This research reports VascularPilot3D, the first 3D fully autonomous endovascular robot navigation system. As an exploration toward autonomous guidewire navigation, VascularPilot3D is developed as a complete navigation system based on intra-operative imaging systems (fluoroscopic X-ray in this study) and typical endovascular robots. VascularPilot3D adopts previously researched fast 3D-2D vessel registration algorithms and guidewire segmentation methods as its perception modules. We additionally propose three modules: a topologyconstrained 2D-3D instrument end-point lifting method, a treebased fast path planning algorithm, and a prior-free endovascular navigation strategy. VascularPilot3D is compatible with most mainstream endovascular robots. Ex-vivo experiments validate that VascularPilot3D achieves 100 % success rate among 25 trials. It reduces the human surgeon's overall control loops by 18.38 %. VascularPilot3D is promising for general clinical autonomous endovascular navigation.

The Hybrid DC/DC converter is proposed to be used in the condition of bidirectional asymmetric power flow between DC buses. Firstly, this paper analyzes the switching mode of the Hybrid DC/DC converter under Extended Phase Shift (EPS) Control. Then, this paper calculates the converter losses and models the losses of the power and magnetic devices based on soft-switching characterization. The losses of those are not only by their material characteristics, but also closely related to the phase shift ratio. Based on the loss model and transmission power model of the converter, the power optimization allocation control strategy is proposed with the goal of efficiency optimization. Finally, the optimization method is verified through simulation analysis.

As the core equipment of DC power system interconnection and energy transmission, the improvement of DC solid state transformers’ performances has an extremely important impact on the development and application of DC power system. In this paper, a Partial-Power-Processing (PPP) LLC-DAB DC/DC converter with a bridge arm reusing rectifier is proposed for DC microgrids. The proposed converter topology can not only decrease the switching devices’ quantity, but also increase the control freedom of the converter and improve the light load efficiency. The operation principles, soft switching characteristics and power loss analysis of the designed converter are carried out. Finally, the feasibility of the proposed topology and the correctness of the theoretical analysis were verified by simulation results.

This paper reports on a new real-time robotcentered 3D-2D vascular image alignment algorithm, which is robust to outliers and can align nonrigid shapes. Few works have managed to achieve both real-time and accurate performance for vascular intervention robots. This work bridges high-accuracy 3D-2D registration techniques and computational efficiency requirements in intervention robot applications. We categorize centerline-based vascular 3D-2D image registration problems as an iterative Perspective-n-Point (PnP) problem and propose using the Levenberg-Marquardt solver on the Lie manifold. Then, the recently developed Reproducing Kernel Hilbert Space (RKHS) algorithm is introduced to overcome the "big-to-small" problem in typical robotic scenarios. Finally, an iterative reweighted least squares is applied to solve RKHSbased formulation efficiently. Experiments indicate that the proposed algorithm processes registration over 50 Hz (rigid) and 20 Hz (nonrigid) and obtains competing registration accuracy similar to other works. Results indicate that our Iterative PnP is suitable for future vascular intervention robot applications.