Research Progress and Prospect Analysis of Vascular Interventional Surgical Robot / 中国医疗器械杂志

Vascular interventional surgery is an important means to treat cardiovascular and cerebrovascular diseases, but the particularity of its working environment will bring greater radiation threat to doctors. Vascular interventional surgery robots can effectively improve the working environment of doctors and can provide more stable operations, improve the success rate of surgery. This study mainly introduces the current research status, key technologies, and future application of vascular interventional surgical robots.

Uncalibrated Positioning Method for Puncture Robots Based on Optical Navigation / 中国医疗器械杂志

Robotic puncture system has been widely used in modern minimally invasive surgery, which usually uses hand-eye calibration to calculate the spatial relationship between the robot and the optical tracking system. However, the hand-eye calibration process is time-consuming and sensitive to environmental changes, which makes it difficult to guarantee the puncture accuracy of the robot. This study proposes an uncalibrated positioning method for puncture robot based on optical navigation. The method divides the target path positioning into two stages, angle positioning and position positioning, and designs angle image features and position image features respectively. The corresponding image Jacobian matrix is constructed based on the image features and updated by online estimation with a cubature Kalman filter to drive the robot to perform target path localization. The target path positioning results show that the method is more accurate than the traditional hand-eye calibration method and saves significant preoperative preparation time by eliminating the need for calibration.

Rapid Reconstruction of Craniotomy Defects Based on Surgical Navigation / 中国医疗器械杂志

In neurosurgery, skull repair caused by surgical approach is one of the important research contents. In this paper, a rapid reconstruction method of the skull defect with optical navigation system is proposed. This method can automatically reconstruct the structure of skull defect with the intraoperative defect edge points and preoperative medical image data. The head model experiment was used to evaluate the effect of the method, the average error of the reconstruction of the defect in the right orbit was 0.424 mm, while the average error of the reconstruction of the defect in the posterior skull base was 0.377 mm. The experimental results show that the structure of the defect is consistent with the actual defect, and the reconstruction accuracy satisfies the clinical requirements in neurosurgery.

Experimental study on the seismic behavior of concentrically braced steel frames with extended end-plate bolted connections.

The prefabricated semi-rigid concentrically braced steel frame has always been the main form of residential steel structures, much work so far has focused on the earthquake-resistance performance of such structures. However, little attention has been devoted to systematic model testing, further effort is still required to explore the structural performance with experimental studies. Two semi-rigid concentrically braced steel frames were designed and tested to failure under reversed low-cyclic loading. The hysteretic curves, bearing capacity, energy dissipation capacity, ductility and stiffness degradation performance were studied in detail. Then the performance was compared to analyze the advantages and disadvantages of the two frames. The tests showed that the plastic deformation and damage were primarily concentrated at the braces, and the columns and semi-rigid connections exhibited hardly any plastic deformation. The specimens went through the elastic stage, elastic-plastic stage and failure stage during the tests. The results indicated the specimen with chevron braces has better seismic performance. The structure presents the characteristic of ductile failure on the whole. The steel frame and braces of the specimens cooperatively perform together so that the structure has two seismic fortification lines. The structure with chevron braces possesses an excellent bearing capacity, a high lateral stiffness, a reliable lateral-resistance performance and a strong energy dissipation capacity. In contrast, because of the premature fracture of the cross joints, the structure with X-shaped braces has a lower material utilization efficiency, which leads to a dramatic decrease in the bearing capacity and stiffness, as well as low ductility and a poor energy dissipation capacity.

Automatic Robotic Puncture System for Accurate Liver Cancer Ablation Based on Optical Surgical Navigation / 中国医疗器械杂志

This paper designed an automatic robotic puncture system for accurate liver cancer ablation based on optical surgical navigation. The near-infrared optical surgical navigation system we constructed for liver ablation was applied to carry out surgical planning and simulation, the near-infrared cameras dynamically tracked the current position of puncture needle relative to the location of the patient's anatomy, then guided the surgery robot to position precisely in three-dimensional space and performed the surgery.

Tetralogy of Fallot Cardiac Function Evaluation and Intelligent Diagnosis Based on Dual-Source Computed Tomography Cardiac Images.

Tetralogy of Fallot (TOF) is the most common complex congenital heart disease (CHD) of the cyanotic type. Studies on ventricular functions have received an increasing amount of attention as the development of diagnosis and treatment technology for CHD continues to advance. Reasonable options for imaging examination and accurate assessment of preoperative and postoperative left ventricular functions of TOF patients are important in improving the cure rate of TOF radical operation, therapeutic evaluation, and judgment prognosis. Therefore, with the aid of dual-source computed tomography (DSCT), cardiac images with high temporal resolution and high definition, we measured the left ventricular time-volume curve using image data and calculating the left ventricular function parameters to conduct the preliminary evaluation on TOF patients. To comprehensively evaluate the cardiac function, the segmental ventricular wall function parameters were measured, and the measurement results were mapped to a bull's eye diagram to realize the standardization of segmental ventricular wall function evaluation. Finally, we introduced a new clustering method based on auto-regression model parameters and combined this method with Euclidean distance measurements to establish an intelligent diagnosis of TOF. The results of this experiment show that the TOF evaluation and the intelligent diagnostic methods proposed in this article are feasible.

Design of ambulatory EEG recorder / 医疗卫生装备

The ambulatory EEG recorder designed in this paper can continuously record 24-hour EEG signals on 18 channels. C8051F020, a kind of mixed-signal ISP FLASH MCU, controls all the functions such as sampling, storage and many others. The 12-bit ADC in C8051F020 samples the EEG signal amplified by the preamplifier. At the same time, the EEG signal of every channel can be selected through the keyboard to be displayed on LCD so that the working status can be detected. After the system is ready, the signals sampled during 24 hours are stored into the CompactFlash card as FAT16 files.