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Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion
Huanyu Tian;Martin Huber;Christopher E. Mower;Zhe Han;Changsheng Li;Xingguang Duan;Christos Bergeles
IEEE Transactions on Biomedical Engineering
Year: 2025 | Early Access Article |
In this study, we introduce a novel shared-control system for key-hole docking operations, combining a commercial camera with occlusion-robust pose estimation and a hand-eye information fusion technique. This system is used to enhance docking precision and force-compliance safety. To train a hand-eye information fusion network model, we generated a self-supervised dataset using this docking system...Show More
Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System
Huanyu Tian;Martin Huber;Christopher E. Mower;Zhe Han;Changsheng Li;Xingguang Duan;Christos Bergeles
2024 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2024 | Conference Paper |
This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges for getting high-quality training data associated with co-manipulated robotic arms that can be equipped with a variety of tools, a common scenario in industrial...Show More
Virtual-Fixtures Based Shared Control Method for Curve-Cutting With a Reciprocating Saw in Robot-Assisted Osteotomy
Huanyu Tian;Xingguang Duan;Zhe Han;Tengfei Cui;Rui He;Hao Wen;Changsheng Li
In mandibular angle split osteotomy (MASO), prominent mandibular angles need to be cut off with saws such as reciprocating saws. Compared to traditional-freehand methods, robot-assisted methods provide potentials for better cutting performance. In the robot-assisted mandibular angle split osteotomy (RAMASO), a cutting method based on shared control is proposed along with an optimization-planned os...Show More
Virtual-Fixture-Based Osteotomy Shared Control: A Framework for Human-Robot Shared Surgical Osteotomy Manipulation
Huanyu Tian;Zhe Han;Yang Wang;Xiaolong Zhu;Weijun Zhang;Zhengjie Wang;Changsheng Li;Xingguang Duan
Human-robot shared control is an effective approach to enhancing the efficiency of surgical operations, as it integrates the strengths of both humans and robots. The use of conventional robot-assisted surgery, where the surgeon is solely responsible for manipulation, is limited when it comes to complex surgical procedures that require real-time manipulations such as mandibular angle split osteotom...Show More
Adaptive Fuzzy Sliding Mode Controller for Robot-Assisted Laminectomy
Xiaolong Zhu;Huanyu Tian;Rui He;Changsheng Li;Mingxing Fan;Xingguang Duan;Wei Tian
2023 International Conference on Advanced Robotics and Mechatronics (ICARM)
Year: 2023 | Conference Paper |
Robot-assisted laminectomy is a safe and efficient technique that is gradually being used in clinical practice. However, due to external disturbances and various uncertainties, it can be challenging for robots to precisely track the desired operation trajectories or real-time instructions. In this paper, an adaptive fuzzy sliding mode controller (AFSMC) was present for robot-assisted laminectomy, ...Show More
The Region-based Virtual Fixtures Control for Invasive Avoidance in Hands-on Robot-assisted Mandibular Angle Split Osteotomy
Huanyu Tian;Zhe Han;Dongsheng Xie;Xingguang Duan;Xi Fu;Feng Niu
2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
In robot-assisted surgery, osteotomy is a common task with surgical tools such as reciprocating saws, the miller, and the ultrasound osteotome. Although, the mechanism of different surgical tools obtains different kinematics constraints. The restriction in the invasive direction is one of the most challenging issues in the osteotomy scenarios as it directly determines the performance for surgical ...Show More
Design and Experimental Validation of a Robotic System for Reactor Core Detector Removal
Zhe Han;Huanyu Tian;Fansheng Meng;Hao Wen;Rui Ma;Xingguang Duan;Yilin Zhang;Chenghua Liu
2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (1)
The reactor power and the coolant level in the nuclear plant are monitored via the reactor core detectors. Every 4 to 5 years, the detectors with high-level radiation need to be removed, which is time-consuming and hazardous for workers. To address this issue, this paper introduces a novel robotic system and its strategy for the removal of the detectors. The modular mechanisms are designed to achi...Show More
Reconfigurable Cable-Driven Parallel Robot with Adjustable Workspace Towards Positioning in Neurosurgery: A Preliminary Design
Changsheng Li;Jingchen Huang;Mengya Su;Diao Wu;Peng Xu;Yushan Xie;Fansheng Meng;Hao Wen;Huanyu Tian;Xingguang Duan
2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)
Year: 2021 | Conference Paper |
Cited by: Papers (5)
There still exist limitations in current robotic system for positioning in neurosurgery, such as bulky size and complex mechanism. To address this issue, a novel reconfigurable cable-driven parallel robot with adjustable workspace is proposed. This robot is composed of three rods and six cables with guiding tubes to achieve four degrees of freedom (DOFs). The reduced inertia/weight of the terminal...Show More
Virtual-Fixture Based Drilling Control for Robot-Assisted Craniotomy: Learning From Demonstration
Xingguang Duan;Huanyu Tian;Changsheng Li;Zhe Han;Tengfei Cui;Qingxin Shi;Hao Wen;Jin Wang
One of the promising solutions for drilling craniotomy is robot-assisted surgery with human guidance. The present study deals with a piecewise collaborative drilling task assisted by a robot while containing aligning and drilling. It can enable surgeons to complete the operation more efficiently and accurately. The switched virtual fixture (VF) between drilling and aligning can be addressed using ...Show More
A Dual-six-dimensional Force Sensors Calibration Method for pHRI based on Ridge Regression
Huanyu Tian;Xingguang Duan;Tengfei Cui;Jin Wang;Qingxin Shi;Junjie Dong
2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)
Year: 2020 | Conference Paper |
Cited by: Papers (2)
During robot teaching and physical human-robot interaction (pHRI), external forces and torques are required to be measured. However, the gravity acted on collaborative tools is a known-structure but unknown parameters input for pHRI systems. It is an essential process that gravity parameters need to be estimated and compensated using six-dimension force sensor calibration in a pHRI linear system b...Show More
A Collaboration Robot Arm Platform based on Integration Joints for Manufacturing and Medical
2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)
Year: 2019 | Conference Paper |
An aluminum-links collaboration manipulator based on the Kollmorgen RGM joint and embedded control system is presented in this paper. Because of its low inertia and reduction ratio, this manipulator can be used for human-robot collaboration. The purpose is solving the problem of human security and the operability in human-robot collaboration environment. CANopen bus is used and obtains a steady co...Show More
A Collaboration Robot Arm Platform based on Integration Joints for Manufacturing and Medical
Year: 2019 | Conference Paper |
Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System
2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)
Year: 2019 | Conference Paper |
Due to the complex anatomical structure in the skull base and lateral deep facial region, it is difficult to avoid important organizations and easy to cause many postoperative complications in the current surgery. In this paper, a master-slave surgical robot system was designed to solve the problem. The slave manipulator with 5 DOF was proposed, which has a universal interface to mount three kinds...Show More
Space Registration and Experiment of Craniotomy Robot
Tengfei Cui;Xingguang Duan;Dingqiang Han;Anji Ma;Huanyu Tian
2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)
Year: 2018 | Conference Paper |
Cited by: Papers (1)
In view of the characteristics of high complexity and high risk of craniotomy, a robotic system of intelligent human craniotomy was developed. This paper mainly expounds the registration scheme of robot, operating tool and skull coordinate system in the craniotomy robot system, and carries out the cranial model test. Experimental results show that the registration accuracy of the spatial registrat...Show More
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