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学者姓名：朱兆聚
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Abstract ：
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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Coronary rotational atherectomy (CRA) is a minimally invasive interventional procedure used to remove the calcified tissue of the arterial wall. Intravascular ultrasound (IVUS) can be used as an adjunctive imaging modality to enhance the success rate of the procedure. However, for severely calcified or even occluded vessels, traditional side-viewing IVUS catheters cannot image through. This article presents a visualized rotational atherectomy device based on forward-looking IVUS (FL-IVUS). An ultrasound imaging platform was built to perform tissue sample imaging experiments. Bovine bone was employed to simulate calcified tissue, and a vascular tissue-mimicking phantom was designed and fabricated for quantitative analysis. Depth information was added to the obtained FL-IVUS images to annotate the distance between the rotational atherectomy device and the calcified tissue ahead. The experimental results show that the visualized rotational atherectomy device can obtain intraluminal information of the vessel ahead of the grinding tool, which helps surgeons set reasonable rotational atherectomy parameters and evaluate the results of the previous rotational atherectomy, thus efficiently removing calcified lesions and reducing surgical complications.
Keyword ：
Coronary rotational atherectomy (CRA) atherosclerosis Coronary rotational atherectomy (CRA) atherosclerosis forward-looking intravascular ultrasound (FL-IVUS) forward-looking intravascular ultrasound (FL-IVUS) harmonic terminations harmonic terminations intravascular ultrasound (IVUS) intravascular ultrasound (IVUS)
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| GB/T 7714 | Zhu, Zhaoju , Yu, Weijie , Gao, Chuhang et al. Feasibility of Novel Grinding Device With Forward-Looking Intravascular Ultrasound Transducer in Coronary Rotational Atherectomy [J]. | IEEE SENSORS JOURNAL , 2024 , 24 (19) : 30205-30214 . |
| MLA | Zhu, Zhaoju et al. "Feasibility of Novel Grinding Device With Forward-Looking Intravascular Ultrasound Transducer in Coronary Rotational Atherectomy" . | IEEE SENSORS JOURNAL 24 . 19 (2024) : 30205-30214 . |
| APA | Zhu, Zhaoju , Yu, Weijie , Gao, Chuhang , Chen, Liujing , Lin, Zhimao , He, Bingwei . Feasibility of Novel Grinding Device With Forward-Looking Intravascular Ultrasound Transducer in Coronary Rotational Atherectomy . | IEEE SENSORS JOURNAL , 2024 , 24 (19) , 30205-30214 . |
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The assessment of images of the coronary artery system plays a crucial part in the diagnosis and treatment of cardiovascular diseases (CVD). Forward-looking intravascular ultrasound (FL-IVUS) has a distinct advantage in assessing CVD due to its superior resolution and imaging capability, especially in severe calcification scenarios. The demarcation of the lumen and media-adventitia, as well as the identification of calcified tissue information, constitute the initial steps in assessing of CVD such as atherosclerosis using FL-IVUS images. In this research, we introduced a novel approach for automated lumen segmentation and identification of calcified tissue in FL-IVUS images. The proposed method utilizes superpixel segmentation and fuzzy C-means clustering (FCM) to identify regions that potentially correspond to lumina. Furthermore, connected component labeling and active contour methods are employed to refine the contours of lumina. To handle the distinctive depth information found in FLIVUS images, ellipse fitting and region detectors are applied to identify areas with calcified tissue. In our dataset consisting of 43 FL-IVUS images, this method achieved mean values for Jaccard measure, Dice coefficient, Hausdorff distance, and percentage area difference at 0.952 f 0.016, 0.975 f 0.008, 0.296 f 0.186, and 0.019 f 0.010, respectively. Furthermore, when compared with traditional segmentation approaches, the proposed approach yields higher images quality. The test results demonstrate the effectiveness of this innovative automated segmentation technique for detecting the lumina and calcified tissue in FL-IVUS images.
Keyword ：
Forward-looking intravascular ultrasound Forward-looking intravascular ultrasound Identification of calcified tissue Identification of calcified tissue Image segmentation Image segmentation Medical imaging Medical imaging
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| GB/T 7714 | Cui, Ziyu , Zhu, Zhaoju , Huang, Peiwen et al. An automatic segmentation of calcified tissue in forward-looking intravascular ultrasound images [J]. | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2024 , 100 . |
| MLA | Cui, Ziyu et al. "An automatic segmentation of calcified tissue in forward-looking intravascular ultrasound images" . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL 100 (2024) . |
| APA | Cui, Ziyu , Zhu, Zhaoju , Huang, Peiwen , Gao, Chuhang , He, Bingwei . An automatic segmentation of calcified tissue in forward-looking intravascular ultrasound images . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2024 , 100 . |
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Organ transplantation is the optimal treatment for patients with end-stage organ failure, but which faces the challenge of donor shortage. Two-dimensional cell culture and animal experiments are difficult to completely simulate the complex cellular microenvironment for drug testing. Three-dimensional (3D) bioprinting is an emerging manufacturing technology to fabricate artificial tissues and organs for transplantation and drug screening. This review first describes the bioprinting technologies used to fabricate constructs, including jetting-based, extrusion-based, vat photopolymerization-based methods and other emerging 3D bioprinting approaches. The various kinds of bioinks, cell sources, and the most recent applications of 3D bioprinting tissues and organs in transplantation and drug testing are subsequently summarized. Finally, we discuss the challenges and prospects of 3D bioprinting of tissues and organs. This review aims to facilitate the overcoming of the obstacles identified on the challenging journey towards the manufacturing and adoption of tissue and organs in transplantation and drug screening.
Keyword ：
3D Bioprinting 3D Bioprinting Drug screening Drug screening Organ transplantation Organ transplantation
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| GB/T 7714 | Sun, Xuming , Ren, Wu , Xie, Linyan et al. Recent advances in 3D bioprinting of tissues and organs for transplantation and drug screening [J]. | VIRTUAL AND PHYSICAL PROTOTYPING , 2024 , 19 (1) . |
| MLA | Sun, Xuming et al. "Recent advances in 3D bioprinting of tissues and organs for transplantation and drug screening" . | VIRTUAL AND PHYSICAL PROTOTYPING 19 . 1 (2024) . |
| APA | Sun, Xuming , Ren, Wu , Xie, Linyan , Ren, Qiongqiong , Zhu, Zhaoju , Jia, Qianfang et al. Recent advances in 3D bioprinting of tissues and organs for transplantation and drug screening . | VIRTUAL AND PHYSICAL PROTOTYPING , 2024 , 19 (1) . |
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针对医学生在进行侧脑室额角穿刺模拟手术时缺乏图像引导、易遗忘、训练效果差等问题,本研究提出了一套基于增强现实眼镜技术的侧脑室额角穿刺辅助系统.基于一例侧脑室轻度扩大患者的头部CT及MRI数据,采用医学建模软件Minics对颅脑各部分组织结构的灰度特点进行阈值分割,构建三维虚拟模型;其次,使用Vuforia SDK及Unity 3D进行增强现实构建,提出了一种主识别图搭配开启图的定位方法,系统平均配准误差为1.333 mm;最终将系统导入增强现实眼镜完成调试.邀请20名医学院临床专业的在读学生并分为佩戴增强现实眼镜与未佩戴增强现实眼镜的两个组,进行侧脑室额角穿刺模拟手术操作并对模拟手术进行问卷评分.结果表明,与未佩戴增强现实眼镜的组相比,佩戴增强现实眼镜的组在手术操作中所用的平均时间缩短了 4.71 min,穿刺成功率提高了 30％,且佩戴增强现实眼镜的组别所反馈问卷评分结果明显优于对照组.所搭建的基于增强现实眼镜技术的侧脑室额角穿刺辅助系统能够显著提高手术训练效果,可为提升侧脑室额角穿刺的手术训练质量提供一种新思路.
Keyword ：
Vuforia SDK Vuforia SDK 三维虚拟模型 三维虚拟模型 侧脑室额角穿刺 侧脑室额角穿刺 增强现实眼镜 增强现实眼镜
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| GB/T 7714 | 朱兆聚 , 高楚航 , 施家峰 et al. 基于增强现实技术的侧脑室额角穿刺训练系统研究 [J]. | 中国生物医学工程学报 , 2024 , 43 (6) : 673-681 . |
| MLA | 朱兆聚 et al. "基于增强现实技术的侧脑室额角穿刺训练系统研究" . | 中国生物医学工程学报 43 . 6 (2024) : 673-681 . |
| APA | 朱兆聚 , 高楚航 , 施家峰 , 陈刘晶 , 何炳蔚 . 基于增强现实技术的侧脑室额角穿刺训练系统研究 . | 中国生物医学工程学报 , 2024 , 43 (6) , 673-681 . |
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BackgroundThe existing augmented reality (AR) dental implant surgery navigation system usually uses markers to complete image guidance. However, markers often affect dentists' operations and make patients uncomfortable.MethodsTo solve the problems caused by markers, this paper proposes an effective marker‐less image guidance method. After initialisation is completed by contour matching, the corresponding relationship is obtained by matching the feature points between the current frame and the preloaded initial frame. The camera pose is estimated by solving the Perspective‐n‐Point problem.ResultsThe registration error of AR images is 0.731 ± 0.144 mm. The planting errors are 1.174 ± 0.241 mm at the neck, 1.433 ± 0.389 mm at the apex and 5.566 ± 2.102° for the angle. The maximum error and standard deviation meet the clinical requirements.ConclusionsWe demonstrate that the proposed method can accurately guide dentists to perform dental implant surgery.
Keyword ：
augmented reality augmented reality dental implant surgery dental implant surgery image guidance method image guidance method marker-less marker-less
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| GB/T 7714 | Siyuan Dong , Chen Du , Bingwei He et al. Application of an effective marker‐less augmented reality image guidance method in dental implant surgery [J]. | The International Journal of Medical Robotics and Computer Assisted Surgery , 2023 , 19 (4) : n/a-n/a . |
| MLA | Siyuan Dong et al. "Application of an effective marker‐less augmented reality image guidance method in dental implant surgery" . | The International Journal of Medical Robotics and Computer Assisted Surgery 19 . 4 (2023) : n/a-n/a . |
| APA | Siyuan Dong , Chen Du , Bingwei He , Zhaoju Zhu , Dongqu Han , Wei Jin et al. Application of an effective marker‐less augmented reality image guidance method in dental implant surgery . | The International Journal of Medical Robotics and Computer Assisted Surgery , 2023 , 19 (4) , n/a-n/a . |
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Carbon fiber reinforced polymer (CFRP) is widely used in the aerospace field due to its excellent physical and mechanical properties such as high specific strength, high specific modulus, and good corrosion resistance. However, it is prone to bring burrs, tears, matrix, and fiber debonding during the cutting process due to its non-homogeneity and anisotropy, which seriously affects the service life of the material. To explore the damage failure mechanism of the CFRP cutting process, 2D and 3D finite element simulation models were established based on Abaqus in this paper. Furthermore, the influence law of fiber direction on cutting damage failure and chip forming was analyzed from micro and macro levels. Finally, the effectiveness of the simulation model was verified by experiments. The results show that the cutting surface of CFRP with a 45 degrees fiber angle is serrated, and the local failure is not obvious; the main defect of CFRP with 90 degrees fiber angle cutting is a matrix and fiber debonding, and some fibers will be crushed and off. Serious degumming phenomenon occurred in the cutting process of CFRP with 135 degrees fiber angle, and the bending and fracture of fiber also occur below the cutting depth. It is noteworthy that the stress distribution diverges along the fiber direction.
Keyword ：
CFRP CFRP Finite element simulation Finite element simulation Macro Macro Mechanism of damage Mechanism of damage microscopic model microscopic model
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| GB/T 7714 | Zhu, Zhaoju , Kang, Rongqing , Huang, Jianwei et al. Investigation on cutting damage mechanism of carbon fiber reinforced polymer based on macro/microscopic simulation [J]. | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY , 2023 , 127 (7-8) : 3585-3597 . |
| MLA | Zhu, Zhaoju et al. "Investigation on cutting damage mechanism of carbon fiber reinforced polymer based on macro/microscopic simulation" . | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 127 . 7-8 (2023) : 3585-3597 . |
| APA | Zhu, Zhaoju , Kang, Rongqing , Huang, Jianwei , Zhu, Yunqi , Sun, Xinhui . Investigation on cutting damage mechanism of carbon fiber reinforced polymer based on macro/microscopic simulation . | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY , 2023 , 127 (7-8) , 3585-3597 . |
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Compared with traditional CNC machines, robot milling has the advantages of low cost, high flexibility, and strong adaptability, providing a new solution for complex surface machining. However, robot machining trajectory planning in the real world is time-consuming and has safety risks. At the same time, how to achieve 3D visualization monitoring in the milling process effectively is also a challenging problem. Digital twin technology, with its characteristics of multi-dimension, high-fidelity, virtual-real fusion, and real-time interaction, provides an effective way to solve these problems. For this purpose, the paper designs and implements a robot milling motion simulation and visualization monitoring system based on the digital twin system framework. The system uses the Unity3D platform to construct the robot's digital twin body, designs a material removal algorithm based on mesh deformation, and establishes a milling motion simulation model. Through virtual-real mapping technology, the system establishes a bidirectional communication between virtual and physical entities and achieves the result mapping of the robot milling motion simulation and the visualization monitoring of the milling process. Finally, the motion simulation and real-time visualization monitoring of the milling process are tested, verifying the effectiveness and timeliness of the system.
Keyword ：
Digital twin Digital twin Machining motion simulation Machining motion simulation Milling robot Milling robot Visualization monitor Visualization monitor
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| GB/T 7714 | Zhu, Zhaoju , Lin, Zhimao , Huang, Jianwei et al. A digital twin-based machining motion simulation and visualization monitoring system for milling robot [J]. | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY , 2023 , 127 (9-10) : 4387-4399 . |
| MLA | Zhu, Zhaoju et al. "A digital twin-based machining motion simulation and visualization monitoring system for milling robot" . | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 127 . 9-10 (2023) : 4387-4399 . |
| APA | Zhu, Zhaoju , Lin, Zhimao , Huang, Jianwei , Zheng, Li , He, Bingwei . A digital twin-based machining motion simulation and visualization monitoring system for milling robot . | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY , 2023 , 127 (9-10) , 4387-4399 . |
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BackgroundThe existing augmented reality (AR) dental implant surgery navigation system usually uses markers to complete image guidance. However, markers often affect dentists' operations and make patients uncomfortable. MethodsTo solve the problems caused by markers, this paper proposes an effective marker-less image guidance method. After initialisation is completed by contour matching, the corresponding relationship is obtained by matching the feature points between the current frame and the preloaded initial frame. The camera pose is estimated by solving the Perspective-n-Point problem. ResultsThe registration error of AR images is 0.731 +/- 0.144 mm. The planting errors are 1.174 +/- 0.241 mm at the neck, 1.433 +/- 0.389 mm at the apex and 5.566 +/- 2.102 degrees for the angle. The maximum error and standard deviation meet the clinical requirements. ConclusionsWe demonstrate that the proposed method can accurately guide dentists to perform dental implant surgery.
Keyword ：
augmented reality augmented reality dental implant surgery dental implant surgery image guidance method image guidance method marker-less marker-less
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| GB/T 7714 | Dong, Siyuan , Du, Chen , He, Bingwei et al. Application of an effective marker-less augmented reality image guidance method in dental implant surgery [J]. | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY , 2023 , 19 (4) . |
| MLA | Dong, Siyuan et al. "Application of an effective marker-less augmented reality image guidance method in dental implant surgery" . | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 19 . 4 (2023) . |
| APA | Dong, Siyuan , Du, Chen , He, Bingwei , Zhu, Zhaoju , Han, Dongqu , Jin, Wei et al. Application of an effective marker-less augmented reality image guidance method in dental implant surgery . | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY , 2023 , 19 (4) . |
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Rotational atherectomy is an effective treatment for severe vascular calcification obstruction, and relies on high-speed grinding (typically 130,000-210,000 r/min) with miniature grinding tools to remove calcified tissue and restore blood flow. However, reports of intraoperative complications are common because of the grinding force, temperature, and debris directly acting on the body during the grinding process, which can easily cause damage to patients. In this study, three novel grinding tools were designed and fabricated and a series of experiments have been conducted to analyze the effects of tool geometry and parameters on grinding performance, that is, force, temperature, and specimen surface morphology. The results show that these tools can effectively remove simulated calcified tissue and that they have two motions, rotation and revolution, in the tube. At higher rotational speeds, grinding force and temperature increase noticeably, while the amount of debris decreases significantly. In addition, by observing the surface morphology of the specimens, we concluded that the material removal rate per unit time is influenced by both rotational speed and tool geometry, and that high rotational speed and a rough tool surface can improve the material removal rate efficiently. [GRAPHICS]
Keyword ：
Grinding performance Grinding performance Grinding tool Grinding tool Parameter analysis Parameter analysis Rotational atherectomy Rotational atherectomy
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| GB/T 7714 | Gao, Chuhang , Zhu, Zhaoju , Huang, Zirui et al. Performance of novel 3D printing tools in removing coronary-artery calcification tissue [J]. | BIO-DESIGN AND MANUFACTURING , 2023 , 6 (4) : 390-404 . |
| MLA | Gao, Chuhang et al. "Performance of novel 3D printing tools in removing coronary-artery calcification tissue" . | BIO-DESIGN AND MANUFACTURING 6 . 4 (2023) : 390-404 . |
| APA | Gao, Chuhang , Zhu, Zhaoju , Huang, Zirui , Chen, Liujing , Lu, Lihong , Fang, Mingcheng et al. Performance of novel 3D printing tools in removing coronary-artery calcification tissue . | BIO-DESIGN AND MANUFACTURING , 2023 , 6 (4) , 390-404 . |
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