我国完成首例远程机器人定向神经外科手术

近日由北京航空航天大学机器人研究所、中国人民解放军海军总医院神经外科中心与沈阳医学院附属中心医院联合完成了一例远程遥控机器人立体定向神经外科手术。海军总医院的神经外科专家在北京通过计算机网络 ,遥控远在 6 0 0公里以外的医疗外科机器人系统 ,为沈阳一名 5 2岁脑出血患者成功施行了手术。整个遥控手术持续了 5 0分钟 ,手术后 1个小时 ,患者右腿可以伸曲 ,语言功能也恢复了。这是中国第一例由具有完全知识产权的机器人参与的外科手术。这次异地手术中的关键设备是北京航空航天大学机器人研究所研制的 5自由度医疗外科机器人及其…     

基于立体视觉的机器人焊接遥操作研究

研究了在立体视觉辅助下的机器人焊接遥操作技术.将立体视觉显示技术和机器人遥操作技术相结合,显著提高了焊接遥操作系统的操作性能.自主开发了基于PC的页面交互显示的立体视觉系统,以空间鼠标作为输入机器人控制命令的手控器,精确地控制远端焊接机器人的定位和跟踪焊缝.深入研究了手动跟踪焊缝的控制算法和遥控示教技术,以提高焊接遥操作的灵活性.焊接遥操作在立体视觉辅助下比二维视频监控辅助下跟踪焊缝的精度有大幅度提高,能够遥控示教空间曲线焊缝,系统操作简单,灵活.     

遥外科机器人系统的研究与发展

从国内外研究的角度出发,给出了遥外科手术系统的不同定义,简述了国内外机器人遥外科手术系统与临床的研究现状,最后介绍了利用基于我们自己研发的医疗机器人的遥外科手术系统进行的异地立体定向遥外科手术,并对遥外科机器人的发展进行了展望。     

基于LPC1768的微创脊椎手术辅助机器人控制器通信的研究

鉴于医生在对脊椎微创手术定位扎针过程中为防止X射线辐照会对医护人员的身体造成伤害而穿上沉重的铅衣耗时费力地多次往返于手术室和设备室之间等问题。我们基于LPC1768微控制器设计了一套医疗机器人系统用于辅助脊柱微创外科手术操作。本文大致介绍系统整体方案的设计思路,重点讲述了这款5自由度脊柱微创手术辅助机器人控制系统通信的设计与实现,采用USB2.0通用串行总线实现上位机和下位机之间的信息交互。最后对该系统进行实验,结果验证了控制系统具有良好的可靠性和稳定性。     

机器人辅助远程手术的研究

介绍了一套自行开发的机器人辅助远程手术平台系统。在阐述平台系统的总体结构基础上，对于医疗图像的压缩和传输、机器人命令传输协议的设计、远程图像的实时传输和播放这三个关键技术进行了探讨。手术平台系统已成功地进行了临床应用。     

脑外科机器人结构分析与参数优化设计

为实现脑外科机器人在脑外科手术中辅助医生进行精确导航定位,进行了机器人结构灵活性及手术空间要求的研究.首先,研制了一种五自由度脑外科机器人结构,利用D-H方法计算了机器人运动学的正反解方程.其次,运用MATLAB软件对机器人的工作空间、灵活性及手术空间进行了可视化仿真,仿真的结果表明该机器人结构可以用来辅助医生选择最佳手术路径,并以上述分析为依据提出了一种机器人结构参数优化设计的方法.最后通过手术模拟试验验证了所设计的机器人灵活性满足脑外科手术要求.     

遥操作在神经外科手术中的应用研究

通过建立远程脑外科手术演示系统，就进行远程手术(Tele-Surgery)中所需的关键技术如系统体系结构、CT图像与病人空间位置的无接触配准、VR仿真、人机交互、视频传输和网络通讯等进行了研究，为进一步研究微创手术和可应用于临床的遥外科系统奠定基础。最后通过遥控机器人穿刺头颅肿瘤的模拟实验，验证了上述关键技术的有效性。     

服务机器人目标同时识别与位姿判定研究

目前机器人尚难以自主建立起目标姿态的概念,通过人机交互方式辅助机器人对目标建模则不失为一种可行方案。提出了一种基于新型目标模型的离线/在线两步目标识别与位姿判定系统。离线阶段采用人机交互方式构建目标模型,在线阶段通过场景图像与目标模型的特征点对应即可自动发现目标,并计算其相对于机器人的位姿。实验证明,该系统能够有效完成对纹理目标的同时识别与位姿判定。     

现代手术医疗机器人的结构分析与设计

随着科学技术水平的不断进步及发展，现代手术医疗机器人的作用越来越凸显，以其在手术过程中手术出血量少、失误率低、准确性高以及康复时间短等优点得到了广泛的使用。本文简述了现代手术医疗机器人的发展历程，较为系统的说明了其结构组成及特点，并以应用于微创外科手术中的机器人为例，对此类机器人的机械结构进行分析，提出并设计了一种能够实现9自由度的机械执行机构，为手术机械人的结构设计提供了一定的理论参考。     

增强现实技术在远程现实中的应用研究

设计了基于移动机器人的远程现实系统,辅助机器人遥操作.为提高人机交互能力,把增强现实技术应用到远程现实当中,根据增强现实中三维注册的原理,推导了双曲面全景成像中基于视觉的注册算法,实现了三维虚拟机器人在全景图像中的注册定位.为了提供更加直观的人机交互界面,采用一种快速算法把圆形全景图进行近似的柱面展开,并将"增强远程现实"应用于展开的图像界面中.实验结果表明,增强远程现实改善了场景的视觉感官效果、增加了辅助信息,提高了人机交互能力.     

基于虚拟现实技术的下肢骨折手术应急训练系统设计

目的针对虚拟现实技术的优势及特点,以下肢骨折手术中突发静脉出血为例,探讨虚拟现实技术在手术应急训练领域的创新应用。方法首先以虚拟现实技术的理论和其在医学领域的应用现状为基础,通过分析骨科手术中的风险因素及传统手术仿真训练方式在突发状况训练方面存在的缺陷,提出虚拟现实技术应用手术应急训练领域的必要性。然后采用用户访谈及文献研究等方法建立手术相关的医疗数据库,最后基于UnrealEngine4软件开发出虚拟手术应急训练系统,并且针对可穿戴的交互设备进行创新设计。结论虚拟现实技术在下肢骨折手术应急训练领域的应用是一个新的研究方向。基于虚拟现实技术的手术应急训练系统不仅可以实现传统的手术仿真模拟训练,而且可以实现手术中的应急反应训练,从而提高医生在手术中的操作技能和应急反应能力。它解决了传统手术训练方式难以实现应急反应训练的问题,具有操作简单,成本低及体验感强等特点。     

Three-dimensional simulation of realistic single electron transistors

We present an approach, and its implementation in a computer program, for the three-dimensional (3-D) simulation of realistic single electron transistor (SET) structures, in which subregions with different degrees of quantum confinement are simultaneously considered. The proposed approach is based on the self-consistent solution of the many body Schrodinger equation with density functional theory and on the computation of the conductance of tunnel constrictions through the solution of the 3-D Schrodinger equation with open boundary conditions. We have developed an efficient code (ViDES) based on such an approach. As examples of addressable SET structures, we present the simulation of a SET, one defined by metal gates on an AlGaAs/GaAs heterostructures, and of a SET defined by etching and oxidation on the silicon-on-insulator material system. Since SETs represent prototypical nanoscale devices, the code may be a valuable tool for the investigation and optimization of a broad range of nanoelectronic solid-state devices.     

步态训练机器人人机系统动力学仿真

基于MATLAB对6自由度步态训练机器人的人机系统进行了动力学仿真研究.应用Newton-Euler法,推导了机器人的运动约束方程和动力学方程,构成了机器人的约束矩阵方程(constrained matrix equation,CME);分析了正常人在平地行走时的步态特征,并给出了人在行走时双足对地面的压力模型,利用MATLAB工具箱建立了人机系统动力学仿真模型,并对机器人跟踪人在平地行走的步态轨迹进行了仿真分析.仿真结果表明,步态训练机器人对人的双足负载具有良好的适应能力,可以方便获取机器人的动力学参数.该研究为实现机器人的控制及性能改进提供了理论依据.     

航战座舱显控交互研究进展与人机协同发展趋势

目的 为了应对态势信息急速增长的复杂空战环境,人机协同作战应运而生,座舱显控交互是实现人机协同方式的通道,对快速取得战场优势,完成作战目标有着重要影响。方法 梳理了航战座舱显控系统的发展、相关代表人物与研究成果;基于人机协同作战环境中面临的挑战,探究座舱显控的研究现状与趋势;从座舱显控界面信息表征设计和交互的实现形式方面归纳梳理人机协同作战下的座舱显控交互设计研究热点;提出未来座舱显控交互的发展趋势。结论 航战座舱显控交互与人机协同作战密切相关。在智能技术支持与人机协作需求的共同驱动下,人机协同作战下的座舱显控交互向着任务相关、信息呈现、认知融合的界面设计与多通道的交互手段相结合的方向发展。     

Vibrating interventional device detection using real-time 3-D color Doppler

Ultrasound image guidance of interventional devices during minimally invasive surgery provides the clinician with improved soft tissue contrast while reducing ionizing radiation exposure. One problem with ultrasound image guidance is poor visualization of the device tip during the clinical procedure. We have described previously guidance of several interventional devices using a real-time 3-D (RT3-D) ultrasound system with 3-D color Doppler combined with the ColorMark technology. We then developed an analytical model for a vibrating needle to maximize the tip vibrations and improve the reliability and sensitivity of our technique. In this paper, we use the analytical model and improved radiofrequency (RF) and color Doppler filters to detect two different vibrating devices in water tank experiments as well as in an in vivo canine experiment. We performed water tank experiments with four different 3- D transducers: a 5 MHz transesophageal (TEE) probe, a 5 MHz transthoracic (TTE) probe, a 5 MHz intracardiac catheter (ICE) transducer, and a 2.5 MHz commercial TTE probe. Each transducer was used to scan an aortic graft suspended in the water tank. An atrial septal puncture needle and an endomyocardial biopsy forceps, each vibrating at 1.3 kHz, were inserted into the vascular graft and were tracked using 3-D color Doppler. Improved RF and wall filters increased the detected color Doppler sensitivity by 14 dB. In three simultaneous planes from the in vivo 3-D scan, we identified both the septal puncture needle and the biopsy forceps within the right atrium using the 2.5 MHz probe. A new display filter was used to suppress the unwanted flash artifact associated with physiological motion.     

A 2-D model that accounts for 3-D fringing in MEMS devices

MEMS devices such as comb drives and rotary drives are geometrically simple in that each of the components may be represented as a ‘sweep’ of a 2-D cross-section through a given height. This simplicity leads to simpler CAD requirements, geometric robustness, faster visualization, etc. Further, 3-D electrostatic simulation may be simplified to a 2-D problem over the cross-section if one neglects 3-D fringing. Such 2-D simulations provide a quick feedback to the designer on various parameters such as capacitance and electrostatic forces.However, as is well known, 3-D simulations cannot be avoided if fringing is significant, or when these devices need to be fully optimized. Such 3-D simulations unfortunately involve constructing the full 3-D geometry, volume/surface mesh, etc.In this paper, we demonstrate that one can pose and solve a 2-D problem that accounts for 3-D fringing. The proposed technique does not require the construction of the 3-D CAD model or surface/volume mesh. Instead, the 3-D electrostatics problem is collapsed to 2-D via a novel dimensional reduction method. Once the 2-D problem is solved, the full 3-D field and associated charges/forces can be recovered, as a post-processing step. The simplicity and computational efficiency of the technique lends itself well to parametric study and design optimization.     

Enhanced three-dimensional integral imaging system by use of double display devices

We propose an enhanced three-dimensional (3D) integral imaging system using multiple display devices. Experimental results with double devices prove the improvement in the image depth for a given image quality. We present experiments on an enhanced 3D integral imaging system using double display devices, in which two 3D subimages that cover different depth ranges are separately generated in each device, and then they are combined with a beam splitter to reconstruct the whole 3D image with an enhanced depth of view. In a similar manner, the double-device system can also be used to obtain a wider viewing angle by combining two images with different viewing angle ranges. We discuss the possibility of 3D integral imaging systems using multiple display devices as extensions of the system with double display devices.     

Autostereoscopic three-dimensional display based on a micromirror array

A novel approach for three-dimensional (3-D) display systems implemented with a micromirror array was proposed, designed, realized, and tested. The major advantages of this approach include the following: (1) micromirrors are reflective and hence achromatic (panchromatic), (2) a wide variety of displays can be used as image sources, and (3) time multiplexing can be introduced on top of space multiplexing to optimize the viewing zone arrangements. A two-view (left and right) 3-D autostereoscopic display system was first constructed. Left- and right-eye views in the forms of both still and motion 3-D scenes were displayed, and viewers were able to fuse the stereo information. A multiview (two left and two right) 3-D autostereoscopic display system was then simulated.     

Depth Transfer by an Imaging System

In many applications such as three-dimensional (3-D) data acquisition, the scanning of 3-D objects or 3-D display, it is necessary to understand how an imaging system can be used to obtain information on the structure of an object in the direction perpendicular to the image plane, i.e. depth information. In certain cases the formation of a 3-D image can be described by a theory based on optical transfer functions (OTF): the image intensity distribution is given by the 3-D convolution of the object and a 3-D point spread function (PSF); equivalently, in 3-D Fourier space the image spectrum is the product of the object spectrum and a 3-D OTF. This paper investigates the 3-D PSFs and OTFs that are associated with different pupil functions of the imaging system.     

物体面形对结构光场的空间调制：计算机模拟

提出一个实现三维面形对结构光场的空间调制的计算机仿真系统。重点讨论仿真系统的基本原理、投影光场与观察光场和三维面形的几何关系、该系统的实现方案。本文还给出了在一定系统参数条件下，几种特殊三维面形对空间结构光场调制的实验结果。