Yili Fu

Bio: Yili Fu is an academic researcher from Harbin Institute of Technology. The author has contributed to research in topics: Computer science & Artificial intelligence. The author has an hindex of 13, co-authored 71 publications receiving 748 citations.

Automatic Extraction of the Centerline of Corpus Callosum from Segmented Mid-Sagittal MR Images.

Abstract: The centerline, as a simple and compact representation of object shape, has been used to analyze variations of the human callosal shape. However, automatic extraction of the callosal centerline remains a sophisticated problem. In this paper, we propose a method of automatic extraction of the callosal centerline from segmented mid-sagittal magnetic resonance (MR) images. A model-based point matching method is introduced to localize the anterior and posterior endpoints of the centerline. The model of the endpoint is constructed with a statistical descriptor of the shape context. Active contour modeling is adopted to drive the curve with the fixed endpoints to approximate the centerline using the gradient of the distance map of the segmented corpus callosum. Experiments with 80 segmented mid-sagittal MR images were performed. The proposed method is compared with a skeletonization method and an interactive method in terms of recovery error and reproducibility. Results indicate that the proposed method outperforms skeletonization and is comparable with and sometimes better than the interactive method.

Master-slave control and evaluation of force sensing for robot-assisted minimally invasive surgery

Abstract: Existing robot-assisted minimally invasive surgery (RMIS) system lacks of force feedback, and it cannot provide the surgeon with interaction forces between the surgical instruments and patient’s tissues. This paper aims to restore force sensation for the RMIS system and evaluate effect of force sensing in a master-slave manner.,This paper presents a four-DOF surgical instrument with modular joints and six-axis force sensing capability and proposes an incremental position mode master–slave control strategy based on separated position and orientation to reflect motion of the end of master manipulator to the end of surgical instrument. Ex-vivo experiments including tissue palpation and blunt dissection are conducted to verify the effect of force sensing for the surgical instrument. An experiment of trajectory tracking is carried out to test precision of the control strategy.,Results of trajectory tracking experiment show that this control strategy can precisely reflect the hand motion of the operator, and the results of the ex-vivo experiments including tissue palpation and blunt dissection illustrate that this surgical instrument can measure the six-axis interaction forces successfully for the RMIS.,This paper addresses the important role of force sensing and force feedback in RMIS, clarifies the feasibility to apply this instrument prototype in RMIS for force sensing and provides technical support of force feedback for further clinical application.

Dynamic simulation and analysis for bolt and nut mating of dual arm robot

Abstract: Dual arm cooperative robots have been developed in diverse fields A dual arm robot is more advantageous than the single arm version The difficulty in mechanical analysis for dual arms comes mainly from the closed chain system To overcome this problem, the kinematic analysis of dual arm robot is introduced, including kinematic analysis of closed chain and the arms The kinematic constraint relations for bolt and nut mating of dual arm robot are analyzed By using the constraint relations, the bolt and nut mating simulation is performed on the 3D model of the dual arm robot Simulation results show that this method can make the dual arm robot complete bolt and nut mating smoothly

An enhanced pose tracking method using progressive scan matching

Abstract: The purpose of this paper is to propose an enhanced pose tracking method using progressive scan matching, focusing on accuracy, time efficiency and robustness.,The general purpose of localization algorithms is to dynamically track a robot instead of globally locating one. In this paper, progressive scan matching is used to promote the performance of pose tracking. Rotational and translational samples are separately generated to accelerate the calculation and to increase the accuracy. Progressive iteration of sample generation can ensure localization to achieve a specific precision. The direction of localization uncertainty is taken into consideration to increase robustness. Nonlinear optimization is adopted to achieve a more precise result.,The proposed method was implemented on a self-made mobile robot. Two experiments were conducted to test the accuracy and time efficiency of the method. The comparison with the basic Monte Carlo localization shows the advantages of the method. Another two experiments were conducted to test the robustness of the method. The result shows that the method can relocate a robot from an inaccurate place if the offset is moderate.,An enhanced pose tracking method is proposed to promote the performance by separately processing rotational and translational samples, progressively iterating the sample generation, taking the direction of localization uncertainty into consideration and adopting nonlinear optimization. The proposed method enables a robot to accurately and quickly locate itself in the environment with robustness.

Continuum Robots for Medical Applications: A Survey

Abstract: In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined spaces, manipulate objects in complex environments, and conform to curvilinear paths in space. In addition, many designs offer inherent structural compliance and ease of miniaturization. After decades of pioneering research, a host of designs have now been investigated and have demonstrated capabilities beyond the scope of conventional rigid-link robots. Recently, we have seen increasing efforts aimed at leveraging these qualities to improve the frontiers of minimally invasive surgical interventions. Several concepts have now been commercialized, which are inspiring and enabling a current paradigm shift in surgical approaches toward flexible access routes, e.g., through natural orifices such as the nose. In this paper, we provide an overview of the current state of this field from the perspectives of both robotics science and medical applications. We discuss relevant research in design, modeling, control, and sensing for continuum manipulators, and we highlight how this work is being used to build robotic systems for specific surgical procedures. We provide perspective for the future by discussing current limitations, open questions, and challenges.

Ferromagnetic soft continuum robots

Abstract: Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot's body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot's body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.