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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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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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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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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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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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BACKGROUND AND OBJECTIVES: The correct positioning of the transverse-sigmoid sinus junction (TSSJ) during retrosigmoid craniotomy (RC) is crucial for enhancing surgical efficiency and preventing complications. An augmented reality technology may provide low-cost guidance for the TSSJ position. The authors aimed to investigate the clinical application of a self-developed mobile augmented reality navigation system (MARNS) for TSSJ positioning during RC and present their findings. METHODS: This observational research enrolled patients who underwent RC at Fujian Provincial Hospital from May 2023 to June 2023. All patients had their TSSJs located by MARNS. The surgical incision and skull "keyhole" for drilling were determined separately based on the projections of TSSJ on the 3-dimensional model displayed by MARNS. This method was assessed using matching error, positioning time, integrity of the bone flap, incidence of transversal sigmoid sinus injury, and other complications. RESULTS: Seven patients diagnosed with acoustic neuroma, trigeminal neuralgia, and hemifacial spasm were enrolled in this study. The MARNS system exhibited a matching error with an average magnitude of 2.88 +/- 0.69 mm. The positioning procedure necessitated an average duration of 279.71 +/- 27.29 seconds. In every instance, the inner edge of the TSSJ was precisely identified and exposed while the bone flap was successfully formed and maintained an average integrity of 86.7%. CONCLUSION: This study demonstrated the efficacy of MARNS in the precise placement of the TSSJ during RC procedures. It offers advantages for convenience, cost-effectiveness, and reliability for neurosurgical navigation.
Keyword ：
Augmented reality Augmented reality Mobile application Mobile application Neurosurgical navigation Neurosurgical navigation Retrosigmoid craniotomy Retrosigmoid craniotomy Surgical planning Surgical planning
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| GB/T 7714 | Hong, Wenyao , Huang, Xiaohua , Chen, Zhongyi et al. A Low-Cost Mobile-Based Augmented Reality Neuronavigation System for Retrosigmoid Craniotomy [J]. | OPERATIVE NEUROSURGERY , 2024 , 26 (6) : 695-701 . |
| MLA | Hong, Wenyao et al. "A Low-Cost Mobile-Based Augmented Reality Neuronavigation System for Retrosigmoid Craniotomy" . | OPERATIVE NEUROSURGERY 26 . 6 (2024) : 695-701 . |
| APA | Hong, Wenyao , Huang, Xiaohua , Chen, Zhongyi , Huang, Shengyue , Wen, Yuxing , He, Bingwei et al. A Low-Cost Mobile-Based Augmented Reality Neuronavigation System for Retrosigmoid Craniotomy . | OPERATIVE NEUROSURGERY , 2024 , 26 (6) , 695-701 . |
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Autonomous robotic massage holds the potential to alleviate the workload of nurses and improve the quality of healthcare. However, the complexity of the task and the dynamic of the environment present significant challenges for robotic massage. This paper presents a vision-based robotic massage (VBRM) framework that facilitates autonomous robot massaging of the human body while ensuring safe operation in a dynamic environment. The VBRM framework allows the operator to define the massage trajectory by drawing a 2D curve on an RGB image. An interactive trajectory planning method is developed to calculate a 3D massage trajectory from the 2D trajectory. This method accounts for potential movements of the human body and updates the planned trajectory using rigid point cloud registration. Additionally, a hybrid motion/force controller is employed to regulate the motion of the robot's end-effector, considering the possibility of excessive contact force. The proposed framework enables the operator to adjust the massage trajectory and speed according to their requirements. Real-world experiments are conducted to evaluate the efficacy of the proposed approach. The results demonstrate that the framework enables successful planning and execution of the massage task in a dynamic environment. Furthermore, the operator has the flexibility to set the massage trajectory, speed, and contact force arbitrarily, thereby enhancing human-machine interaction.
Keyword ：
Interactive trajectory planning Interactive trajectory planning Physical robot-environment interaction Physical robot-environment interaction Robot massage Robot massage Visual servoing Visual servoing
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| GB/T 7714 | Xu, Qinling , Deng, Zhen , Zeng, Chao et al. Toward automatic robotic massage based on interactive trajectory planning and control [J]. | COMPLEX & INTELLIGENT SYSTEMS , 2024 , 10 (3) : 4397-4407 . |
| MLA | Xu, Qinling et al. "Toward automatic robotic massage based on interactive trajectory planning and control" . | COMPLEX & INTELLIGENT SYSTEMS 10 . 3 (2024) : 4397-4407 . |
| APA | Xu, Qinling , Deng, Zhen , Zeng, Chao , Li, Zhuoran , He, Bingwei , Zhang, Jianwei . Toward automatic robotic massage based on interactive trajectory planning and control . | COMPLEX & INTELLIGENT SYSTEMS , 2024 , 10 (3) , 4397-4407 . |
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Accurate lightsource location or direction is important in shape from shading (SFS) and photometric stereo (PS). Tracking interested object by the lightsources on it is also a widely used positioning scheme. However, existing methods for lightsource localization are primarily designed for calibration. They are usually inferior in speed and accuracy, because of the intermedium geometry they introduced. Specifically, they must recover the camera-intermedium geometry before gaining the desired intermedium-lightsource or camera-lightsource geometries. In this article, we propose a lightsource localization method that can directly recover the camera-lightsource geometry. A sphere and its shadow are used as the intermediums, but their roles stay in the images. The parallax geometry of sphere is investigated to transfer the lightsource localization problem into solving the outer bitangents' intersection of two visible conics. The solution cases, degenerated cases, error distributions, and other details are discussed and tested. The experiment has demonstrated that our method has significantly better accuracy and robustness than the state-of-the-art, while it is obviously low-cost and lightweight.
Keyword ：
Calibration Calibration Cameras Cameras Direct camera-intermedium geometry Direct camera-intermedium geometry Geometry Geometry lightsource lightsource localization localization Location awareness Location awareness photometric stereo (PS) photometric stereo (PS) Pins Pins Reflection Reflection shadow shadow Shape Shape sphere sphere
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| GB/T 7714 | Jin, Wei , Zhu, Mingzhu , Liu, Jiantao et al. Shadow-Based Lightsource Localization With Direct Camera-Lightsource Geometry [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
| MLA | Jin, Wei et al. "Shadow-Based Lightsource Localization With Direct Camera-Lightsource Geometry" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73 (2024) . |
| APA | Jin, Wei , Zhu, Mingzhu , Liu, Jiantao , He, Bingwei , Yu, Junzhi . Shadow-Based Lightsource Localization With Direct Camera-Lightsource Geometry . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
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The ability to automatically segment anatomical targets on medical images is crucial for clinical diagnosis and interventional therapy. However, supervised learning methods often require a large number of pixel-wise labels that are difficult to obtain. This paper proposes a weakly supervised glottis segmentation (WSGS) method for training end-to-end neural networks using only point annotations as training labels. This method functions by iteratively generating pseudo-labels and training the segmentation network. An automatic seeded region growing (ASRG) algorithm is introduced to generate quality pseudo labels to diffuse point annotations based on network prediction and image features. Additionally, a novel loss function based on the structural similarity index measure (SSIM) is designed to enhance boundary segmentation. Using the trained network as its core, a glottis state monitor is developed to detect the motion behavior of the glottis and assist the anesthesiologist. Finally, the performance of the proposed approach was evaluated on two datasets, achieving an average mIoU and accuracy of 82.7% and 91.3%. The proposed monitor was demonstrated to be effective, which holds significance in clinical applications.
Keyword ：
Glottis segmentation Glottis segmentation Medical image segmentation Medical image segmentation Weakly supervised learning Weakly supervised learning
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| GB/T 7714 | Wei, Xiaoxiao , Deng, Zhen , Zheng, Xiaochun et al. Weakly supervised glottis segmentation on endoscopic images with point supervision [J]. | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2024 , 92 . |
| MLA | Wei, Xiaoxiao et al. "Weakly supervised glottis segmentation on endoscopic images with point supervision" . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL 92 (2024) . |
| APA | Wei, Xiaoxiao , Deng, Zhen , Zheng, Xiaochun , He, Bingwei , Hu, Ying . Weakly supervised glottis segmentation on endoscopic images with point supervision . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2024 , 92 . |
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