仓储作者

[外文期刊] Robotic-assisted navigation system for preoperative lung nodule localization: a pilot study

作者： Liu, Jun¹;Jiang, Yu¹;He, Rui²;Cui, Fei¹;Lin, Yuechun¹;Xu, Ke¹;Cai, Weipeng¹;Hao, Zhexue¹;Zeng, Yuan¹;Chen, Xiangqian³;Zhang, Hao³;Shi, Jipeng³;Cheong, Houiam³;Dong, Mengxing³;Kaicheng, U.⁴;Huang, Xiaoyan⁵;Jiang, Shunjun^1,6;Huang, Jun¹;Wang, Wei¹;Liang, Hengrui^1,7;Duan, Xingguang^2,8;He, Jianxing^1,7 （¹Guangzhou Med Univ, Guangzhou Inst Resp Hlth, Natl Clin Res Ctr Resp Dis, Dept Thorac Surg & Oncol,State Key Lab Resp Dis,Af, Guangzhou, Peoples R China.;²Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Sch Mechatron Engn, Beijing, Peoples R China.;³True Hlth Beijing Med Technol Co Ltd, Beijing, Peoples R China.;⁴Cornell Univ, Ithaca, NY USA.;⁵Guangzhou Med Univ, Affiliated Hosp 1, Dept Radiol, Guangzhou, Peoples R China.;⁶Guangzhou Med Univ, Affiliated Hosp 1, Dept Pharmacol, Guangzhou, Peoples R China.;⁷Guangzhou Med Univ, Guangzhou Inst Resp Hlth, Natl Clin Res Ctr Resp Dis, Dept Thorac Surg & Oncol,State Key Lab Resp Dis,Af, 151 Yanjiang Rd, Guangzhou 510120, Peoples R China.;⁸Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Sch Mechatron Engn, 5 Zhongguancun South St, Beijing 100081, Peoples R China.）

出处： TRANSLATIONAL LUNG CANCER RESEARCH 2023

关键词： PULMONARY NODULES; IDENTIFICATION; SAFETY

摘要： Background: Preoperative percutaneous computed tomography (CT)-guided localization of pulmonary nodules plays a pivotal role in the diagnosis and trea ...

[外文期刊] A Robust Control via a Fuzzy System with PID for the ROV SCIE EI

作者： Dong, Junjie¹; Duan, Xingguang¹ （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing; 100081, China）

出处： Sensors 2023 Vol.Vol.23 No.No.2

[外文期刊] Design of a flexible robot toward transbronchial lung biopsy SCIE EI

作者： Zhang, Runtian¹²;Xie, Dongsheng²³;Qian, Chao¹²;Duan, Xingguang¹²³;Li, Changsheng¹²; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China;²Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China;³Institute of Engineering Medicine, Beijing Institute of Technology, Beijing, 100081, China）

出处： Robotica 2023 Vol.41 No.3 P1055-1065

摘要： Transbronchial lung biopsy is an effective and less-invasive treatment for the early diagnosis of lung cancer. However, the limited dexterity of exist ...

[外文期刊] Virtual-Fixtures Based Shared Control Method for Curve-Cutting With a Reciprocating Saw in Robot-Assisted Osteotomy SCIE EI

作者： Tian, Huanyu¹; Duan, Xingguang¹; Han, Zhe²; Cui, Tengfei¹; He, Rui¹; Wen, Hao¹; Li, Changsheng¹ （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;²Institute of Engineering Medicine, Beijing Institute of Technology, Beijing, China）

出处： IEEE Transactions on Automation Science and Engineering 2023 P1-12

[外文期刊] Fixed-Time Recurrent NN Learning Control of Uncertain Robotic Manipulators with Time-Varying Constraints: Experimental Verification SCIE EI

作者： Qingxin Shi¹;Changsheng Li¹;Rui He¹;Xiaolong Zhu²;Xingguang Duan¹; （¹ School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China. ² School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China.）

出处： Sensors (Basel, Switzerland) 2023 Vol.23 No.12 P5614

关键词： barrier Lyapunov function (BLF);fixed-time;manipulators;recurrent neural network (RNN).

摘要： This paper proposes a learning control framework for the robotic manipulator\'s dynamic tracking task demanding fixed-time convergence and constrained ...

[外文期刊] Surgical instruments hyalinization: Occlusion removal in minimally invasive endoscopic surgery

作者： Xie,Dongsheng¹;Chen,Wenxin¹;Zhao,Jin²;Song,Xinya¹;Wang,Kaifeng³;Xia,Weiwei³;Liu,Haiying³;Chang,Fangle⁴;Li,Changsheng²;Duan,Xingguang¹²; （¹School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China;²School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China;³Department of Spinal Surgery, Peking University People's Hospital, Beijing, 100044, China;⁴Ningbo Innovation Center, Zhejiang University, NingBo, 315100, China）

出处： Biomimetic Intelligence and Robotics 2023 Vol.3 No.3

摘要： Minimal invasion is an important trend in surgery. However, the endoscope, as one of the key devices for monitoring the process of minimally invasive ...

[中文专利] 一种具有灵巧关节的手术执行器

发明人：李长胜，刁金鹏，段星光，黄雨薇，李佳迅，钱超，李卓衡，丛榕

申请人：北京理工大学

申请号： 202311048980.8

申请日期： 2023.08.18

摘要：本发明公开了一种具有灵巧关节的手术执行器，包括：手术工具；执行机构，包括依次活动连接的第一安装件、第二安装件，第三安装件和第四安装件，所述手术工具可拆卸固定安装于所述第一安装件背离所述第二安装件一端，所述第四安装件背离所述第三安装件一端设置有支撑管；连接部件，用于在第一安装件、第二安装件、第三安装件 ...

[中文专利] 一种面向内镜视频的手术器械分割方法

发明人：段星光，陈文欣，李长胜，谢东升，李雪，钱超，刁金鹏

申请人：北京理工大学

申请号： 202311458722.7

申请日期： 2023.11.03

摘要：本发明提出一种面向内镜视频的手术器械分割方法，包括，获取内镜视频，对所述内镜视频进行抽帧，得到视频帧；将所述视频帧输入到预先训练好的器械分类模型中，输出器械类别和置信度；若所述置信度小于预设的阈值，对所述视频帧进行模糊度估计，将模糊度大于预设阈值的视频帧的器械类别向预先训练好的器械分割模型中载入所述 ...

[中文专利] 一种用于微创内镜手术的内镜图像器械去遮挡方法

发明人：段星光，谢东升，李长胜，陈文欣，宋馨雅，赵锦，钱超，李雪，刁金鹏

申请人：北京理工大学

申请号： 202310165737.8

申请日期： 2023.02.21

摘要：本发明提出一种用于微创内镜手术的内镜图像器械去遮挡方法，包括，输入视频流，通过模糊帧判别器区分视频流中的有效图像和无效图像；基于深度学习对有效图像进行实例分割，划分待修复图像与非待修复图像，并生成对应的器械分割蒙版；基于深度学习对所述待修复图像生成第一填补信息；基于非待修复图像更新修复数据存储信息； ...

[中文专利] 一种脊柱内镜手术机器人系统

发明人：李长胜，钱超，段星光，李雪，刁金鹏，谢东升，陈文欣

申请人：北京理工大学

申请号： 202310325400.9

申请日期： 2023.03.29

摘要：本发明提出一种脊柱内镜手术机器人系统，包括，导航定位系统、机械臂、手术执行器、视觉增强系统和远端操作系统，其中，导航定位模块用于患病部位工作通道建立前穿刺位置和穿刺方向的确定；机械臂用于手术执行器的定位，以及在手术中的被动拖动运动或者导航定位时的主动运动；手术执行器用于完成手术操作；视觉增强模块用于 ...