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学者姓名：何炳蔚
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柔性内窥镜机器人具有连续体结构,在微创手术领域展现出独特优势,但连续体结构的非线性变形特征导致柔性内窥镜机器人的运动控制精度不足.针对上述问题,本文提出一种基于神经动力学的柔性内窥镜机器人最优遥操作控制方法.首先,通过构建图像空间下内窥镜机器人主从运动映射机制,建立柔性内窥镜运动学模型,获得图像特征速度与驱动速度的映射关系;其次,基因关节运动约束将机器人运动控制转化为二次规划最优控制问题,并使用基于神经动力学的实时求解器进行高效求解;最后,在输尿管镜机器人平台开展实验验证.实验结果表明:本文方法可有效减小人工操作误差和速度振荡,目标点跟踪误差被控制在2.5%以内,同时有效提升了碎石术中器械操控的准确性和稳定性.
Keyword ：
主从遥操作 主从遥操作 最优控制 最优控制 柔性内窥镜机器人 柔性内窥镜机器人 神经动力学优化 神经动力学优化
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| GB/T 7714 | 张杰阳 , 何帅 , 邓震 et al. 基于神经动力学优化的柔性内窥镜机器人最优遥操作控制 [J]. | 集成技术 , 2025 , 14 (2) : 3-12 . |
| MLA | 张杰阳 et al. "基于神经动力学优化的柔性内窥镜机器人最优遥操作控制" . | 集成技术 14 . 2 (2025) : 3-12 . |
| APA | 张杰阳 , 何帅 , 邓震 , 何炳蔚 . 基于神经动力学优化的柔性内窥镜机器人最优遥操作控制 . | 集成技术 , 2025 , 14 (2) , 3-12 . |
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In aging and metabolic disease, sarcopenic obesity (SO) correlates with intramuscular adipose tissue (IMAT). Using bioinformatics analysis, we found a potential target protein Extended Synaptotagmin 1 (E-syt1) in SO. To investigate the regulatory role of E-syt1 in muscle metabolism, we performed in vivo and in vitro experiments through E-syt1 loss- and gain-of-function on muscle physiology. When E-syt1 is overexpressed in vitro, myoblast proliferation, differentiation, mitochondrial respiration, biogenesis, and mitochondrial dynamics are impaired, which were alleviated by the silence of E-syt1. Furthermore, overexpression of E-syt1 inhibited mitophagic flux. Mechanistically, E-syt1 overexpression leads to mitochondrial calcium overload and mitochondrial ROS burst, inhibits the fusion of mitophagosomes with lysosomes, and impedes the acidification of lysosomes. Animal experiments demonstrated the inhibition of E-syt1 increased the capacity of endurance exercise, muscle mass, mitochondrial function, and oxidative capacity of the muscle fibers in OVX mice. These findings establish E-syt1 as a novel contributor to the pathogenesis of skeletal muscle metabolic disorders in SO. Consequently, targeting E-syt1-induced dysfunction may serve as a viable strategy for attenuating SO.
Keyword ：
E-syt1 E-syt1 Mitochondria Mitochondria Mitophagy Mitophagy Myogenesis Myogenesis Sarcopenic obesity Sarcopenic obesity
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| GB/T 7714 | Song, Chao , Zheng, Wu , Liu, Guoming et al. Sarcopenic obesity is attenuated by E-syt1 inhibition via improving skeletal muscle mitochondrial function [J]. | REDOX BIOLOGY , 2025 , 79 . |
| MLA | Song, Chao et al. "Sarcopenic obesity is attenuated by E-syt1 inhibition via improving skeletal muscle mitochondrial function" . | REDOX BIOLOGY 79 (2025) . |
| APA | Song, Chao , Zheng, Wu , Liu, Guoming , Xu, Yiyang , Deng, Zhibo , Xiu, Yu et al. Sarcopenic obesity is attenuated by E-syt1 inhibition via improving skeletal muscle mitochondrial function . | REDOX BIOLOGY , 2025 , 79 . |
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Coronary artery atherosclerosis is a prevalent cardiovascular disease and a leading cause of major adverse cardiovascular events (MACE). Rotational atherectomy (RA) is an effective interventional technique for treating severe calcified stenosis. However, excessive forces, heat, and debris are prone to lead to serious surgical complications, such as slow flow/no-reflow and blood clots. To mitigate excessive force and heat generation during RA, a novel high-performance cutting tool was designed and fabricated for coronary artery calcified tissue removal. An RA simulation model was developed to simulate the procedure. The results showed that the forces, temperatures, and debris size remained within predefined safety thresholds. Using the 1.5 mm tool as an illustration, the peak cutting force was 1.062 N, and the peak temperature rise reached 1.170 degrees C. Debris distribution exhibited a normal pattern, with 90% of particles measuring below 14 mu m. The experimental results closely matched the simulation values, showcasing errors under 10% and affirming the simulation model's precision. This research provides theoretical support for the study of mechanisms and contributes to optimizing the effectiveness of RA.
Keyword ：
Cutting performance Cutting performance Finite element simulation Finite element simulation Rotational atherectomy Rotational atherectomy Tissue removal Tissue removal
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| GB/T 7714 | Gao, Chuhang , Zhu, Jialiang , Wu, Fan et al. Simulation and experimental study on processing behavior of coronary artery calcified tissue removal [J]. | SCIENTIFIC REPORTS , 2025 , 15 (1) . |
| MLA | Gao, Chuhang et al. "Simulation and experimental study on processing behavior of coronary artery calcified tissue removal" . | SCIENTIFIC REPORTS 15 . 1 (2025) . |
| APA | Gao, Chuhang , Zhu, Jialiang , Wu, Fan , Cui, Ziyu , Fang, Mingcheng , Zhu, Zhaoju et al. Simulation and experimental study on processing behavior of coronary artery calcified tissue removal . | SCIENTIFIC REPORTS , 2025 , 15 (1) . |
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The advancement of hydrogel-based epidermal sensors that integrate multifunctionality, high transparency, rapid processing, and heightened sensitivity is of significant interest. Herein, we present an efficient approach for the fabrication of flexible dual-mode epidermal sensors through the ultraviolet (UV)-curing 3-D printing of polyacrylamide (PAM)-based ionic hydrogels. The hydro-gel precursor incorporates sodium dodecyl sulfate (SDS) monomers to augment the water dispersibility of the 2,4,6-trimethylbenzoyl-diphenylphosphine oxide (TPO) photoinitiator, thereby substantially increasing the photocuring efficiency of the ionic hydrogel. As a result, the distinctive surface microstructures of PAM-based ionic hydrogels can be engineered for sensors with varying sensing modalities to improve detection performance. The piezoelectric tactile sensor, incorporating a concentric ring microstructure, demonstrates a sensitivity coefficient of 1.39 mV kPa(-1). Conversely, the resistive strain sensor, characterized by a high-density reticular hollow structure, exhibits the highest gauge factor of 24.87. Furthermore, each sensor modality demonstrates excellent temporal response and stability, confirming its applicability in motion monitoring and Morse code transmission.
Keyword ：
3-D printing 3-D printing Conductivity Conductivity Curing Curing dual-mode sensing dual-mode sensing epidermal sensor epidermal sensor Epidermis Epidermis Hydrogels Hydrogels iontronic iontronic Microstructure Microstructure Monitoring Monitoring Sensitivity Sensitivity Sensor phenomena and characterization Sensor phenomena and characterization Sensors Sensors Three-dimensional printing Three-dimensional printing
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| GB/T 7714 | Zhang, Yue , Lan, Ao , Xia, Yuanhao et al. 3-D Printing of PAM Hydrogel-Based Iontronic for Dual-Mode Epidermal Sensors [J]. | IEEE SENSORS JOURNAL , 2025 , 25 (8) : 12616-12626 . |
| MLA | Zhang, Yue et al. "3-D Printing of PAM Hydrogel-Based Iontronic for Dual-Mode Epidermal Sensors" . | IEEE SENSORS JOURNAL 25 . 8 (2025) : 12616-12626 . |
| APA | Zhang, Yue , Lan, Ao , Xia, Yuanhao , Yin, Xiangyu , He, Bingwei , Zhu, Pengli . 3-D Printing of PAM Hydrogel-Based Iontronic for Dual-Mode Epidermal Sensors . | IEEE SENSORS JOURNAL , 2025 , 25 (8) , 12616-12626 . |
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Robotic milling is becoming widely used in aerospace and auto manufacturing due to its high flexibility and strong adaptability. However, the practical challenges including complex and time-consuming robot trajectory planning, insufficient monitoring, and lacking three-dimensional visualization limits its further application. To address these challenges, an intelligent monitoring system for robotic milling process based on transfer learning and digital twin was proposed and developed in this paper. Firstly, the fundamental framework of this system was conducted based on a five-dimensional digital twin model for motion simulation, visualization, and tool wear prediction during the robotic milling process. Secondly, the parsing algorithm converting NC code to robot's machining trajectory and material removal algorithm based on bounding box and mesh deformation were proposed for robotic dynamic milling simulation. Thirdly, a novel transfer learning algorithm named CNN-LSTM-TrAdaBoost.R2 was developed by integrating CNN-LSTM with TrAdaBoost.R2 for automated feature extraction and real-time prediction of tool wear. Finally, the effective and accuracy of tool wear prediction algorithm is verified by ablation experiment and the robotic milling simulation is validated by real milling experiment, as well. The results indicate that the proposed monitoring system for robotic milling process demonstrates great virtual-real mapping. It can offer new insights and technical support for constructing sophisticated digital twin frameworks and enhancing operational monitoring in manufacturing systems.
Keyword ：
Digital twin Digital twin Process simulation Process simulation Tool wear Tool wear Transfer learning Transfer learning
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| GB/T 7714 | Zhu, Zhaoju , Zhu, Wenrong , Huang, Jianwei et al. An intelligent monitoring system for robotic milling process based on transfer learning and digital twin [J]. | JOURNAL OF MANUFACTURING SYSTEMS , 2025 , 78 : 433-443 . |
| MLA | Zhu, Zhaoju et al. "An intelligent monitoring system for robotic milling process based on transfer learning and digital twin" . | JOURNAL OF MANUFACTURING SYSTEMS 78 (2025) : 433-443 . |
| APA | Zhu, Zhaoju , Zhu, Wenrong , Huang, Jianwei , He, Bingwei . An intelligent monitoring system for robotic milling process based on transfer learning and digital twin . | JOURNAL OF MANUFACTURING SYSTEMS , 2025 , 78 , 433-443 . |
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This paper introduces an efficient contact-based registration method for minimally invasive anterior hip arthroplasty. Unlike existing methods that involve radiation exposure, implanted screws, or tedious point collection, our method requires only one contact within the acetabulum and two contacts on the landmarks. Inspired by the probe's ball tip, we define a unique position, named stable point, to decouple translation from the overall transformation. The stable point inpatient space is easily acquired by our tool, simplifying translation estimation to compute the stable point in image space. We present a fast computation method based on dichotomic search. After aligning the stable points, we introduce two bone landmarks for rotation estimation in a center-aware manner. Additionally, a deltille grid position-sensing (DGPS) marker is used to improve instrument tracking robustness. Experiments were conducted to evaluate the performance of our methods, demonstrating an average accuracy of 0.16 +/- 0.03 mm for instrument tracking and 1.41 +/- 0.16 mm for registration. Moreover, the entire process takes less than 1 minute. Results suggest that our method has significant potential for clinical application.
Keyword ：
Computer-assisted surgery Computer-assisted surgery Minimally invasive hip arthroplasty Minimally invasive hip arthroplasty Patient-image registration Patient-image registration Surgical navigation Surgical navigation
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| GB/T 7714 | Xie, Xianzhong , Zhu, Mingzhu , Chen, Weijian et al. Efficient contact-based registration for minimally invasive anterior hip arthroplasty [J]. | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2025 , 102 . |
| MLA | Xie, Xianzhong et al. "Efficient contact-based registration for minimally invasive anterior hip arthroplasty" . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL 102 (2025) . |
| APA | Xie, Xianzhong , Zhu, Mingzhu , Chen, Weijian , Xu, Jie , He, Bingwei . Efficient contact-based registration for minimally invasive anterior hip arthroplasty . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2025 , 102 . |
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In recent years, surgical instrument tracking has gained significant attention in the field of surgical navigation. An often-overlooked problem lies in the instrument's irregular movement conflicting with the tracking system's fixed viewpoint, leading to line-of-sight occlusion, marker occlusion, and sub-optimal accuracy. The active vision tracking system (which actively adjusts the camera viewpoint) is applied to address this issue. In this paper, two algorithms of multi-view fusion and dynamic calibration are proposed in multi-camera active vision to allow each camera to adjust its viewpoint independently. These algorithms are integrated into the parallel computing of the frontend and backend to implement the positioning of the instrument from multiple perspectives and real-time calibration of multiple cameras. Simulations and experiments are carried out to test the accuracy and robustness of the proposed tracking system. Results reveal that our system achieves a closer trajectory (0.12 mm) to the ground truth compared to a stereo camera tracking system (0.32 mm). The proposed tracking system can keep track of the instruments within the positioning volume at different surgical phases, ensuring consistent navigation and improving positioning stability and accuracy.
Keyword ：
active vision active vision instrument tracking instrument tracking multi-camera positioning multi-camera positioning surgical navigation surgical navigation
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| GB/T 7714 | Cai, Yu , Wang, Yihong , Zhu, Mingzhu et al. Dynamic calibration and multi-view fusion of active vision tracking system for surgical instrument [J]. | MEASUREMENT SCIENCE AND TECHNOLOGY , 2025 , 36 (1) . |
| MLA | Cai, Yu et al. "Dynamic calibration and multi-view fusion of active vision tracking system for surgical instrument" . | MEASUREMENT SCIENCE AND TECHNOLOGY 36 . 1 (2025) . |
| APA | Cai, Yu , Wang, Yihong , Zhu, Mingzhu , He, Bingwei , You, Yue . Dynamic calibration and multi-view fusion of active vision tracking system for surgical instrument . | MEASUREMENT SCIENCE AND TECHNOLOGY , 2025 , 36 (1) . |
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Benign Paroxysmal Positional Vertigo (BPPV) is a prevalent vestibular disorder encountered in clinical settings. Diagnosis of this condition primarily relies on the observation of nystagmus, which involves monitoring the eye movements of patients. However, existing medical equipment for collecting and analyzing nystagmus data has notable limitations and deficiencies. To address this challenge, a comprehensive BPPV nystagmus data collection and intelligent analysis framework has been developed. Our framework leverages a neural network model, Egeunet, in conjunction with mathematical statistical techniques like Fast Fourier Transform (FFT), enabling precise segmentation of eye structures and accurate analysis of eye movement data. Furthermore, an eye movement analysis method has been introduced, designed to enhance clinical decision-making, resulting in more intuitive and clear analysis outcomes. Benefiting from the high sensitivity of our eye movement capture and its robustness in the face of environmental conditions and noise, our BPPV nystagmus data collection and intelligent analysis framework has demonstrated outstanding performance in BPPV detection.
Keyword ：
Benign paroxysmal positional vertigo Benign paroxysmal positional vertigo Convolutional neural network Convolutional neural network Egeunet Egeunet Feature matching Feature matching Fourier transform Fourier transform Nystagmus Nystagmus
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| GB/T 7714 | Liu, ZhiChao , Wang, YiHong , Zhu, MingZhu et al. Bppv nystagmus signals diagnosis framework based on deep learning [J]. | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE , 2025 , 48 (2) : 769-784 . |
| MLA | Liu, ZhiChao et al. "Bppv nystagmus signals diagnosis framework based on deep learning" . | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE 48 . 2 (2025) : 769-784 . |
| APA | Liu, ZhiChao , Wang, YiHong , Zhu, MingZhu , Zhang, JianWei , He, BingWei . Bppv nystagmus signals diagnosis framework based on deep learning . | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE , 2025 , 48 (2) , 769-784 . |
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A novel event sensor-based object localization method is proposed in this paper. It addresses the accuracy limitations of event sensors caused by their limited spatial resolution and binary grayscale levels. The method uses flickering beacons and replaces the event camera's lens with a mask printed with a marker field. This configuration distributes location-coded events across the entire sensor instead of confining them to a small region, as in traditional methods. Major algorithms, including pattern simulation and optimized matching, are designed to achieve 3D localization and pose estimation. Experiments show a 17.3% accuracy improvement over state-of-the-art event-based methods in average translation error, consistent across varying distances and angles. This demonstrates its suitability for surgical navigation, virtual reality, and other precise, real-time localization tasks.
Keyword ：
3D localization 3D localization Fast-moving objects Fast-moving objects Lensless event sensors Lensless event sensors Marker field Marker field Pose estimation Pose estimation
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| GB/T 7714 | You, Yue , Wang, Yihong , Cai, Yu et al. 3D localization using lensless event sensors for fast-moving objects [J]. | DIGITAL SIGNAL PROCESSING , 2025 , 161 . |
| MLA | You, Yue et al. "3D localization using lensless event sensors for fast-moving objects" . | DIGITAL SIGNAL PROCESSING 161 (2025) . |
| APA | You, Yue , Wang, Yihong , Cai, Yu , Zhu, Mingzhu , He, Bingwei . 3D localization using lensless event sensors for fast-moving objects . | DIGITAL SIGNAL PROCESSING , 2025 , 161 . |
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Cardiovascular disease is the leading cause of human mortality, and calcified tissue blocking blood vessels is the main cause of major adverse cardiovascular events (MACE). Rotational Atherectomy (RA) is a minimally invasive catheter-based treatment method that involves high-speed cutting of calcified tissue using miniature tools for removal. However, the cutting forces, heat, and debris can induce tissue damage and give rise to serious surgical complications. To enhance the effectiveness and efficiency of RA, a novel eccentric rotational cutting tool, with one side comprising axial and circumferential staggered micro-blades, was designed and fabricated in this study. In addition, a series of experiments were conducted to analyze their performance across five dimensions: tool kinematics, force, temperature, debris, and surface morphology of the specimens. Experimental results show that the force, temperature and debris size of the novel tool were well inhibited at the highest rotational speed. For the tool of standard clinical size (diameter 1.25 mm), the maximum force is 0.75 N, with a maximum temperature rise in the operation area of 1.09 degrees C. Debris distribution followed a normal distribution pattern, with 90% of debris measuring smaller than 9.12 mu m. All tool metrics met clinical safety requirements, indicating its superior performance. This study provides a new idea for the design of calcified tissue removal tools, and contributes positively to the advancement of RA.
Keyword ：
Calcified tissue removal Calcified tissue removal Eccentric cutting tool Eccentric cutting tool Rotational atherectomy Rotational atherectomy Tool performance Tool performance
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| GB/T 7714 | Gao, Chuhang , Zhu, Zhaoju , Cui, Ziyu et al. Design and Performance Verification of a Novel Eccentric Rotational Cutting Tool for Removal of Vascular Calcification Tissue [J]. | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2025 , 38 (1) . |
| MLA | Gao, Chuhang et al. "Design and Performance Verification of a Novel Eccentric Rotational Cutting Tool for Removal of Vascular Calcification Tissue" . | CHINESE JOURNAL OF MECHANICAL ENGINEERING 38 . 1 (2025) . |
| APA | Gao, Chuhang , Zhu, Zhaoju , Cui, Ziyu , He, Bingwei . Design and Performance Verification of a Novel Eccentric Rotational Cutting Tool for Removal of Vascular Calcification Tissue . | CHINESE JOURNAL OF MECHANICAL ENGINEERING , 2025 , 38 (1) . |
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