Category: Publications

Seminar by Prof Wei Gao of Caltech on Skin-Interfaced Wearable Biosensors for Personalized Healthcare

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A seminar on ‘Skin-Interfaced Wearable Biosensors for Personalized Healthcare’ was given by Prof. Wei Gao of Caltech.

Abstract: The rising research interest in personalized medicine promises to revolutionize traditional medical practices. This presents a tremendous opportunity for developing wearable devices toward predictive analytics and treatment. In this talk, I will introduce our recent advances in developing fully-integrated skin-interfaced flexible biosensors for non-invasive molecular analysis. Such wearable biosensors can continuously, selectively, and accurately measure a wide spectrum of sweat analytes including metabolites, electrolytes, hormones, drugs, and other small molecules. These devices also allow us to gain real-time insight into the sweat secretion and gland physiology. The clinical value of our wearable sensing platforms is evaluated through multiple human studies involving both healthy and patient populations toward physiological monitoring, disease diagnosis, and drug monitoring. These wearable and flexible devices could open the door to a wide range of personalized monitoring, diagnostic, and therapeutic applications.

Biography: Wei Gao is an Assistant Professor of Medical Engineering in Division of Engineering and Applied Science at the California Institute of Technology. He received his Ph.D. in Chemical Engineering at University of California, San Diego in 2014 as a Jacobs Fellow and HHMI International Student Research Fellow. In 2014-2017, he was a postdoctoral fellow in the Department of Electrical Engineering and Computer Sciences at the University of California, Berkeley. He is a recipient of IEEE Sensor Council Technical Achievement Award, Sensors Young Investigator Award, MIT Technology Review 35 Innovators Under 35 (TR35) and ACS Young Investigator Award (Division of Inorganic Chemistry). His research interests include wearable devices, biosensors, flexible electronics, micro/nanorobotics and nanomedicine. For more information about Gao’s research, visit www.gao.caltech.edu/.

Lab paper presented at ROBOSOFT2019

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Our research publication on a flexible manipulator was presented during IEEE ROBOSOFT 2019 (IEEE International Conference on Soft Robotics (RoboSoft), robosoft 2019, COEX, Seoul, Korea, April 14~18, 2019) and Dr. Ren served as the session chair for the soft manipulation session.

Li, C.; Gu, X.; Xiao, X.; Zhu, G.; Prituja, A. & Ren, H.
Transcend Anthropomorphic Robotic Grasping with Modular Antagonistic Mechanisms and Adhesive Soft Modulations
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 2019 , 4 , 2463-2470

Team presented and finalisted at ROBIO2018

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Our team members presented research publications and one of them won best paper finalist during IEEE ROBIO 2018 (International Conference on Robotics and Biomimetics).

OrumBot: Origami-based Deformable Robot Inspired By An Umbrella Structure, best paper finalist.
Hritwick Banerjee, Sakshi Kakde, Hongliang Ren
Finger Movement Classification from Myoelectric Signals Using Convolutional Neural Networks
Venkatesh Bharadwaj S, Mobarakol Islam, Wei Zhang, Hongliang Ren
Preliminary Design and Performance Test of Tendon-Driven Origami-Inspired Soft PeristalticRobot
HRITWICK BANERJEE, Neha Pusalkar, Hongliang Ren

Team presenting at ICARM2018

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Our team members were presenting research publications and doing lab demos during IEEE ICARM 2018 (The IEEE International Conference on Advanced Robotics and Mechatronics).

 

authors title
Sri Sai Krishna Suraj Narapareddi, Vineeth Muppalla, Parita Sanghani and Hongliang Ren Comparative Study of Unsupervised Segmentation Algorithms for Delineating Glioblastoma Multiforme Tumour
Avi Srivastava, Hongliang Ren and Liang Qiu Preoperative-Image Guided Neurosurgical Navigation Procedures with Electromagnetic Tracking: An Effective Pipeline and A Cadaver Study
Abhishek Bamotra and Hongliang Ren Characterization and Fabrication of Novel Soft Compliant Robotic End-Effectors with Negative Pressure and Mechanical Advantages
Hritwick Banerjee, Oh Yao Wei Aaron, Bok Seng Yeow and Hongliang Ren Fabrication and Initial Cadaveric Trials of Bi-directional Soft Hydrogel Robotic Benders Aiming for Biocompatible Robot-Tissue Interactions
Shradha Singhvi and Hongliang Ren Comparative Study of Motion Recognition with Temporal Modelling of Electromyography for Thumb and Index Finger Movements aiming for Wearable Robotic Finger Exercises
Wenjun Xu and Hongliang Ren Human Palpation Behavior Modeling with Mixture Models: Towards Autonomous Robotic Palpation

A novel constrained tendon-driven serpentine manipulator

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Abstract

In this paper, a novel constrained tendon-driven serpentine manipulator (CTSM) suited for minimally invasive surgery is presented. It comprises a flexible backbone, a set of controlling tendons and a constraint. In the CTSM not only the curvature of the bending section can be controlled but also the length. Specifically, the curvature is controlled by the tendons, and the length is controlled by a constraint tube, which is translational and is concentric with the flexible backbone. The kinematic model of the CTSM is developed based on the piecewise constant curvature assumption. An analysis shows that by introducing the translational constraint both the workspace and dexterity of the manipulator are improved. The stiffer the constraint the larger the workspace expansion and the smaller the dexterity enhancement. A prototype is developed and the experimental results validate the design idea and analysis.

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Design of a Novel Flexible Endoscope-Cardioscope

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Abstract

In this paper, we present a novel flexible endoscope which is well suited to minimally invasive cardiac surgery (MICS). It is named ‘the Cardioscope’. The Cardioscope is composed of a handle, a rigid shaft, a flexible section and the imaging system. The flexible section is composed of an elastic tube, a number of spacing discs, a constraint tube, and four tendons. Compared with other flexible endoscopes, the Cardioscope is much more dexterous. The maximum bending angle of the Cardioscope is 190°. Ex-vivo tests show that the cardioscope is well suited to (MICS), it provides the much larger scope of vision than rigid endoscopes and provides good manipulation inside the confined environment. In the test, the Cardioscope successfully explores the full heart through a single hole, which shows the design is promising. Despite it was designed for MICS, the Cardioscope can also be applied to other minimally invasive surgeries, such as laparoscopy, neurosurgery, transnasal and transoral surgery. Copyright © 2015 by ASME Country-Specific Mortality and Growth Failure in Infancy and Young Children and Association With Material Stature Use interactive graphics and maps to view and sort country-specific infant and early childhood mortality and growth failure data and their association with maternal

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Maker based shape tracking of a flexible serpentine manipulator

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Abstract

With the advancement of minimally invasive surgery, there has been increasing interest from both industry and academia in developing flexible serpentine manipulators for surgical robotic systems. Due to internal friction and external disturbance when interacting with complex environment, position and shape of the flexile manipulator cannot be estimated solely by kinematic models. Hence, shape tracking of such manipulator is crucial to close the control loop and to study the robot models. In this paper, we propose a marker-based method with stereo vision for tracking the shape of the flexible manipulator by extracting position information of each independent joint. The performance of the algorithm was validated by experiments and was compared with that of electromagnetics tracking method.

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