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Robotic Anchoring System with Two Locomotion Modes for Preoperative Localization of Colorectal Cancer
Jiale Wang;Hao Ren;Liu Yang;Haoxiang Zhao;Ruijia Zhang;Yajing Shen
2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2024 | Conference Paper |
At present, colorectal cancer is one of the most prevalent cancers in the world. Colectomy serves as an effective treatment option for this disease. Preoperative localization plays a vital role in the colectomy procedure. However, traditional preoperative localization techniques have a greater risk of infection and lower accuracy. Moreover, it is difficult for the previous anchoring robots to adap...Show More
High-Precise Metallic Helical Microstructure Fabrication by Rotational Nanorobotic Manipulation System With Tilted Mandrel Compensation
Tieshan Zhang;Hao Ren;Gen Li;Panbing Wang;Wanfeng Shang;Yajing Shen
Metallic helical microstructures are significant components applied in many fields, such as mechatronics, photonics, microelectromechanical systems, and biomedical engineering, but their fabrication with high precision remains a challenge. Herein, we report a general controllable approach for high-precise micro metallic helical structure fabrication by a self-developed rotational nanorobotic manip...Show More
An On-Wall-Rotating Strategy for Effective Upstream Motion of Untethered Millirobot: Principle, Design, and Demonstration
Liu Yang;Tieshan Zhang;Han Huang;Hao Ren;Wanfeng Shang;Yajing Shen
Untethered miniature robots that can access narrow and harsh environments in the body show great potential for future biomedical applications. Despite the many types of millirobot that have been developed, swimming against the fast blood flow remains a big challenge due to lack of the ability to stay still and the large fluidic resistance from blood. This article proposes an on-wall-rotating strat...Show More
Distributed Intelligent Traffic Data Processing and Analysis Based on Improved Longhorn Whisker Algorithm
The purpose is to optimize the Beetle Antenna Search (BAS) algorithm and apply it to the Intelligent Transportation System (ITS) to process traffic data in time and solve traffic congestion. This work studies the development status of ITS and the application status of the BAS algorithm. It optimizes BAS to converge to local optimization prematurely in high-dimensional space, affecting the predicti...Show More
Intelligent Traffic Data Transmission and Sharing Based on Optimal Gradient Adaptive Optimization Algorithm
This work aims to improve the transmission and sharing efficiency of intelligent transportation data and promote the further development of intelligent transportation and smart city. In this work, an EEMR (Energy Efficient Multi-hop Routing) is designed for the intelligent transportation wireless sensor network. In the EEMR algorithm, the base station runs the IAP clustering algorithm for network ...Show More
7-DoFs Rotation-Thrust Microrobotic Control for Low-Invasive Cell Pierce via Impedance Compensation
In the robot-aided biomedical field, although the cell pierce force may be decreased by sharpening injection needle and robotic control, the physical damage to the cell remains a big issue for low-invasive cell injection. This article proposes a 7-DoFs rotation-thrust (R-T) microrobotic control instead of the conventional straightforward thrust for smaller penetrated cell deformation and higher fo...Show More
Tactile Super-Resolution Model for Soft Magnetic Skin
Tactile sensors of high spatial resolution can provide rich contact information in terms of accurate contact location and force magnitude for robots. However, achieving a high spatial resolution normally requires a high density of tactile sensing cells (or taxels), which will inevitably lead to crowded wire connections, more data acquisition time and probably crosstalk between taxels. An alternati...Show More
Magnetic-Directed Manipulation and Assembly of Fragile Bioartificial Architectures in the Liquid–Liquid Interface
Assembling has been regarded as one of the most potential methods for fabricating complex structures with better performance and richer features, especially at nano/micro scale. Despite the recent achievement in micromanipulation and assembly, including self-assembling, mechanical micromanipulator, and noncontact operation, the manipulation and assembly of flexible and fragile microstructures in a...Show More
Graphene Oxide Nanosheet Assisted Porous Chitosan Sponge for Hemostatic Applications
2021 IEEE 16th International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)
Year: 2021 | Conference Paper |
Porous sponges have received great attention in the fields of hemostatic applications, which has been required in clinical occasions over the past decades. In this work, we develop the graphene oxide nanosheet assisted chitosan sponge with simple freeze-drying process. Since chitosan owns good clotting capability, antibacterial property as well as biodegradability, the porous sponge could be appli...Show More
Starfish Inspired Milli Soft Robot With Omnidirectional Adaptive Locomotion Ability
Bionic robot inspired by creatures in nature attracts attention from researchers due to its effective locomotion mode and high environment adaptability. Despite the recent achievements in bionic research and robotics, the bionic robots are almost simple morphology imitation. While the imitation of functional texture and microstructures are also important, which always makes a significant differenc...Show More
In-plane Dual-axis MEMS Resonant Accelerometer with A Uniform Sensitivity
2020 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)
Year: 2020 | Conference Paper |
Cited by: Papers (2)
In this work, we present a high-performance MEMS resonant accelerometer. The finite element method (FEM) results showed that the sensor can measure the magnitude and direction of in-plane acceleration at the same time. Meanwhile, the novel structure can theoretically eliminate the influence of temperature drift. The practical testing results indicated the combined scale factor of the proposed sens...Show More
Flexible 3-D Helix Fabrication by In-Situ SEM Micromanipulation System
The helical microstructure has been widely applied to various industries, including the mechanical manufacture, electronics, and biomedical engineering. Due to the miniature size of the helical microstructure, the low manufacture precision will highly degrade its working performance. Although current manufacture methods can realize its fabrication with relatively high accuracy, the used material i...Show More
Nanorobotic Manipulation System for 360$^{\circ }$ Characterization Atomic Force Microscopy
Nanorobotic manipulation technique has been regarded as one of the most dominating approaches to upgrade the functions of microscope benefits from its complex and precise operation system. At the current stage, although atomic force microscopy (AFM) is capable of mapping specimens on a two-dimensional/partial three dimensional (3-D) plane, a full orientation of 360° characterization still remains ...Show More
Development of a Flexible Surgical Manipulator with a Variable Curvature Bendable Joint
Quanquan Liu;Xin Zhang;Chunbao Wang;Bo Zhang;Lihong Duan;Wanfeng Shang;Yajing Shen;Zhuohua Lin;Jiaxiang Dong;Daiyun Luo;Weiping Li;Zhengzhi Wu;Xingguang Duan;Masakatsu G. Fujie
2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)
Year: 2019 | Conference Paper |
Minimally invasive interventions become popular surgical approaches due to the significant advantages including cosmetic appearance, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have benefited not only patient on improved surgical performance, but also surgeon on comfortable operation through flexible mechanism. In order to obtain necessary flexibility a...Show More
Design of Finger Bending Angle Detection System and FES System Based on Finger & Wrist Rehabilitation Robot
Tong Wang;Jianjun Wei;Chunbao Wang;Quanquan Liu;Zhixian Mao;Lihong Duan;Wanfeng Shang;Yajing Shen;Zhuohua Lin;Zhengzhi Wu
2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)
Year: 2019 | Conference Paper |
Cited by: Papers (1)
At present, in the China, the incidence of stroke hemiplegia in the elderly population is relatively high and still on the rise. Therefore, rehabilitation treatment for hemiplegia in the elderly is particularly important. However, the traditional rehabilitation treatment focuses on the functional training of the patient's wrist and finger joints, ignoring the importance of neurological rehabilitat...Show More
A MEMS accelerometer based on synchronizing DETF oscillators
Shudong Wang;Dong Pu;Ronghua Huan;Zhuangde Jiang;Yajing Shen;Xueyong Wei
2019 IEEE 32nd International Conference on Micro Electro Mechanical Systems (MEMS)
Year: 2019 | Conference Paper |
Cited by: Papers (8)
In this abstract, a novel MEMS resonant accelerometer based on synchronized double-ended tuning fork (DETF) oscillators is reported. Synchronization is recently proved to enhance the stability of coupled MEMS oscillators. In this report, synchronization was utilized to improve the performance of the resonant accelerometer. In the experimental evaluation, scale factor of the sensor proposed was 105...Show More
Long Time Field Emission of Pt/MWCNT Hybrid nanowire for Electron Gun
2019 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)
Year: 2019 | Conference Paper |
Cited by: Papers (4)
An isolated electron gun which could stably work at 500nA for more than 30 hours was proposed. The electron gun has a hybrid structure of multi-walled carbon nanotube (MWCNT) covered with Platinum tip. The gap between electrodes was adjusted by a nanomanipulation system to control the growth length and working distance inside a scanning electron microscope (SEM). About 374nm Platinum nanowire was ...Show More
Efficient Micro Waveguide Coupling based on Microrobotic Positioning
Panbing Wang;Denfeng Li;Haojian Lu;Yuanyuan Yang;Shihui Shen;Yajing Shen
2019 International Conference on Robotics and Automation (ICRA)
Year: 2019 | Conference Paper |
Coupling the endface of an optical fiber to an integrated optical component is currently a low-throughput and costly manual process in the fabrication of the optical devices. In order to meet the high-volume demand for commercial optoelectronic devices, coupling must be automated. This paper presents a robotic positioning system and corresponding path planning strategy based on both the position a...Show More
Automatic Microwaveguide Coupling Based on Hybrid Position and Light Intensity Feedback
The microwaveguide coupling is a critical process to manufacture precise optical elements and optical devices, which are widely used for sensing. During the coupling process, the microwaveguides should be matched well to ensure the amount of light as much as possible. However, the used light will inevitably disturb the recognition of position while using the machine vision technology. Even if the ...Show More
Inchworm-Inspired Soft Robot With Light-Actuated Locomotion
In this work, a light-actuated inchworm-inspired soft robot capable of directional locomotion has been proposed, developed, and characterized. The robot is designed and divided into three parts according to the functions during locomotion, which are the body, front leg, and back leg. The body of inchworm should provide contraction and stretching force. Thus, bilayer reduced graphene oxide and grap...Show More
Self-Assembly Magnetic Chain Unit for Bulk Biomaterial Actuation
Haojian Lu;Yanting Liu;Yuanyuan Yang;Xiong Yang;Rong Tan;Yajing Shen
Untethered microrobot has been regarded as one of the most powerful tools for performing specific in vitro/vivo tasks, especially magnetic actuated microrobot owing to its biocompatible energy source. However, although numerous design and fabrication technologies of magnetic microrobot have been developed, the improvement of magnetic actuation manner reaches the limit, which mainly relies on the s...Show More
Achieving Automated Organelle Biopsy on Small Single Cells Using a Cell Surgery Robotic System
Adnan Shakoor;Mingyang Xie;Tao Luo;Jundi Hou;Yajing Shen;James K. Mills;Dong Sun
Single cell surgery such as manipulation or removal of subcellular components or/and organelles from single cells is increasingly used for the study of diseases and their causes in precision medicine. This paper presents a robotic surgery system to achieve automated organelle biopsy of single cells with dimensions of less than 20 μm in diameter. The complexity of spatial detection of the organelle...Show More
Mechanical properties, such as flexural rigidity and elastic modulus, are important factors deciding how pollen tubes penetrate and navigate inside flowers' styles and finally into ovules. As the ratio of pollen tubes' length to diameter can be far more than several thousand, bending the pollen tubes is an effective method to measure their mechanical properties. However, current techniques, such a...Show More
Precise Watch-Hand Alignment Under Disturbance Condition by Microrobotic System
Accurate alignment of the watch hand is a critical procedure in the industrial production of watches. However, compared with the traditional ideal laboratorial case, the watch-hand alignment suffers various external disturbances from the aged equipment and industrial operating conditions, which seriously influence the alignment precision. To achieve accurate watchhand alignment in the complex indu...Show More
Out-of-Plane Rotation Control of Biological Cells With a Robot-Tweezers Manipulation System for Orientation-Based Cell Surgery
Mingyang Xie;Adnan Shakoor;Yajing Shen;James K. Mills;Dong Sun
In many cell surgery applications, cell must be oriented properly such that the microsurgery tool can access the target components with minimum damage to the cell. In this paper, a scheme for out of image plane orientation control of suspended biological cells using robotic controlled optical tweezers is presented for orientation-based cell surgery. Based on our previous work on planar cell rotati...Show More
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