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

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0698-y

Abstract: Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eyeWe 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 anThe obtained hand−eye calibration result was applied to the intuitive control by using the hand−eye coordination−eye calibration method was developed.

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

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A hybrid visual servo control method for simultaneously controlling a nonholonomic mobile and a manipulator Research Articles

Wei Li, Rong Xiong,li_wei_666@163.com,rxiong@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 2,   Pages 141-286 doi: 10.1631/FITEE.1900460

Abstract: Visual servo control rules that refer to the control methods of robot motion planning using image data acquired from the camera mounted on the robot have been widely applied to the motion control of robotic arms or mobile robots. The methods are usually classified as image-based visual servo, position-based visual servo, and (HVS) control rules. enhances the working range and flexibility of robotic arms. However, there is little work on applying visual servo control rules to the motion of the whole robot. We propose an HVS motion control method for a robot which combines a six-degree-of-freedom (6-DOF) robotic arm with a nonholonomic mobile base. Based on the kinematic differential equations of the robot, the matrix of the whole robot is derived, and the HVS control equation is derived using the whole Jacobian matrix combined with position and visual image information. The distance between the gripper and target is calculated through the observation of the marker by a camera mounted on the gripper. The differences between the positions of the markers ’ feature points and the expected positions of them in the image coordinate system are also calculated. These differences are substituted into the control equation to obtain the speed control law of each degree of freedom of the robot. To avoid the position error caused by observation, we also introduce the to correct the positions and orientations of the end of the manipulator. Finally, the proposed algorithm is validated on a platform consisting of a Bulldog chassis, a UR5 robotic arm, and a ZED camera.

Keywords： Mobile manipulation     Hybrid visual servo     Eye-in-hand     Global Jacobian     Kalman filter    

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Review of hand, foot and mouth disease

Lan-Juan LI MD,

Frontiers of Medicine 2010, Volume 4, Issue 2,   Pages 139-146 doi: 10.1007/s11684-010-0033-6

Abstract: Hand, foot and mouth disease (HFMD) is an acute viral illness that primarily affects infants and young

Keywords： hand     foot and mouth disease     epidemiology     pathogenesis     management     surveillance    

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Acupuncture for the management of dry eye disease

Frontiers of Medicine 2022, Volume 16, Issue 6,   Pages 975-983 doi: 10.1007/s11684-022-0923-4

Abstract: The effectiveness of using acupuncture for dry eye disease (DED) is controversial.

Keywords： 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

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 5,   Pages 1200-1213 doi: 10.1007/s11709-019-0546-2

Abstract: The hand hole acts as a weak point and initial damage in the segment joint especially when the circumferentialexperiment was conducted to study the structural performance of the segment joint with different types of handThe experiment results show that the hand hole becomes the weakest point of the segment joint under ultra-highDifferent types and sizes of the hand hole have different degree of influences on the structural behavior

Keywords： shield tunneling     structural synthetic fiber concrete     hand hole     segment joint     ultimate bearing capacity    

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

Frontiers of Medicine 2023, Volume 17, Issue 4,   Pages 781-795 doi: 10.1007/s11684-023-0986-x

Abstract: Tear film hyperosmolarity plays a core role in the development of dry eye disease (DED) by mediating

Keywords： dry eye disease     glycolytic reprogramming     pyroptosis     inflammation     2-DG    

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A novel shape memory alloy actuated soft gripper imitated hand behavior

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0700-8

Abstract: 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.

Keywords： 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

Frontiers in Energy 2022, Volume 16, Issue 4,   Pages 683-696 doi: 10.1007/s11708-020-0689-9

Abstract: The turbine with an eye-shaped vertical water baffle was developed to evaluate the hydraulic performanceThe proper eye-shaped baffle not only accelerates the fluid flow and generates positive hydrodynamic

Keywords： 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

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 23-32 doi: 10.1007/s11465-011-0202-6

Abstract:

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.

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

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Extracting hand articulations from monocular depth images using curvature scale space descriptors

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

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 1,   Pages 41-54 doi: 10.1631/FITEE.1500126

Abstract:

We propose a framework of hand articulation detection from a monocular depth image using curvatureWe extract the hand contour from an input depth image, and obtain the fingertips and finger-valleys ofExperimental results show that our method captures the hand articulations more precisely compared with

Keywords： Curvature scale space (CSS)     Hand articulation     Convex hull     Hand contour    

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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 ,

Frontiers of Medicine 2009, Volume 3, Issue 3,   Pages 352-356 doi: 10.1007/s11684-009-0065-y

Abstract: This study aimed to investigate the sensory innervation of the anterior eye segment in rats by retrogradeour study, the sensory innervation of distinct elements of the anterior segment of the rat’s eyeresults, we conclude that the primary afferent sensory neurons innervating the rat’s anterior eye

Keywords： trigeminal ganglion     retrograde tracing    

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

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0696-0

Abstract: 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 actuatorsoptimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand

Keywords： 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

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1,   Pages 33-39 doi: 10.1007/s11465-005-0015-6

Abstract: Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with lessA novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based onThe TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation

Keywords： control     real-time control     superunderactuation     TH-2     personification    

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Development of an onsite calibration device forrobot manipulators Research Article

Ziwei WAN, Chunlin ZHOU, Haotian ZHANG, Jun WU

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 2,   Pages 217-230 doi: 10.1631/FITEE.2200172

Abstract: During the calibration procedure, the robot manipulator first moves automatically to multiple end-effectorThe relative mounting positions are accurately measured and used as prior information to improve calibrationThe results of theoretical analysis indicate that MultiCal reduces calibration accuracy by 10% to 20%The results of a calibration experiment conducted on a Staubli TX90 robot show that MultiCal has only7% to 14% lower calibration accuracy compared to a measuring arm with a laser scanner, and 21% to 30%

Keywords： Calibration device     Kinematic calibration     Onsite calibration     Absolute accuracy    

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Remote calibration system for frequency based on in-place benchmark

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

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 3,   Pages 316-321 doi: 10.1007/s11465-010-0021-1

Abstract: According to the deficiencies of remote calibration mode based on material object reference, a new modelof a remote calibration system for frequency based on in-place benchmark is introduced, which is madeof 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,a phase method, frequency division based on dual high-frequency phase locked loop (PLL), and remote calibration

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

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Title Author Date Type Operation

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

Journal Article

A hybrid visual servo control method for simultaneously controlling a nonholonomic mobile and a manipulator

Wei Li, Rong Xiong,li_wei_666@163.com,rxiong@zju.edu.cn

Journal Article

Review of hand, foot and mouth disease

Lan-Juan LI MD,

Journal Article

Acupuncture for the management of dry eye disease

Journal Article

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

Shaochun WANG, Xi JIANG, Yun BAI

Journal Article

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

Journal Article

A novel shape memory alloy actuated soft gripper imitated hand behavior

Journal Article

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

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

Journal Article

A virtual reality system for arm and hand rehabilitation

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

Journal Article

Extracting hand articulations from monocular depth images using curvature scale space descriptors

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

Journal Article

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 ,

Journal Article

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

Journal Article

Superunderactuated Multifingered Hand for Humanoid Robot

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

Journal Article

Development of an onsite calibration device forrobot manipulators

Ziwei WAN, Chunlin ZHOU, Haotian ZHANG, Jun WU

Journal Article

Remote calibration system for frequency based on in-place benchmark

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

Journal Article