scholarly journals Autonomous Intubation Robot System based on Visual Servoing and Hybrid Control

2021 ◽  
Author(s):  
Aohua Cheng ◽  
Yike Qiu ◽  
Han Hao ◽  
Yizhou Xu ◽  
Yuxuan Nie ◽  
...  
Keyword(s):  
Medical Staff ◽  
Visual Servoing ◽  
Control Method ◽  
Hybrid Control ◽  
Pid Controllers ◽  
Robot System ◽  
Medical Robots ◽  
Phantom Model ◽  
Virtual Fixture ◽  
Control Part

During COVID-19 and other pandemics, endotracheal intubation is an effective and common method to save patients as the virus causes lung fibrosis and thus patients are unable to breathe spontaneously. Medical staff need to insert a tube close to the patient’s mouth, thereby leading to a high risk of cross-infection. To protect medical staff, we propose an autonomous intubation robot system (AIRS). With the developed visual servoing and hybrid control method, the entire system can simulate doctors for satisfying repeatability and safety of intubation operations. This system includes a self-driving/teleoperation platform, two co-robot arms, a new multi-functional laryngoscope, force sensors, and several cameras. In the visual servoing part, we realize recognition and location of the patient’s face, medical devices, and main physiological structures to provide real-time navigation. In the hybrid control part, we establish an oral model, propose an offline planning method and PID controllers by combining force, vision, and motion, and apply Virtual Fixture to insert safely. AIRS's validation is with a phantom model under a 2-min operation. Our proposed robot is original and promising in the area of emergent medical robots. We will further validate AIRS in clinical applications and extend the developed techniques in other general treatments.

scholarly journals Autonomous Intubation Robot System based on Visual Servoing and Hybrid Control

2021 ◽  
Author(s):  
Aohua Cheng ◽  
Yike Qiu ◽  
Han Hao ◽  
Yizhou Xu ◽  
Yuxuan Nie ◽  
...  
Keyword(s):  
Medical Staff ◽  
Visual Servoing ◽  
Control Method ◽  
Hybrid Control ◽  
Pid Controllers ◽  
Robot System ◽  
Medical Robots ◽  
Phantom Model ◽  
Virtual Fixture ◽  
Control Part

During COVID-19 and other pandemics, endotracheal intubation is an effective and common method to save patients as the virus causes lung fibrosis and thus patients are unable to breathe spontaneously. Medical staff need to insert a tube close to the patient’s mouth, thereby leading to a high risk of cross-infection. To protect medical staff, we propose an autonomous intubation robot system (AIRS). With the developed visual servoing and hybrid control method, the entire system can simulate doctors for satisfying repeatability and safety of intubation operations. This system includes a self-driving/teleoperation platform, two co-robot arms, a new multi-functional laryngoscope, force sensors, and several cameras. In the visual servoing part, we realize recognition and location of the patient’s face, medical devices, and main physiological structures to provide real-time navigation. In the hybrid control part, we establish an oral model, propose an offline planning method and PID controllers by combining force, vision, and motion, and apply Virtual Fixture to insert safely. AIRS's validation is with a phantom model under a 2-min operation. Our proposed robot is original and promising in the area of emergent medical robots. We will further validate AIRS in clinical applications and extend the developed techniques in other general treatments.

scholarly journals A hybrid control strategy for grinding and polishing robot based on adaptive impedance control

2021 ◽  
Vol 13 (3) ◽  
pp. 168781402110040
Author(s):  
Haibo Zhou ◽  
Shitai Ma ◽  
Guilian Wang ◽  
Yuxin Deng ◽  
Zhenzhong Liu
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Hybrid Control ◽  
Impedance Control ◽  
Tracking Error ◽  
Position Tracking ◽  
Robot System ◽  
Adaptive Impedance Control ◽  
The Impact ◽  
Grinding And Polishing

In order to realize the active and compliant motion of the robot, it is necessary to eliminate the impact caused by processing contact. A hybrid control strategy for grinding and polishing robot is proposed based on adaptive impedance control. Firstly, an electrically driven linear end effector is designed for the robot system. The macro and micro motions control model of the robot is established, by using impedance control method, which based on the contact model of the robot system and the environment. Secondly, the active compliance method is adopted to establish adaptive force control and position tracking control strategies under impact conditions. Finally, the algorithm is verified by Simulink simulation and experiment. The simulation results are as follows: The position tracking error does not exceed 0.009 m, and the steady-state error of the force is less than 1 N. The experimental results show that the motion curve coincides with the surface morphology of the workpiece, and the contact force is stable at 10 ± 3 N. The algorithm can realize more accurate position tracking and force tracking, and provide a reference for the grinding and polishing robot to realize surface processing.

scholarly journals Design of a Laparoscopic Robot System Based on Spherical Magnetic Field

2019 ◽  
Vol 9 (10) ◽  
pp. 2070
Author(s):  
Hongxing Wei ◽  
Kaichao Li ◽  
Dong Xu ◽  
Wenshuai Tan
Keyword(s):  
Magnetic Field ◽  
Control Method ◽  
Open Loop ◽  
Surgical Instruments ◽  
Prototype System ◽  
Single Incision Laparoscopic Surgery ◽  
Robot System ◽  
Surgical Incision ◽  
Spherical Motor ◽  
External Driving

In single incision laparoscopic surgery (SILS), because the laparoscope and other surgical instruments share the same incision, the interferences between them constrain the dexterity of surgical instruments and affect the field of views of the laparoscope. Inspired by the structure of the spherical motor and the driving method of an intraocular micro robot, a fully inserted laparoscopic robot system is proposed, which consists of an inner laparoscopic robot and external driving device. The position and orientation control of the inner laparoscopic robot are controlled by a magnetic field generated by the driving device outside the abdominal wall. The instrumental interferences can be alleviated and better visual feedback can be obtained by keeping the laparoscopic robot away from the surgical incision. To verify the feasibility of the proposed structure and explore its control method, a prototype system is designed and fabricated. The electromagnetism model and the mechanical model of the laparoscopic robot system are established. Finally, the translational, rotational, and deflection motion of the laparoscopic robot are demonstrated in practical experiment, and the accuracy of deflection motion of the laparoscopic robot is verified in open-loop condition.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

scholarly journals A mask-based infection control method for screening endoscopy may prevent SARS-CoV-2 transmission and relieve staff anxiety

2021 ◽  
Vol 9 ◽  
pp. 205031212110470
Author(s):  
Yuji Nadatani ◽  
Akira Higashimori ◽  
Shingo Takashima ◽  
Hirotsugu Maruyama ◽  
Koji Otani ◽  
...  
Keyword(s):  
High Risk ◽  
Infection Control ◽  
Personal Protective Equipment ◽  
Medical Staff ◽  
Fluorescent Dyes ◽  
Control Method ◽  
Protective Equipment ◽  
Health Checkup ◽  
Screening Endoscopy ◽  
Droplet Trajectory

Objectives: Endoscopy confers high risk for acquiring coronavirus disease 2019. Although guidelines recommend that medical staff use personal protective equipment, no infection control equipment have been established for patients. This study aimed to clarify the usefulness of two face masks we had designed for transnasal and transoral endoscopy. Methods: The efficacy of the masks was evaluated by simulating coughing in a mannequin with fluorescent dyes and mapping the droplet trajectory and number. The number of aerosols generated during endoscopy was clinically evaluated in the endoscopy room. Overall, 4356 screening endoscopies were performed with the patients wearing our masks at Medcity21, a health checkup facility, between June and December 2020; the effects of the masks on the patient’s condition were evaluated retrospectively. An 11-item paper-based survey was performed by the endoscopy staff 6 months after the adoption of the mask-based infection control method. Results: Use of both masks reduced the number of droplets released during the simulation. Clinically, the use of both masks did not affect the patients’ conditions during endoscopy and prevented an increase in the aerosols in the endoscopy room. This mask-based infection control method was favorably received, and all staff indicated that understanding the efficacy of our mask-based infection control reduced their anxiety regarding infection. Until December 2020, none of our staff had contracted SARS-CoV-2. Conclusion: Our mask-based infection control method is easy to adopt, inexpensive, and effective; understanding its effectiveness may help ease the fear of infection among endoscopy staff.

scholarly journals Vision-Based Target Detection and Tracking for a Miniature Pan-Tilt Inertially Stabilized Platform

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2243
Author(s):  
Jianchuan Guo ◽  
Chenhu Yuan ◽  
Xu Zhang ◽  
Fan Chen
Keyword(s):  
Target Detection ◽  
Feedback Linearization ◽  
Visual Servoing ◽  
Control Method ◽  
Sliding Mode ◽  
Optical Axis ◽  
Detection And Tracking ◽  
The Stability ◽  
Stabilized Platform ◽  
The Mathematical Model

This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.

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