Shuxiang Guo

A new type of fish-like underwater microrobot

This paper presents a new prototype model of an underwater fish-like microrobot utilizing ionic conducting polymer film (ICPF) actuator as the servo actuator to realize swimming motion with three degrees of freedom. A biomimetic fish-like microrobot using ICPF actuator as a propulsion tail fin and a buoyancy adjuster for the swimming structure in water or aqueous medium is developed. The overall size of the underwater prototype fish shaped microrobot is 45 mm in length, 10 mm in width, and 4 mm in thickness. It has two tails with a fin driven respectively, a body posture adjuster, and a buoyancy adjuster. The moving characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1-5 Hz in water and the amplitude of input voltage from 0.5-10 V. The experimental results indicate that changing the amplitude and frequency of input voltage can control the swimming speed of proposed underwater microrobot.

A novel robotic catheter system with force and visual feedback for vascular interventional surgery

This paper proposes a novel master-slave robotic catheter operating system with force feedback and visual feedback for vascular interventional surgery (VIS). The robotic catheter system has good manoeuvrability, it can transmit the surgeon’s skill to insert and rotate the catheter and avoids danger during VIS using force and visual feedback. In addition, it can be used to train unskilled surgeons to perform VIS. We performed a simulation experiment to validate our system using an endovascular evaluator (EVE). The experimental results demonstrated that the stability and response of the system were good. The robotic catheter system is suitable for performing VIS.

Development of underwater microrobot using ICPF actuator

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in body. In this paper, we propose a new prototype model of an underwater microrobot utilizing ionic conducting polymer film (ICPF) actuator as the servo actuator. The fish-like propulsion using ICPF actuator as a propulsion tail fin for a microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a boat with a pair of fins is 40 mm in length, 10 mm in width and 2 mm in thickness. The characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1 Hz to 5 Hz. The experimental results indicate that the swimming speed of the proposed underwater microrobot can be controlled by changing the frequency of input voltage.

A novel hybrid wireless microrobot

In this paper, we propose a hybrid microrobot concept to increase dynamic efficiency and adapt these systems for use in various working environments. The microrobot consists of a head capable of spiral motion, legs capable of paddling motion, and fish-like fins. We developed a prototype with a rotatable head and a body that has legs and fins. Additionally, we developed a control system and carried out experiments to evaluate its characteristics. The experimental results indicated that the head of the microrobot with spiral motion can achieve a movement speed of 58 mm/s and rotation speed of 87 rad/s, respectively, and the prototype of the leg has a maximum displacement of 3.7 cm. The experimental results also demonstrated a number of advantages of the microrobot, such as rapid response, movement stability, and wireless operability. This type of hybrid microrobot may be useful in both industrial and medical applications, such as microsurgery.

The master-slave catheterisation system for positioning the steerable catheter

This paper proposes a master-slave catheterisation system including a steerable catheter with positioning function and an insertion mechanism with force feedback. The steerable catheter is integrated with two magnetic tracking sensors for positioning. The distal shape of catheter is displayed with virtual vascular model to generate 3D guiding image to provide the relative relationship between the catheter and its surrounding vessels. The master-slave insertion mechanism with differential gear structure is designed with force feedback to assist surgeons to manipulate the catheter. It can implement pulling/pushing, rotating and bending/recovering the catheter. Based on this system, surgeons in the control room can utilise the master handle to operate the insertion mechanism for positioning the distal end of catheter with the assistance of 3D guiding image. The stability and accuracy of the system is validated in-vitro.

Motion-control analysis of ICPF-actuated underwater biomimetic microrobots

This paper introduces the development of biomimetic underwater microrobots consisting of AVR microcontroller, an infrared ray communication system, and ionic conducting polymer film (ICPF) actuators. We use AVR ATmega16 as the control unit and an infrared ray receiver to provide feedback to the AVR unit. The spiral particle pathway searching approach is developed to search for particles. We also use MATLAB and OpenGL to simulate the path planning and optimisation according to the particle swarm optimisation algorithm. We implemented and demonstrated wireless control over the trajectory of individual microrobot, and extended this to three units in an expect formation.

Fish-like underwater microrobot with 3 DOF

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in body. We propose a prototype model of an underwater microrobot utilizing an ICPF (ionic conducting polymer film) actuator as the servo actuator to realize swimming motion with 3 DOF. A biomimetic fish-like microrobot using an ICPF actuator as a propulsion tail fin and a buoyancy adjuster for a microrobot swimming structure in water or aqueous medium has been developed. The overall size of the underwater microrobot prototype shaped as a fish is 45mm in length, 10 mm in width and 4 mm in thickness. There is a pair of fins and a buoyancy adjuster. The characteristics of the underwater microrobot is measured by changing the frequency and amplitude of input voltage. The experimental results indicate that the swimming speed of the proposed underwater micro robot can be controlled by changing the frequency of input voltage; the moving direction (upward or downward) can be controlled by changing the amplitude and the frequency of input voltage.

A robotic catheter system with real-time force feedback and monitor

This paper presents a robotic catheter system with force sensors, monitor and a master–slave remote control system. We developed micro force sensors and applied them in the system to guarantee the operation safety in intravascular neurosurgery applications, and employed a camera to monitor the operation. Two kinds of force information are obtained through force sensors when the catheter contacted the blood vessel. The experiment shows that the proposed force sensors-based catheter system works well through force feedback and remote control. The system can facilitates the operation and avoid potential damages.

Development of a Spherical Underwater Robot Equipped with Multiple Vectored Water-Jet-Based Thrusters.

Research on underwater robots is attracting increased attention around the world. Various kinds of underwater robots have been developed, using an assortment of shapes, sizes, weights, and propulsion methods. In this paper, we propose a novel underwater robot, employing a spherical hull and equipped with multiple vectored water-jet-based thrusters. The overall design of the robot is first introduced, and the mechanical structure and electrical system are then individually described. Two important mechanical components are the spherical hull and the waterproof box, and these are discussed in detail. Detailed descriptions of the two-level architecture of the electrical system and the design of the water-jet thrusters are also given. The multiple vectored water-jet-based propulsion system is the key feature of the robot, and the experimental mechanism of this system is briefly explained. The three main principles behind the propulsion system are also presented. Finally, evaluation experiments are presented to verify the basic motions of a prototype robot. The experimental results demonstrate that the motion characteristics of this type of underwater robot are acceptable, and the design is worthy of further research.

Underwater Swimming Micro Robot Using IPMC Actuator

In the medical field and industry application, fish-like microrobot and micro biped robot with multi DOF that can swim smoothly in water or aqueous medium has urgently been demanded. And IPMC (ionic polymer metal composite) can generate large bending motions under a low driving voltage (about 1 V), and it has a good response and soft characteristic. Therefore, we have developed a fish-like S-shape swimming robot, propulsion using IPMC actuator as a body and a tail fin for a micro robot swimming structure. The experimental results indicate that the swimming speed of underwater fish-like microrobot can be controlled by changing the frequency of input voltage. In addition, we put forward a study project, which a wireless biped robot with four legs, which is driven by the IPMC actuator and DSP (digital signal processor)