calmette-Guérin (BCG)     meta-analysis    

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

Masakatsu G. Fujie, Bo Zhang

《医学前沿（英文）》 2020年 第14卷 第4期   页码 404-416 doi: 10.1007/s11684-020-0743-3

摘要： A number of developed countries are rapidly turning into super-aged societies. Consequently, 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 period. Intelligent surgical robot systems offer high precision, high safety, and reduced invasiveness. This paper presents a review of current intelligent surgical robot systems. The history of robots and three types of intelligent surgical robots are discussed. The problems with current surgical robot systems are then analyzed. Several aspects that should be considered in designing new surgical systems are discussed in detail. The 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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A new minimally invasive treatment for anal fistula

null

《医学前沿（英文）》 2015年 第9卷 第1期   页码 77-81 doi: 10.1007/s11684-014-0352-0

摘要：

In colorectal surgery, eradicating the fistula and maintaining continence are still complex challenges for a colorectal surgeon. A minimally invasive method using a novel device was performed to consecutively treat 14 patients with anal fistula from August 2008 to November 2009. After a follow-up period of 36 months, 13 patients achieved successful closure of their fistula tracts, and recurrence occurred only in one patient. Recurrence was due to the delay of dressing change. No patient had interference with continence, and no major intra- and post-operative complications were identified. Using the novel device with invasive methods can be a promising alternative for managing anal fistulas.

关键词： anal fistula     surgery     device    

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A solution to unit commitment problem using invasive weed optimization algorithm

B. SARAVANAN, E. R. VASUDEVAN, D. P. KOTHARI

《能源前沿（英文）》 2013年 第7卷 第4期   页码 487-494 doi: 10.1007/s11708-013-0279-1

摘要： Unit commitment (UC) is one of the most important aspect of power generation in the world today. Though, there is no method to find the exact optimized solution, there exists several meta-heuristic algorithms to determine the close to exact solution. This paper proposes a novel solution to effectively determine UC and generation cost using the technique of invasive weed optimization (IWO). The existing technique distributes the load demand among all the generating units. The method proposed here utilizes the output of UC obtained by using the Lagrangian relaxation (LR) method and calculates the required generation from only the plants that are ON discarding the OFF generator units and thereby giving a faster and more accurate response. Moreover, the results show the comparison between the LR-particle swarm optimization (PSO) and LR-IWO, and prove that the cost of generation for a 4 unit, 8 hour schedule is much less in the case of IWO when compared to PSO.

关键词： Lagrangian relaxation (LR)     invasive weed optimization (IWO)     economic dispatch     optimization     fuel cost     seed     fitness    

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Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 70-79 doi: 10.1007/s11465-013-0365-4

摘要：

In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient’s abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An in-depth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.

关键词： parallel robot     minimally invasive surgery     kinematics     simulation    

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Etiology of invasive candidosis agents in Russia: a multicenter epidemiological survey

null

《医学前沿（英文）》 2018年 第12卷 第1期   页码 84-91 doi: 10.1007/s11684-017-0612-x

摘要：

A multicenter prospective epidemiological survey on the etiologic agents of invasive candidosis was conducted in Russia in the period of 2012–2014. Samples were collected from 284 patients with invasive candidosis and Candida species isolated by culture. The species were identified by DNA sequencing and MALDI-TOF mass-spectrometry. A total of 322 isolates were recovered, in which 96% of Сandida species belonged to six major species, namely, C. albicans (43.2%), C. parapsilosis (20.2%), C. glabrata (11.5%), C. tropicalis (9.6%), C. krusei (6.2%), and C. guilliermondii (5.3%). Most Candida species were isolated from blood samples (83.23%). Notably, the prevalence rate of C. albicans reduced from 52.38% to 32.79% (2012 vs. 2014) (P=0.01) whereas that of non-C. albicans increased from 47.62% (2012) to 67.21% (2014) (P<0.01). Species distribution differed among geographical regions; specifically, the prevalence rate of C. albicans as an etiologic agent of invasive candidosis in Siberian Federal region was significantly higher than that in other Federal regions. Results indicated a shift from C. albicans to non-C. albicans. Therefore, a detailed investigation on the contributing factors and appropriate treatment of invasive candidosis is needed.

关键词： prevalence     &Scy     andida species     invasive candidosis     nosocomial     etiology     MALDI-TOF mass-spectrometry     candidemia    

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Deep convolutional neural network for multi-level non-invasive tunnel lining assessment

《结构与土木工程前沿（英文）》 2022年 第16卷 第2期   页码 214-223 doi: 10.1007/s11709-021-0800-2

摘要： In recent years, great attention has focused on the development of automated procedures for infrastructures control. Many efforts have aimed at greater speed and reliability compared to traditional methods of assessing structural conditions. The paper proposes a multi-level strategy, designed and implemented on the basis of periodic structural monitoring oriented to a cost- and time-efficient tunnel control plan. Such strategy leverages the high capacity of convolutional neural networks to identify and classify potential critical situations. In a supervised learning framework, Ground Penetrating Radar (GPR) profiles and the revealed structural phenomena have been used as input and output to train and test such networks. Image-based analysis and integrative investigations involving video-endoscopy, core drilling, jacking and pull-out testing have been exploited to define the structural conditions linked to GPR profiles and to create the database. The degree of detail and accuracy achieved in identifying a structural condition is high. As a result, this strategy appears of value to infrastructure managers who need to reduce the amount and invasiveness of testing, and thus also to reduce the time and costs associated with inspections made by highly specialized technicians.

关键词： concrete structure     GPR     damage classification     convolutional neural network     transfer learning    

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Invasive mucinous adenocarcinoma with lepidic-predominant pattern coexisted with tuberculosis: a case

null

《医学前沿（英文）》 2018年 第12卷 第3期   页码 330-333 doi: 10.1007/s11684-017-0545-4

摘要：

We observed a rare case of invasive mucinous adenocarcinoma (IMA) with a lepidic-predominant pattern accompanied by pulmonary tuberculosis. An 85-year-old man with repeated cough and sputum was admitted to Xinhua Hospital. T-SPOT test result was 212 pg/ml (reference value of negative is<14 pg/ml), culture was positive, and tuberculin skin test (PPD) was negative (skin induration<5 mm). The patient was treated with several courses of antibiotics and anti-tuberculosis treatments. Repeated chest CT scans showed disease progression. Bronchoscopy yielded negative results. PET-CT scans showed negative results. A percutaneous lung biopsy revealed mucin-secreting cells lining the alveolar walls. IMA with a lepidic-predominant pattern was diagnosed after invasiveness was found after experimental treatments. Simultaneous occurrence of pulmonary tuberculosis and lung cancer are common; however, the present case of IMA having a lepidic-predominant pattern and coexisting with active tuberculosis has not been reported yet.

关键词： invasive mucinous adenocarcinoma     lepidic-predominant     tuberculosis    

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标题 作者 时间 类型 操作

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

期刊论文

A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

期刊论文

Application of the invasive weed optimization algorithm to economic dispatch problems

T. JAYABARATHI, Afshin YAZDANI, V. RAMESH

期刊论文

Combined heat and power economic dispatch problem using the invasive weed optimization algorithm

T. JAYABARATHI, Afshin YAZDANI, V. RAMESH, T. RAGHUNATHAN

期刊论文

Non-invasive continuous blood pressure monitoring: a review of current applications

null

期刊论文

Functional trait differences between native bunchgrasses and the invasive grass

Huiqin HE, Thomas A. MONACO, Thomas A. JONES

期刊论文

Strategies of minimally invasive treatment for intrahepatic and extrahepatic bile duct stones

null

期刊论文

Can intravesical bacillus Calmette-Guérin reduce recurrence in patients with non-muscle invasive bladder

null

期刊论文

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

Masakatsu G. Fujie, Bo Zhang

期刊论文

A new minimally invasive treatment for anal fistula

null

期刊论文

A solution to unit commitment problem using invasive weed optimization algorithm

B. SARAVANAN, E. R. VASUDEVAN, D. P. KOTHARI

期刊论文

Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

Alin STOICA, Doina PISLA, Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

期刊论文

Etiology of invasive candidosis agents in Russia: a multicenter epidemiological survey

null

期刊论文

Deep convolutional neural network for multi-level non-invasive tunnel lining assessment

期刊论文

Invasive mucinous adenocarcinoma with lepidic-predominant pattern coexisted with tuberculosis: a case

null

期刊论文