Jinhua Li’s research while affiliated with Tianjin University and other places

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Publications (46)


Network Delay Forecast and Master–Slave Consistency Enhancement for Remote Surgical Robots
  • Article

February 2025

International Journal of Medical Robotics and Computer Assisted Surgery

Jinhua Li

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Chi Zhang

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Bo Guan

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[...]

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Background The inevitable network delay can directly impact the process of remote surgeries and affect the master–slave motion consistency, and sudden changes in delay can compromise surgical safety. Methods Firstly, real‐time calibration of unidirectional network delays is performed. Subsequently, the network delay is forecasted with a real‐time training parallel recurrent neural network for safety warnings, and the real‐time forecast of slave manipulator position is performed to enhanced the master–slave motion consistency. Finally, the forecast accuracy across multiple scales is assessed to provide feedback. Results The programme can operate on standard computers at distances of at least 630 km. Our forecast method meets the real‐time requirement, demonstrates strong generalisation capabilities and reduces the impact of network delay on master–slave motion consistency to approximately 20%–80% of its original level. Conclusions The proposed forecast method enables real‐time delay forecast for remote surgeries, reducing the impact of delay on master–slave motion consistency.


Configuration of MRI-Guided robotic system in the MRI suite
a A simplified diagram of a link-type dual parallelogram structure. b A cable-driven dual parallelogram mechanism. c Components of the module: ① motor, ② gear transmission mechanism, ③ base frame, ④ worm gear transmission mechanism, ⑤ main arm shaft, ⑥ robot main arm, ⑦ transmission mechanism, ⑧ robot transmission arm, ⑨ driving wheel, ⑩ transmission wire, ⑪ driven wheel, ⑫ needle rotation mechanism, ⑬ puncture needle, ⑭ end-effector, and ⑮ Z-frame
a Components of the needle insertion module: ① feed base, ② drive gear, ③ ceramic bearing, ④ needle seat sleeve, ⑤ bearing cover, ⑥ needle rotation gear shaft, ⑦ fixing wire wheel, ⑧ feed nut, ⑨ dust-proof tube, ⑩ puncture needle, ⑪ precision brass screw, and ⑫ ceramic rod. b Needle Rotation Mechanism, primarily consisting of a driving fixed wire wheel, a driven fixed wire wheel, and a transmission wire. c Reachable workspace of the robot
a Placement of the robot at the head coil for MRI scanning experiments. b Images from MRI scan in three groups of experiments
a MRI images obtained for the four configurations. b Needle Insertion Process Under Real-Time MRI with the needling tip gradually approaching the target point

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An MRI-guided stereotactic neurosurgical robotic system for semi-enclosed head coils
  • Article
  • Publisher preview available

December 2024

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10 Reads

Journal of Robotic Surgery

Magnetic resonance imaging (MRI) offers high-quality soft tissue imaging without radiation exposure, which allows stereotactic techniques to significantly improve outcomes in cranial surgeries, particularly in deep brain stimulation (DBS) procedures. However, conventional stereotactic neurosurgeries often rely on mechanical stereotactic head frames and preoperative imaging, leading to suboptimal results due to the invisibility and the contact with patient’s head, which may cause additional harm. This paper presents a frameless, MRI-guided stereotactic neurosurgical robotic system. The robot features a seven-degree-of-freedom (7-DOF) remote center of motion, with five DOFs for preoperative trajectory alignment to the target lesion and two DOFs for defining the depth and twisting motion of the needle during insertion, thus to minimize tissue damage. The system employs interactive MRI guidance for real-time visualization of the puncture process, showing great potential in reducing surgery time, enhancing targeting accuracy, and improving safety. Experiments were conducted on the proposed system to evaluate signal-to-noise ratio (SNR) and geometric distortion. During the simultaneous operation and imaging, the system demonstrated less than 10.02% SNR attenuation and less than 0.1% geometric distortion, ensuring image usability. The free-space positioning accuracy of the system was evaluated using a laser tracker, revealing a tip position repeatability error within 0.3 ± 0.1 mm.

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Application of StrucFunctional Integration in the Single-Port Robotically Surgical System

December 2024

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5 Reads

The limitation of single-port access puts a higher technical requirement for the development of single-port robotically surgical system. It has to integrate more degrees of freedom (DOFs) in a more limited range, provide adequate operational accuracy and operational force in a more restricted space, and provide the ability of hand–eye coordination consistency in a highly integrated system. Based on the above needs and aiming at the national major project strategy and scientific frontier, this paper proposed a self-developed single-port robotic system to meet the strict requirements, consisting of the surgeon console subsystem, the slave robot subsystem, the vision subsystem, the control subsystem, and the robot-assisted anastomosis subsystem.


Exploration in the Evaluation Method in the Safety of Minimally Invasive Surgery (MIS)

December 2024

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3 Reads

For MIS robots, safety is the premise to ensure the predetermined performance and achieve all functions, and the implementation of any operation should meet the corresponding safety conditions. As a class III medical device, da Vinci surgical robot system must be evaluated scientifically by FDA to verify its effectiveness, reliability and safety before it can be certified.


Toward Safer GI Endoscopy With a Novel Robot-Assisted Endoscopic System

November 2024

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16 Reads

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1 Citation

IEEE Robotics and Automation Letters

Increased demand for minimally invasive surgery has accelerated the adoption of natural orifice transluminal endoscopic surgery. Meanwhile, the increasing complexity of endoscopic procedures has raised the demand for endoscopist competence. In this paper, we present a novel endoscopic system to perform robotic intervention with a flexible endoscope to enhance the safety and efficiency of endoscopy. The system is composed of an endoscopic manipulation module (EMM) for control of endoscopic interventions, a 6 DOFs robotic arm for adjusting the pose of EMM, and a haptic interface for telecontrol. The compact system enables endoscopists to remotely and stably operate flexible endoscopes with one hand. Master-slave control strategy with active constraint is proposed to guide the motion of the flexible endoscope within the safe working space. The proposed system is validated by recruiting subjects to perform target area localization and endoscopic examinations through highly realistic upper digestive tract phantom. The system can reduce the time of target area localization by at least 10% compared to manual control. The mean angle error can be reduced by 75% with the help of the constraint force. Results demonstrate the potential clinical value of the system in efficient operation and safety control




A Robotic System With a Bendable Catheter for Laparoendoscopic Single Site Surgery

June 2024

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18 Reads

Journal of Medical Devices

Robotic Laparoendoscopic Single Site Surgery (LESS) is emerging as a hot research topic with the advancement of robotics. However, the movement of the rigid catheter inserted through a fixed incision into the patient's body cavity is constrained to a conical workspace, and the surgical instruments introduced through channels in the catheter can hardly perform necessary operations when the target tissue is close to the boundary of this workspace. In this paper, we present a novel robotic system for LESS with a bendable catheter that allows the catheter centerline to be oriented towards the target tissue over a larger area, thus providing a better initial position for the surgical instruments and enlarging the workspace of the instruments. The diameter of the bendable catheter is 30 mm and the length is 22 mm. The bendable portion of the catheter provides 2 degrees of freedom (DOF) within the body cavity and can be bent up to 45°. The system consists of two continuum instruments with 6 DOF and a 3D endoscope with 5 DOF. System design, kinematic analysis and teleoperation algorithm are introduced in detail. Preliminary experiments are performed to verify the feasibility and effectiveness of the proposed system. The results prove the applicability of the system in LESS.


ERegPose: An explicit regression based 6D pose estimation for snake-like wrist-type surgical instruments

May 2024

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25 Reads

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1 Citation

International Journal of Medical Robotics and Computer Assisted Surgery

Background Accurately estimating the 6D pose of snake‐like wrist‐type surgical instruments is challenging due to their complex kinematics and flexible design. Methods We propose ERegPose, a comprehensive strategy for precise 6D pose estimation. The strategy consists of two components: ERegPoseNet, an original deep neural network model designed for explicit regression of the instrument's 6D pose, and an annotated in‐house dataset of simulated surgical operations. To capture rotational features, we employ an Single Shot multibox Detector (SSD)‐like detector to generate bounding boxes of the instrument tip. Results ERegPoseNet achieves an error of 1.056 mm in 3D translation, 0.073 rad in 3D rotation, and an average distance (ADD) metric of 3.974 mm, indicating an overall spatial transformation error. The necessity of the SSD‐like detector and L1 loss is validated through experiments. Conclusions ERegPose outperforms existing approaches, providing accurate 6D pose estimation for snake‐like wrist‐type surgical instruments. Its practical applications in various surgical tasks hold great promise.


Design of a Hand-held Multi-fire Clip Applier with Multiple Dofs for Minimally Invasive Surgery

May 2024

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12 Reads

Journal of Medical Devices

Hemorrhage can lead to shock and even death of patients, making one of the main risks in surgical procedures. With the increasing complexity of bleeding during surgical procedures, there is a growing demand for the clip appliers with more functions. However, most traditional clip appliers are rigid, have limited flexibility, and can only fire a single clip within each insertion, which cannot meet the needs of surgeons to efficiently and flexibly control bleeding vessels. In this study, a novel hand-held Hem-o-lok clip applier is proposed, which is designed to have a high flexibility and allow multiple fires of clips. The wrist at the end-effector consists of discrete joints and a flexible shaft, allowing bending in two directions. The tong head at the end-effector enables multiple fires of hemostats, and can be delivered to different positions for clamping blood vessels and human tissues. And it also can be driven to rotate by the flexible shaft. Additionally, an ergonomic handle is designed to control the multi-degree-of-freedom movements of the instrument tip. Finally, the effectiveness of the entire system is evaluated through performance experiments. The design method of this paper can also provide theoretical guidance for other hand-held surgical instruments.


Citations (26)


... Robotic-assisted endoscopy further leverages automated control systems that adapt dynamically to patient-specific anatomy and procedural demands [429], [430], thereby improving precision in tasks such as biopsy, polyp removal, and other targeted interventions. Furthermore, these systems incorporate predictive analytics to refine surgical pathways, reduce tissue trauma, and streamline procedural workflows, enhancing safety and operator confidence in endoscopic interventions [431], [432]. In summary, fully autonomous ultrasound system [110], human-centric radiology assistant [433], and flexible robotic endoscope system [434] capable of navigating and adjusting diagnostic examination with minimal human supervision have been developed, achieving a higher level of intelligence and autonomy. ...

Reference:

From Screens to Scenes: A Survey of Embodied AI in Healthcare
Toward Safer GI Endoscopy With a Novel Robot-Assisted Endoscopic System
  • Citing Article
  • November 2024

IEEE Robotics and Automation Letters

... Existing robotic instruments often lack sufficient degrees of freedom (DOFs) to establish triangulation effectively. Despite the development of novel surgical manipulators [3], [4], these dexterous robotic instruments, featuring an increased number of actuation lines (e.g. tendon-sheath mechanisms (TSM)), can result in higher stiffness along their flexible shafts. ...

Design and Kinematics of a Robotic Instrument for Natural Orifice Transluminal Endoscopic Surgery
  • Citing Article
  • October 2023

IEEE/ASME Transactions on Mechatronics

... Image, denoizing, deblurring, and color-correcting have proven to be effective tools for arthroplasty, and thus, similar ML models have been created for robotic surgery. 82,83 However, implementing AI technology in orthopedic surgery entails significant initial investments in equipment, software, and training. Surgeons may be apprehensive about the required education to effectively use AI, limiting its ability to be integrated uniformly across medical centers. ...

Surgical smoke removal via residual Swin transformer network
  • Citing Article
  • January 2023

International Journal of Computer Assisted Radiology and Surgery

... This approach eliminates the need for HMDs, providing a hands-free visualization of critical data. 4. Stereoscopic cameras: High-resolution stereoscopic cameras capture real-time images of the patient and surgical field [33]. These cameras enable the system to track and superimpose virtual objects accurately. ...

A variable baseline stereoscopic camera with fast deployable structure for natural orifice transluminal endoscopic surgery
  • Citing Article
  • October 2021

International Journal of Computer Assisted Radiology and Surgery

... Finally, the results have been validated using an impedance analyzer and a laser interferometer (to obtain the displacement amplitude). Li et al. [19] designed an ultrasonic surgical scalpel with a longitudinal-torsional combined mode. The electromechanical equivalent circuit method was used to design and achieve the desired resonance frequency. ...

An Enhanced Hemostatic Ultrasonic Scalpel Based on the Longitudinal-Torsional Vibration Mode

IEEE Access

... Additionally, its electromechanical coupling coefficient is approximately 1.5 times higher than that of PZT-4. Jinhua Li et al. [19] introduced a multi-stage horn in an ultrasonic scalpel to enhance energy transfer efficiency. Reducing the displacement amplitude of vibrations in the middle of the horn would reduce the energy loss caused by friction. ...

A Novel Ultrasonic Scalpel Rod with Multi-Stage Gain and Minification Structures for Minimally Invasive Surgery
  • Citing Conference Paper
  • October 2020

... It was possible to estimate the pose of the robotic arm with low computational power, not requiring additional external devices. In addition, compared to the studies that required controlled environments for shape sensing and control (Camarillo et al., 2008;Li et al., 2020), we propose a vision-based deep learning method for localization suitable for application in even uncontrolled environments. By combining the data from the soft sensor and those from a depth camera with the deep learning model, we were also able to localize and control the position of the end effector in realtime. ...

Marker-Based Shape Estimation of a Continuum Manipulator Using Binocular Vision and Its Error Compensation
  • Citing Conference Paper
  • October 2020

... Ultrasonic motors are characterized by their small size, high precision, noiseless operation, and resistance to magnetic interference, making them widely used in applications such as medical robotics [1][2][3][4], aerospace [5][6][7], and precision instruments [8][9][10]. They have significant potential and prospects in the field of miniature motors. ...

Piezoelectric transducer design for an ultrasonic scalpel with enhanced dexterity for minimally invasive surgical robots
  • Citing Article
  • April 2020

ARCHIVE Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science 1989-1996 (vols 203-210)