Cardiovascular and cerebrovascular diseases are significant health issues that threaten human life. They typically develop insidiously and progress gradually, but when an event occurs, the consequences can be severe. These conditions often manifest suddenly and acutely, necessitating prompt treatment due to a very short therapeutic window. Vascular interventional surgery is the preferred treatment because of its rapid efficacy and brief recovery time. However, the procedure demands a high level of expertise and exposes physicians to radiation, and there is an uneven distribution of skilled doctors across different regions. The advent of vascular interventional surgical robots not only protects physicians from radiation exposure and improves procedural accuracy and safety but also enables remote interventions. Based on a robotic platform for vascular interventions, our team has developed a remote vascular interventional system that leverages WebRTC and 5G networks. This system ensured that the transmission latency for control commands and imaging meets clinical requirements, and our remote clinical experiments have demonstrated its feasibility and safety.

Underwater Object Detection (UOD) techniques are critical for Autonomous Underwater Vehicle (AUV), which must operate in harsh underwater environments characterized by low visibility while satisfying the lightweight and real-time constraints required for vehicle-mounted systems. Current methods typically rely on underwater image enhancement combined with object detection to adapt to underwater conditions. However, these approaches mainly focus on the spatial domain, often overlooking the frequency-domain characteristics of the underwater environment. This oversight limits the removal of noise factors, such as scattering, blurring, distortion, and uneven illumination, and diminishes the focus of object edges and textures. Additionally, the increased parameter size and higher computational cost render them less suitable for real-time detection. To address these, the Wavelet-Based Frequency Decomposition and Aggregation Network (WFDA) was proposed, which leverages the Wavelet Transform (WT) to decompose features into high- and low-frequency components for effective feature modeling and fusion-based downsampling. Specifically, the Wavelet-Based Feature Decomposition Modeling (WDM) module utilized multi-level wavelet decomposition to hierarchically model features across different frequency bands, while the Wavelet-Based Feature Aggregation Downsampling (WAD) module refined and extracted core features through single-level wavelet decomposition combined with channel aggregation. Evaluations on four public datasets demonstrate that WFDA achieved state-of-the-art (SOTA) performance and efficiency, making it well-suited for real-time, high-accuracy detection on robotic platforms. Code is available at https://github.com/Mariiiiooooo/WFDA.

The magnetic dipole model exhibits significant deviations from real-world sensor data due to neglected material nonlinearities and environmental interference. This paper proposed a Physics-Informed Residual Network (PIRNet) that adaptively corrected simulated magnetic field data by integrating dipole theory with deep residual learning. The network took a 5×5 triaxial magnetic matrix as input and employed a dual-branch architecture: a convolutional residual branch extracted local sensor-level distortion features, while a physics-encoding branch models systematic position and orientation-related deviations. A gated fusion mechanism dynamically combined these features, with a divergence-free constraint (∇ B = 0) incorporated as a regularization term. The corrected data was processed through Levenberg-Marquardt (LM) optimization for pose estimation, with subsequent hybrid lookup table compensation combining distance-weighted trilinear interpolation for spatial coordinates and spherical linear interpolation (Slerp) for orientation vectors. Experimental results showed that the positioning error was reduced from 2.1 mm to 1.15 mm, the orientation error was reduced from 3.23◦to 1.01◦, and the average speed of magnet positioning reached 44.7 ms per frame. This approach provides a high-precision, low-cost sim-to-real transfer solution for magnetic navigation robots.

With the growing number of patients suffering from upper limb hemiplegia, robot-assisted rehabilitation has attracted more and more attention. Compared to traditional face-to-face rehabilitation, telerehabilitation is an effective alternative with therapist-in-the-loop. Meanwhile, bilateral rehabilitation based on surface electromyography (sEMG) enables patients to train by themselves. Although numerous telerehabilitation or bilateral rehabilitation systems have been proposed, limited studies have addressed cloud communication and inter-subject variability. This paper proposes a home-based upper limb rehabilitation (HB-ULR) system utilizing cloud-based teleoperation and sEMG-based subject-independent bilateral control. In the cloud-based telerehabilitation (CBTR) subsystem, experiments with the master side in Beijing City (China) and the slave side deployed in three different cities are conducted through one cloud server. The slave side is controlled by the master side, while the contact force is transmitted back to the master side. In the sEMG-driven subject-independent bilateral rehabilitation (sEMG-SIBR) subsystem, continuous motion can be predicted by a model after transfer learning. The validity of transfer learning in solving inter-subject variability is verified by both offline and real-time experiments, with the prediction error kept within 100. Therefore, the HB-ULR system integrating CBTR and sEMG-SIBR subsystems is built. It supports both routine tele-rehabilitation and daily self-training at home, offering significant potential for enhancing the recovery outcome.

The telerehabilitation robotic system has been envisioned as an alternative to conventional hospital-centered therapy because of convenient training and offering equal opportunity to access medical resources for patients in different areas. However, due to the internet communication latency, how to realize safe, stable, and biomechanics-perceptible remote therapist–patient interaction (RTPI) remains a significant challenge for the therapist-in-the-loop telerehabilitation (TILT) system. To address this issue, a novel position-position/stiffness (P-PK) telerehabilitation architecture was proposed in this article, which exchanges the position information of the therapist and patients and feeds back the reference stiffness of the patient's affected limb to the therapist's side. Furthermore, a novel state-switching RTPI control (S2-RTPIC) scheme is first presented for this P-PK architecture to induce the active participation of the patients during the online TILT training by the variable stiffness voluntary control and their biomechanical states could be synchronously perceived by the therapists over distances for teleassessments. The stability and transparency criteria of the S2-RTPIC scheme under asymmetric time delay conditions were comprehensively analyzed and theoretically proved. Experimental results showed the proposed S2-RTPIC scheme can provide safe RTPI training with effective biomechanical perceptions and participation-inducing training assistance to facilitate teleassessment and telerehabilitation.

Upper limb hemiplegia is a common functional disorder among stroke patients, significantly affecting their quality of life. To address this issue, robot-assisted upper limb rehabilitation training has emerged as a new therapeutic approach, breaking through time and space limitations of traditional rehabilitation. Based on the above, a home-based dual-mode upper limb rehabilitation system is built, including teleoperation mode based on a cloud server and bilateral mode with fusion of Surface Electromyography (sEMG) and Inertial Measurement Unit (IMU). In the telerehabilitation mode, patients can receive professional guidance and regular training at home, greatly enhancing the accessibility of rehabilitation services. The experiments with the master side in Beijing City (China) and the slave side in three different cities are conducted through a cloud server. The slave side is controlled by the master side, and the contact force is sent back to the master side. In the bilateral mode, the intention of continuous movements across subjects can be accurately predicted via the fusion of sEMG and IMU, improving the naturalness of human-robot interaction. In the subject-independent modeling, the Root Mean Square Error (RMSE) under fusion showed a relative decrease of 15.0329% (p-4) compared to IMU data alone, and a significantly greater reduction of 61.9376% (p-4) in comparison with sEMG data alone. Robot-assisted upper limb exoskeleton, cloud-based teleoperation and bilateral training based on sEMG and IMU collectively form a new rehabilitation system, representing part of the future rehabilitation trend.

Robot-assisted vascular interventional surgery can isolate interventionists and X-ray radiation, and improve surgical accuracy. However, the leader side outside the operating room still has problems such as incomplete collection of operating information and unrealistic tactile feedback. The main objective of this paper is to design a haptic interface that can simultaneously capture the force-position information of the interventionists and generate force to assist the interventionists in performing surgeries on the leader side. It can capture the interventionists’ delivery displacement, twisting angle, clamping force, and provide real-time force feedback. A leader-follower bidirectional force feedback control strategy was proposed. Based on this strategy, on the one hand, the interventionist perceives the multi-modal information fed back from the follower side, makes judgments, and actively adjusts the surgical operation. On the other hand, the interventionist controls the grasping state of the instruments remotely to control the safety operating force threshold. Finally, the experimental setup was built and a series of evaluation experiments were performed. The experimental results verified the feasibility of the designed haptic interface. It can generate dynamic and accurate force feedback and realize leader-follower grasping force control.

As a promising alternative to hospital-based manual therapy, robot-assisted tele-rehabilitation therapy has shown significant benefits in reducing the therapist's workload and accelerating the patient's recovery process. However, existing telerobotic systems for rehabilitation face barriers to implementing appropriate therapy treatment due to the lack of effective therapist-patient interactive capabilities. In this paper, we develop a home-based tele-rehabilitation system that implements two alternative training methods, including a haptic-enabled guided training that allows the therapist to adjust the intensity of therapeutic movements provided by the rehabilitation device and a surface electromyography (sEMG)-based supervised training that explores remote assessment of the patient's kinesthetic awareness. Preliminary experiments were conducted to demonstrate the feasibility of the proposed alternative training methods and evaluate the functionality of the developed tele-rehabilitation system. Results showed that the proposed tele-rehabilitation system enabled therapist-in-the-loop to dynamically adjust the rehabilitation intensity and provided more interactivity in therapist-patient remote interaction.

Remote-controlled vascular interventional robots have great potential for use in minimally invasive vascular surgeries in recent years due to their ability to reduce the occupational risk of surgeons and improve the stability and accuracy of surgical procedures. However, blood vessels will suffer from the damage caused by collision with medical instruments to some extent even though the surgeries are very successful. Moreover, when surgeons perform unsafe operations, the unsafe operations will not only seriously affect surgical safety (or even cause serious complications) but also restrict the continuity of operation. In this article, a multilevel concept for operating force is first introduced into surgical procedures as a reference for the choice and design of operation strategies. Based on this concept, a novel multilevel operation strategy is first proposed to reduce blood vessel damage, ensure surgical safety, and allow for continuous operation. This strategy can remind surgeons about the operative conditions in real-time, reduce collision to blood vessels, and eliminate unsafe operations online. A prototype was fabricated and calibrated through calibration experiments and the performance of the multilevel operation strategy was validated throughin vitroandex vivoexperiments. Experimental results demonstrate the engineering effectiveness of the proposed method and motivate the need for furtherin vivostudies to evaluate improvement on surgical safety.

Bilateral rehabilitation allows patients with hemiparesis to exploit the cooperative capabilities of both arms to promote the recovery process. Although various approaches have been proposed to facilitate synchronized robot-assisted bilateral movements, few studies have focused on addressing the varying joint stiffness resulting from dynamic motions. This paper presents a novel bilateral rehabilitation system that implements a surface electromyography (sEMG)-based stiffness control to achieve real-time stiffness adjustment based on the user's dynamic motion. An sEMG-driven musculoskeletal model that incorporates the muscle activation and muscular contraction dynamics is developed to provide reference signals for the robot's real-time stiffness control. Preliminary experiments were conducted to evaluate the system performance in tracking accuracy and comfortability, which showed the proposed rehabilitation system with sEMG-based real-time stiffness variation achieved fast adaption to the patient's dynamic movement as well as improving the comfort in robot-assisted bilateral training.

Timely and accurate auxiliary diagnosis of intracranial aneurysm can help radiologist make treatment plans quickly, saving lives and cutting costs at the same time. At present, Digital Subtraction Angiography (DSA) is the gold standard for the diagnosis of intracranial aneurysm, but as radiologists interpret those imaging sequences frame by frame, misdiagnosis might occur. The utilization of computer-aided diagnosis (CAD) can ease the burdens of radiologists and improve the detection accuracy of aneurysms. In this article, a deep learning method is applied to detect the intracranial aneurysm in 3D Rotational Angiography (3D-RA) based on a spatial information fusion (SIF) method, and instead of a 3D vascular model, 2D image sequences are used. Given the intracranial aneurysm and vascular overlap having similar feature in the most time, rather than focusing on distinguishing them in one frame, the morphological differences between frames are considered as major feature. In the training data, consecutive frames of every imaging time series are extracted and concatenated in a specific way, so that the spatial contextual information could be embedded into a single two-dimensional image. This method enables the time series with obvious correlation between frames be directly trained on 2D convolutional neural network (CNN), instead of 3D-CNN with huge computational cost. Finally, we got an accuracy of 98.89%, with sensitivity and specificity of 99.38% and 98.19%, respectively, which proves the feasibility and availability of the SIF feature.

This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed with four legs, one of which contains three connecting rod parts, one water-jet thruster and three joints driven by digital servos. Using this mechanism, the robot is able to walk like amphibious turtles on various terrains and swim flexibly in submarine environment. A simplified kinematic model is established to analyze crawling gaits. With simulation of the crawling gait, the driving torques of different joints contributed to the choice of servos and the size of links of legs. Then we also modeled the robot in water and proposed several underwater locomotion. In order to assess the performance of the proposed robot, a series of experiments were carried out in the lab pool and on flat ground using the prototype robot. Experiments results verified the effectiveness of LMVWCPM and the amphibious control approaches.

The robot-assisted endovascular catheterization system (RAECS) has the potential to address some of the procedural challenges and separate interventionalists from the X-ray radiation during the endovascular surgery. However, the employment of robotic systems is partly changing the natural gestures and behavior of medical professionals. This paper presents a RAECS that augments surgeon's motions using the conventional catheter as well as generates the haptic force feedback to ensure surgery safety. The magnetorheological fluids based haptic interfaceexperiment is proposed to measure the actions of the operator and provide the haptic force. The slave catheter manipulator is presented to actuate the patient catheter in two degrees of freedom (radial and axial direction). In addition, a force model is provided to characterize the kinematics of the catheter intervention. Afterward, the “pseudocollision” and “real collision” are utilized to descript the catheter tip–vessel interaction. Thein vitroresults are presented, which demonstrate that catheter-based haptic force feedback has a benefit for improving catheterization skills as well as reducing the cognitive workload of operators.

Prediction of interaction force between human and contacting environment has always been an important issue for such as robot control and clinical treatment. Although force/torque sensors can provide direct and precise measurement results, in many cases it is inconvenient to attach these sensors on the environment surface or on human beings. The purpose of this paper is to propose a prediction method for interaction force between human and contacting environment, using only electromyographic (EMG) signals. The motions are touch motion and push motion of upper extremity. Seven muscles of the upper limb were selected to record EMG signals. The predict function were derived from two muscle-skeleton models implemented for touch motion and push motion, respectively. The Bayesian linear regression (BLR) algorithm was implemented for parameters calibration. In order to avoid complex model for dynamic movement, a neural network classifier was used to recognize the force exerting motions. The proposed method was applied in a remote interaction force evaluation experiment. The “Phantom Premium” haptic device is used to represent the predicted force in the remote site. The experimental results show that the proposed method can provide acceptable prediction results with root-mean-square (RMS) error below 2.20 N.

To realize the underwater intervention, a Father-son Underwater Intervention Robotic System (FUIRS) is proposed in our laboratory. The FUIRS employs a novel biomimetic microrobot to realize underwater manipulation tasks. The main work of this paper is to describe the biomimetic microrobot which is inspired by an octopus. The microrobot is mainly composed of body and arm. We use IPMC to fabricate the arms. To investigate the most suitable arm shape, three commonly used arms were designed, i.e., regular rectangle shape, human finger shape and tapered shape. After analyzing the force and deflection features, the human finger shape arm was selected to be installed on the microrobot. The robot body is fabricated by the 3D printer. A micro proximity sensor was installed on it as the eyes. To enhance the payload of the microrobot, a novel buoyancy adjustment method was proposed which can provide 11.8mN additional buoyancy force. Finally, a series of underwater manipulation experiments were carried out and the results indicated that the biomimetic microrobot can realize underwater manipulation for the targets with different shape and size objects successfully.

Colonoscopy is an important procedure for the diagnosis of various pathologies, in particular cancer of the colon and of the rectum. However, colonoscopy is a procedure often painful for the patient and complex for the doctor. So in the biomedical field, a wireless microrobot in pipe that can move smoothly in water or aqueous medium has urgently been demanded. In this paper, we developed a new kind of wireless microrobot with symmetrical spiral structure, which also had symmetrical kinematic characteristics. According to the hydromechanical lubrication theory and Newton viscous law, we build the motion model of the microrobot, which will provide a theoretical basis on designing the optimal structure parameters of the microrobot. Through analysis, simulations and experiments, this paper had evaluated the effect of spiral angle, which could realize forward-backward, upward-downward motion and stopping at any position we need in the pipe. In addition, we obtained the moving speeds of forward-backward and upward-downward motion in the pipe. The experimental results indicated that the maximum moving speed is 36.5 mm/s at 14 Hz in the horizontal direction and 4.6 mm/s at 16Hz in the vertical direction with input currents of 0.7A. Finally, we designed a control panel for this system, which can control the microrobot current motion states intuitively and easily, and make our system more portable and compact. The developed wireless microrobot can move smoothly in water and other liquid medium and is very useful in the industrial.

In this paper, to deal with the locomotion and performance in pipe or even in blood vessel condition, we design a novel type of hybrid microrobot that has characteristics of multi-functions, controllability, stability. The hybrid microrobot has simple structure, simple control method, and good dynamic. We develop the microrobot composed of rotating motion and fish-like locomotion to realize the wireless controllability capable of swimming and rotating motion. We design the rotation magnetic field, the motion mechanism of rotating motion and fish-like motions have been analyzed as well. Also, we design the hybrid microrobot by combining the rotating motion and fish-like fin motion. By applying the rotation magnetic field, we carried out the evaluating experiments for rotating motion and moving motion in a pipe. The experimental results indicated that, for the rotating motion, the rotating speed of 87rad/s and moving speed of 58mm/s; for the hybrid microrobot, the moving speed of 48mm/s can be obtained via frequency of the input current. Additionally, it is demonstrated that the microrobot has a rapid response. This microrobot will play an important role in both industrial and medical applications such as microsurgery.

In this paper a human scale tele-operation system was introduced. The micro operator with 6 degrees of freedom is the most accurate part of the system. The micro operator is driven by 6 piezoelectric actuators. Because of the non-linear hysteretic restoring force, the accuracy of the micro operator couldn't get a very high level. Before compensation of the non-linear hysteretic restoring force, to describe the micro operator with a mathematic model is very important. In the paper, the authors build the micro operator's model with Bouc-Wen model. Then with a genetic algorithm the parameters in the mathematic model were identified. At last by experiments the identified parameters were tested and verified.

In this paper, we proposed a new paddling type of microrobot that can move in human organs such as intestines, even blood vessels as an assumption has a great potential application for microsurgery. Based on the previous researches, the structure of the paddling microrobot has been designed. By applying the alternate magnetic field, the paddling of the developed microrobot can be manipulated with the frequency of input current. And also, the motion mechanism, and characteristic evaluation of the microrobot have been discussed. And then, in order to generate the propulsive force, we improved the structure of the paddling microrobot, the fin was fixed at the end of the body. The characteristic of the fin also has been evaluated in this research. The microrobot has a rapid response, and it can clear out dirt which is adhering to the inner wall of pipes. This microrobot will play an important role in both industrial and medical applications such as microsurgery.

In this paper, we propose a novel task-oriented motor function training and assistance of upper limbs system after brain injured such as stroke based on Virtual-Reality. In this system, two kinds of training approaches are developed. One is tracking training with path-unlimited based on a mass-spring-damper force model, and the other is tracking training with path-limited based on a compound force model. Both of training approaches are same that coordination motion of two hands is needed. We want to re-examine how effective the haptic sensory and visual sensory are in training of upper limbs. Further, we enhance the effect of system through adding assistance in order to help mild stroke patients to recovery. This system is convenient and compact so that it is suitable for home-based rehabilitation.

A microrobot that can be moved along blood vessels has a great potential application for microsurgery. This paper discusses the development of a wireless microrobot that can be manipulated inside a tube using an external magnetic field. The model microrobot utilizes an electromagnetic actuator as the servo actuator to realize movement in biomedical applications. The structure, motion mechanism, and characteristic evaluation of a driving fin used for propulsion have been discussed. The fishlike fin movement can be controlled via frequency adjustments to the alternate magnetic field. Vertical movement of the microrobot can be stopped at a specified location. Experimental results indicate that the microrobot can be controlled upward, downward, and also be suspended in water using frequency adjustments. The microrobot has a rapid response, and can correspond to the dirt adhering to the inner wall. This device will play an important role in both industrial and medical applications such as microsurgery.

In the medical field and in biotechnology, a new type of micropump that can supply micro liquid flow has urgently been demanded. It is our purpose to develop a novel type of micropump that has the characteristics of flexibility, low voltage input, good response and safe for using in human body. In this paper, we propose a new prototype model of a micropump using solenoid actuator as the servo actuator. This paper describes the new structure and the motion mechanism of a micropump using a solenoid actuator and discusses the possibility of the micropump. This micropump consists of two one-way valves, a pump chamber made of elastic tube, and a casing. The overall size of this micropump prototype is 18mm in diameter and 54mm in length. Characteristic of the micropump is measured. The experimental results indicate that the micropump has the satisfactory responses, and the proposed micropump is able to make a micro flow and is suitable for the use in medical applications and in biotechnology.

In the medical field and in industry application, a novel type of micro biped robot with multi DOF that can swim smoothly in water or aqueous medium has urgently been demanded. The fish-like microrobot is one of the micro and miniature devices, which is installed with sensing and actuating elements. This paper describes the new structure and motion mechanism of a hybrid type of underwater microrobot using ICPF actuator, and discusses the swimming and floating possibility of the microrobot in water. Characteristic of the underwater microrobot is measured by changing the frequency and the amplitude of input voltage. The experimental results indicate that the swimming speed of proposed underwater microrobot 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

In this paper, to deal with the locomotion in underwater environment, we designed a novel type of leg, inspired by stick insect legs. The biomimetic leg is composed of two segments of ICPF (ionic conducting polymer film) actuators with a 2-DOF motion. It has simple structure, simple control method, and good localization characteristic. We designed and developed a prototype microrobot with 3 units of the legs. The dimension of the microrobot is 48*20*17 mm3and its dried weight is 0.65 g. We have measured the speeds with different control signals. The experimental results show that it can arrive at a speed of 4.7 mm/s with a control signal of 5 Hz and 10 V. And results indicate that the novel type leg has a good speed performance and localization in aquatic environment. The microrobot using ICPF actuators has powerful applications in the biomedical and naval fields

It is our purpose to develop a novel fin type of microrobot in pipe that has the characteristics of flexibility, driven by wireless, good response and safety in body. This paper proposes a novel fin type of model microrobot utilizing electromagnetic actuator as the servo actuator to realize moving motion for biomedical application. We also discuss the structure, motion mechanism and characteristic evaluation of a driving fin. The moving fin driven by a permanent magnet can be controlled by the frequency adjustment of the alternate magnetic field. The running speed of the microrobot has been measured in vertical direction and at turning point by changing the frequency of input current. Experimental results showed that the maximum running speed 40mm/s could be obtained in vertical direction. The developed microrobot has characteristics of compact volume, quick response, can correspond to the dirt adhering to the inner wall, or long distance movement, and running speed control can be easily performed by frequency adjustment. It will be very useful for industrial application and for microsurgery.

In the medical field and in biotechnology, a new type of micropump that can supply micro liquid flow has urgently been demanded. It is our purpose to develop a type of micropump 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 a micropump using SMA (Shape Memory Alloy) coil actuator as the servo actuator. This paper describes the new structure and the motion mechanism of a micropump using SMA actuator and discusses the possibility of the micropump. This micropump consists of two diffusers (Inlet) as one-way valve, a pump chamber made of elastic tube, and a casing. The overall size of this micropump prototype is 16 mm in diameter and 74 mm in length. Characteristic of the micropump is measured. The experimental results indicate that the micropump has the satisfactory responses, and the proposed micropump is able to make a micro flow and is suitable for the use in medical applications and in biotechnology.

In the medical field and in industry application, a new type of a novel type of micro biped robot with multi DOF that can swim smoothly in water or aqueous medium has urgently been demanded. The fish-like microrobot is one of the micro and miniature devices, which is installed with sensing and actuating elements. This paper describes the new structure and motion mechanism of an underwater microrobot using ICPF actuator, and discusses the swimming possibility of the microrobot in water. Characteristic of the underwater microrobot is measured by changing the frequency and the amplitude of input voltage. The experimental results indicate that the swimming speed of 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.

In this paper, we propose a new prototype model of a micro pump using ICPF (Ionic Conducting Polymer Film) actuator as the servo actuator. This micro pump consists of two active one-way valves that make use of the same ICPF actuator. The overall size of this micro pump prototype is 12 mm in diameter and 20 mm in length. The actuating mechanisms are as follows: (1) the ICPF actuator as the diaphragm is bent into anode side by application of electricity. Then the volume of the pump chamber increases, resulting in the inflow of liquid from the inlet to the chamber; (2) by changing the current direction, the volume of the pump chamber decreases, resulting the liquid flow from the chamber to the outlet; and (3) the ICPF actuator is put on a sine voltage, the micro pump provides liquid flow from the inlet to the outlet continuously. Characteristic of the micropump is measured. The experimental results indicate that the micro pump has the satisfactory responses.

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.

Handling of micro-objects about 0.1 mm square is essential in the fields of biotechnology and micromachine production. These operations have some difficulty because it requires unnatural hand manipulations under the microscopic images. So the productivity of those operations is not high. To solve these problems, a 3-D software camera system has been introduced. The system consists of two subsystems: the 3-D entire shape model with texture extraction system; and the stereo image generation system. The method of the 3-D model extraction system using multidirectional camera is introduced, then the attempt to generate the stereo image from the 3-D model is described.

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safe body. We have reported an underwater fish-like microrobot with 2 DOF that has the characteristics of flexibility, good response and safe body before. In this paper, we propose a new 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 is developed. The overall size of the underwater microrobot prototype shaped as a fish is 45 mm in length, 10 mm in width and 4 mm in thickness. It has a pair of fins and a floatage adjuster. Characteristics of the underwater microrobot are measured by changing the frequency and amplitude of input voltage. The experimental results indicate that the swimming speed of the proposed underwater microrobot 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.

We propose a type of capsule micropump using an ICPF (ionic conducting polymer film) actuator as the servo actuator. This micropump consists of two active one-way valves which make use of the same ICPF actuator, and a tank. The overall size of this micropump prototype is 13 mm in diameter and 23 mm in length. The actuating mechanism is as follows. (1) The ICPF actuator as the diaphragm is bent into anode side by application of electricity. Then the volume of the pump chamber increases, resulting in the inflow of liquid from the tank to the chamber. By changing the current direction, the volume of the pump chamber decreases, resulting the liquid flow from the chamber to the outlet. (3) The ICPF actuator is applied with a sine voltage, the micropump provides liquid flow from the tank to the outlet. A characteristic of the micropump is measured. The experimental results indicate that the micropump has satisfactory responses.

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.

In this paper, we propose a new prototype model of a micro pump using an ICPF (ionic conducting polymer film) actuator as the servo actuator. This micro pump consists of two one-way valves that make use of the same ICPF actuator. The overall size of this micro pump prototype is 12 mm in diameter and 20 mm in length. The actuating mechanism is as follows. (1) The ICPF actuator as the diaphragm is bent into the anode side by application of electricity. Then the volume of the pump chamber increases, resulting in the inflow of liquid from the inlet to the chamber. (2) By changing the current direction, the volume of the pump chamber decreases, resulting in liquid flow from the chamber to the outlet. (3) The ICPF actuator is put on a sine voltage, the micro pump provides liquid flow from the inlet to the outlet. The characteristics of the micro pump are measured. The experimental results indicate that the micro pump has satisfactory responses.

We have proposed a new prototype model of micro catheter with active guide wire that has two bending degrees of freedom using ICPF (ionic conducting polymer film) actuator on its front end as the servo actuator. In this paper, the bending characteristics of the micro active catheter (MAC) have been measured by application of electricity in physiological saline solution. By using simulators (whose conditions are similar to those of a body cavity), we also carried out simulation experiments "in vitro" and the contrast experiments of operability between the proposed catheter and conventional guide wire catheter. The experimental results indicate that the proposed MAC is applicable to intracavity operations.

In this paper, we propose a new prototype model of micro-catheter with active guide wire that has two bending degrees of freedom. The design and fabrication methods of this micro active catheters (MAC) are described. Prototype models are 3Fr, 4Fr, 6Fr (1Fr=1/3 mm) in diameter and consist of catheter tube and active guide wire with ionic conducting polymer film actuator on its front end as the servo actuator. The bending characteristics of the MAC have been measured by application of electricity in physiological saline solution. We also modeled this MAC for characteristic evaluation. Experimental results show that the model of the active catheter is reasonable for practical applications. By using simulators (whose conditions are similar to those of a body cavity), we also carried out simulation experiments "in vitro". The experimental results indicate that the proposed MAC is applicable to intracavity operations.

We propose a new prototype model of micro-active guide wire catheter that has two bending degrees of freedom. The fabrication methods of this micro-active catheters (MAC) are described. Prototype models are 3Fr, 4Fr, 6Fr (1Fr=1 mm) in diameter and consist of catheter tube and active guide wire with ionic conducting polymer film on its front end as the servo actuator. The bending characteristics of the MAC have been measured by application of electricity in physiological saline solution. By using simulators (whose conditions are similar to those of a body cavity), we carried out simulation experiments "in vitro" and the contrast experiments of operability between the proposed catheter and a conventional guide wire catheter. The experimental results indicate that the proposed MAC is applicable to intracavity operations.

In this paper, we propose a new prototype model of serial-parallel type of active micro catheter (MAC) with two bending degrees of freedom. It is 4 Fr, 5 Fr and 6 Fr (1 Fr=1/3 mm) in diameter and consist of 3 active units incorporating SMA wires in lumina as the servo actuator. The bending motion, bending direction and bending angle of the MAC have been measured by application of electricity in air and in physiological saline solution. We also modeled this MAC. Experimental results show that the model of the MAC is reasonable for practical applications. By using simulators (conditions similar to a body cavity), we carried out the simulation experiments of "in vitro" and "in vivo". The experimental results indicate that the proposed MAC is applicable to intracavity operations.>