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学者姓名：何炳蔚
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Abstract ：
We introduce a novel concept termed gradient balance prior to cross-point patterns and prove three related theorems. Using this prior, we develop vanishing power transform to convert gray-scale images into response maps, highlighting every cross-point satisfying centrosymmetry condition as humps. By calculating the hump centers, we can localize cross-points with subpixel accuracy. Our method surpasses existing benchmarks in both detection efficiency and subpixel accuracy, as demonstrated in both simulated and real-world experiments.
Keyword ：
Artificial features Artificial features Benchmark testing Benchmark testing cross-points cross-points Distortion Distortion Feature extraction Feature extraction gradient balance prior gradient balance prior Image edge detection Image edge detection Lenses Lenses Matlab Matlab subpixel detection subpixel detection Transforms Transforms vanishing power transform vanishing power transform
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| GB/T 7714 | Zhang, Hong , Zhu, Mingzhu , He, Bingwei et al. Gradient Balance Prior for Centrosymmetric Cross-Point Detection and Localization [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
| MLA | Zhang, Hong et al. "Gradient Balance Prior for Centrosymmetric Cross-Point Detection and Localization" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73 (2024) . |
| APA | Zhang, Hong , Zhu, Mingzhu , He, Bingwei , Zhang, Jianwei , Yu, Junzhi . Gradient Balance Prior for Centrosymmetric Cross-Point Detection and Localization . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
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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 . |
| MLA | Xu, Qinling et al. "Toward automatic robotic massage based on interactive trajectory planning and control" . | COMPLEX & INTELLIGENT SYSTEMS (2024) . |
| 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 . |
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OBJECTIVE: Multiple intracranial aneurysms (MIA) are prevalent. This study conducted hemodynamic calculations on MIA to analyze the effects of occlusion of the internal carotid artery (ICA) and middle cerebral artery (MCA) aneurysms on the hemodynamics of other arteries, as well as the issue of the treatment order for these aneurysms. METHODS: The models of 9 patients with MIA were selected for the study. A computational fluid dynamics model combining 1-dimension and 3-dimension was used to obtain the vascular flow pattern and wall pressure. RESULTS: There was increased pressure at the MCA and anterior cerebral artery (ACA) after occlusion of the aneurysm at the ICA. However, the pressure at the ICA has hardly changed after the aneurysm occlusion at the MCA. Occlusion of the aneurysm of different sizes at the MCA had almost no impact on the pressure at the ICA and ACA. For small aneurysm, the pressure of the ACA and MCA increases with decreasing size of the aneurysm at the ICA. After occlusion of a large aneurysm at the ICA, the impact on the pressure of the ACA and MCA is almost the same as after occlusion of a medium-sized aneurysm. CONCLUSIONS: If the treatment order of ICA and MCA aneurysms cannot be determined based on patient factors and aneurysm characteristics, the MCA aneurysm should be treated as a priority.
Keyword ：
Computational fluid dynamics Computational fluid dynamics Intracranial Intracranial Multiple intracranial aneurysms Multiple intracranial aneurysms Occlusion Occlusion
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| GB/T 7714 | Yi, Xu , Zhang, Shuhua , Han, Qicheng et al. Quantitative Evaluation of Hemodynamic Changes After Multiple Intracranial Aneurysms Occlusion Using Computational Fluid Dynamics [J]. | WORLD NEUROSURGERY , 2024 , 181 : e918-e924 . |
| MLA | Yi, Xu et al. "Quantitative Evaluation of Hemodynamic Changes After Multiple Intracranial Aneurysms Occlusion Using Computational Fluid Dynamics" . | WORLD NEUROSURGERY 181 (2024) : e918-e924 . |
| APA | Yi, Xu , Zhang, Shuhua , Han, Qicheng , Hong, Wenyao , He, Bingwei , Liu, Yuqing et al. Quantitative Evaluation of Hemodynamic Changes After Multiple Intracranial Aneurysms Occlusion Using Computational Fluid Dynamics . | WORLD NEUROSURGERY , 2024 , 181 , e918-e924 . |
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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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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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Contact-rich manipulation tasks are difficult to program to be performed by robots. Traditional compliance control methods, such as impedance control, rely excessively on environmental models and are ineffective in the face of increasingly complex contact tasks. Reinforcement learning (RL) has now achieved great success in the fields of games and robotics. Autonomous learning of manipulation skills can empower robots with autonomous decision-making capabilities. To this end, this work introduces a novel learning framework that combines deep RL (DRL) and variable impedance control (VIC) to achieve robotic massage tasks. A skill policy is learned in joint space, which outputs the desired impedance gain and angle for each joint. To address the limitations of the sparse reward of DRL, an intrinsic curiosity module (ICM) was designed, which generates the intrinsic reward to encourage robots to explore more effectively. Simulation and real experiments were performed to verify the effectiveness of the proposed method. Our experiments demonstrate that contact-rich massage skills can be learned through the VIC-DRL framework based on the joint space in a simulation environment, and that the ICM can improve learning efficiency and overall performance in the task. Moreover, the generated policies have been demonstrated to still perform effectively on a real-world robot.
Keyword ：
Aerospace electronics Aerospace electronics Decision making Decision making Deep learning Deep learning Games Games Impedance Impedance Reinforcement learning Reinforcement learning Task analysis Task analysis
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| GB/T 7714 | Li, Zhuoran , Zeng, Chao , Deng, Zhen et al. Learning Variable Impedance Control for Robotic Massage With Deep Reinforcement Learning: A Novel Learning Framework [J]. | IEEE SYSTEMS MAN AND CYBERNETICS MAGAZINE , 2024 , 10 (1) : 17-27 . |
| MLA | Li, Zhuoran et al. "Learning Variable Impedance Control for Robotic Massage With Deep Reinforcement Learning: A Novel Learning Framework" . | IEEE SYSTEMS MAN AND CYBERNETICS MAGAZINE 10 . 1 (2024) : 17-27 . |
| APA | Li, Zhuoran , Zeng, Chao , Deng, Zhen , Xu, Qinling , He, Bingwei , Zhang, Jianwei . Learning Variable Impedance Control for Robotic Massage With Deep Reinforcement Learning: A Novel Learning Framework . | IEEE SYSTEMS MAN AND CYBERNETICS MAGAZINE , 2024 , 10 (1) , 17-27 . |
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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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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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Background: Intraspinal anesthesia poses significant teaching challenges and inadequate teaching resources, which ultimately limit students’ opportunities for practice. To address this issue, we aimed to develop a virtual platform for combined spinal-epidural anesthesia that merges virtual reality technology with haptic feedback technology, while assessing its educational impact and learning outcomes. Methods: We utilized MIMICS, 3Ds MAX, and UNITY 3D software to perform 3D reconstruction based on lumbar CT/MRI data from a standard male volunteer. The haptic coefficients were configured on each layer by 20 experienced anesthesiologists in accordance with the Geomagic Touch X force feedback device. A total of 20 anesthesiology interns completed 30 virtual puncture training sessions. Two experienced anesthetists evaluated the efficacy of the platform and the level of mastery achieved using the Global Rating Scale (GRS) and a Checklist score, respectively. Finally, a questionnaire survey was conducted to gather feedback on the virtual platform. Results: After the 10th session, the puncture time stabilized at 2.4 min. As the number of sessions increased, the Global Rating Scale (GRS) score stabilized by the 8th session, and the Checklist scores tended to stabilize by the 10th session. Results from questionnaires indicated that over half of the anesthesiology interns (70%) believed that the platform, which exhibited strong repeatability, improved their anatomical recognition and provided a strong sense of breakthrough in identifying the ligamentum flavum. The majority of them (80%) expressed satisfaction with the virtual platform. Conclusions: The platform effectively facilitated the acquisition of basic and accurate puncture skills on a virtual patient. © 2023, BioMed Central Ltd., part of Springer Nature.
Keyword ：
Combined spinal-epidural anesthesia Combined spinal-epidural anesthesia Haptic feedback Haptic feedback Learning curve Learning curve Questionnaire Questionnaire Virtual reality technology Virtual reality technology
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| GB/T 7714 | Zheng, T. , Xie, H. , Gao, F. et al. Research and application of a teaching platform for combined spinal-epidural anesthesia based on virtual reality and haptic feedback technology [J]. | BMC Medical Education , 2023 , 23 (1) . |
| MLA | Zheng, T. et al. "Research and application of a teaching platform for combined spinal-epidural anesthesia based on virtual reality and haptic feedback technology" . | BMC Medical Education 23 . 1 (2023) . |
| APA | Zheng, T. , Xie, H. , Gao, F. , Gong, C. , Lin, W. , Ye, P. et al. Research and application of a teaching platform for combined spinal-epidural anesthesia based on virtual reality and haptic feedback technology . | BMC Medical Education , 2023 , 23 (1) . |
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