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学者姓名：何炳蔚
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Abstract ：
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 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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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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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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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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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 clinical operations, it is crucial for surgeons to know the location of the surgical instrument. Traditional positioning systems have difficulty dealing with camera occlusion, marker occlusion, and environmental interference. To address these issues, we propose a distributed visual positioning system for surgical instrument tracking in surgery. First, we design the marker pattern with a black and white triangular grid and dot that can be adapted to various instrument surfaces and improve the marker location accuracy of the feature. The cross-points in the marker are the features that each feature has a unique ID. Furthermore, we proposed detection and identification for the position-sensing marker to realize the accurate location and identification of features. Second, we introduce multi Perspective-n-Point (mPnP) method, which fuses feature coordinates from all cameras to deduce the final result directly by the intrinsic and extrinsic parameters. This method provides a reliable initial value for the Bundle Adjustment algorithms. During instrument tracking, we assess the motion state of the instrument and select either dynamic or static Kalman filtering to mitigate any jitter in the instrument's movement. The core algorithms comparison experiment indicates our positioning algorithm has a lower reprojection error comparison to the mainstream algorithms. A series of quantitative experiments showed that the proposed system positioning error is below 0.207 mm, and the run time is below 118.842 ms. The results demonstrate the tremendous clinical application potential of our system providing accurate positioning of instruments promoting the efficiency and safety of clinical surgery.
Keyword ：
Multi-camera positioning Multi-camera positioning Surgical instrument localization Surgical instrument localization Surgical navigation Surgical navigation
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| GB/T 7714 | Cai, Yu , Zhu, Mingzhu , He, Bingwei et al. Distributed visual positioning for surgical instrument tracking [J]. | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE , 2024 , 47 (1) : 273-286 . |
| MLA | Cai, Yu et al. "Distributed visual positioning for surgical instrument tracking" . | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE 47 . 1 (2024) : 273-286 . |
| APA | Cai, Yu , Zhu, Mingzhu , He, Bingwei , Zhang, Jianwei . Distributed visual positioning for surgical instrument tracking . | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE , 2024 , 47 (1) , 273-286 . |
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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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In this paper, a marker and its real-time tracking method are proposed. Different from existing technologies that recognize the markers by spatial event features, which lead to many practical problems, we discover the possibility of using temporal features. Strobe LEDs (light emitting diode) are used as markers to produce periodically flipping events, and a fast clustering-based algorithm is designed to track and recognize these markers simultaneously. Experiments demonstrate that our methods have superior speed and accuracy compared to state-of-the-arts. The markers can be stably tracked in many challenging situations, thus can be used in various visual tracking applications. The proposed method introduces a new marker and its corresponding recognition algorithm for event camera-based targets tracking, offering a reliable solution for various applications.
Keyword ：
Event camera Event camera Marker Marker Real-time Real-time Temporal feature Temporal feature Visual tracking Visual tracking
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| GB/T 7714 | You, Yue , Zhu, Mingzhu , He, Bingwei et al. Temporal feature markers for event cameras [J]. | JOURNAL OF REAL-TIME IMAGE PROCESSING , 2024 , 21 (2) . |
| MLA | You, Yue et al. "Temporal feature markers for event cameras" . | JOURNAL OF REAL-TIME IMAGE PROCESSING 21 . 2 (2024) . |
| APA | You, Yue , Zhu, Mingzhu , He, Bingwei , Wang, Yihong . Temporal feature markers for event cameras . | JOURNAL OF REAL-TIME IMAGE PROCESSING , 2024 , 21 (2) . |
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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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