Quanquan Liu

Shenzhen Second People's Hospital

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Chunbao Wang

First Affiliated Hospital of Xi'an Jiaotong University

Lihong Duan

First Hospital of Shijiazhuang

Zhengzhi Wu

Shenzhen Second People's Hospital

Yajing Shen

Quzhou University

Weiguang Li

Harbin Institute of Technology

Jianjun Long

Shenzhen Second People's Hospital

Jianjun Wei

Washington University in St. Louis

Yulong Wang

Shenzhen Second People's Hospital

Masakatsu G. Fujie

Waseda University

Tongyang Sun

South China University of Technology

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Facing Our Risk of Cancer Empowered

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Chinese Academy of Sciences

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National University of Singapore

Shanghai Jiao Tong University

University of Chinese Academy of Sciences

South China University of Technology

Huazhong University of Science and Technology

Zhejiang University

Sichuan University

Shenzhen University

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Multi‐Arm lower‐limb rehabilitation robot for motor coordination training after stroke

The Journal of Engineering (2019)

Chunbao Wang Jinfeng Xia Jianjun Wei Zhengdi Sun Lihong Duan

The number of stroke patients is rapidly increasing in the elderly society, which leads to growing demand for lower limb rehabilitation training. Currently, one patient needs two or more therapists for assistance during gait training. It results in the shortage of therapists' population, furthermore, heavy works load on the therapist. The emerging robotic technologies provide a solution to assist the therapist, and a number of corresponding researches have been reported. However, most of the existing rehabilitation robots adopt single-arm or double-arm structure, which pays less attention on motor coordination training for the stroke patients. Here, a four-arm rehabilitation robot (FARR) is proposed to assist the hemiplegic patient for motor coordination training. First, the rehabilitation demand is analysed and the corresponding robot mechanism is designed. Then, the kinematics of the robot based on the D-H expression is constructed, and the workspace is obtained. Thirdly, the speed control strategy and the cooperative control for gait training are constructed. The experiment of speed response verifies the superior tracking performance of the robotic joints, and the experiment of using the robot for gait training by a simulated subject is performed. These results prove the feasibility of the designed robot.

Work space

Stroke

Rehabilitation robotics

Economic shortage

Gait training

10.1049/joe.2018.9403

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Citations (9)

Kinematics and Dynamics Analysis of a Novel Ankle Rehabilitation Robot

Zhengdi Sun Chunbao Wang Jianjun Wei Jinfeng Xia Tong Wang

As the population continues to grow, stroke has become one of the major diseases that threaten the health of the elderly people. Ankle rehabilitation is an essential part of the recovery. At present, the patient completed the training mainly with the help of a physiotherapist, which not only increases the burden on the physiotherapist but also delays the patient's recovery process. To meet the rehabilitation needs of stroke patients and improve the rehabilitation efficiency, this paper presents a novel ankle rehabilitation robot to mimic the practical skills of the physiotherapist. Based on the designed robot mechanism, the corresponding kinematics is analyzed to obtain the displacement expression of the foot pedal of the ankle joint rehabilitation robot as well as verify the correctness of the robot structure design. Subsequently, the joint actuation torque of the ankle robot in the joint space is calculated based on the second kind of Lagrange's equations in MATLAB, and then, the dynamical model of the ankle robot is performed. Finally, importing the SolidWorks model into the Adams software for a dynamic simulation to obtain the change of the joint driving torque of the rehabilitation robot is achieved. The data of ADAMS simulation is consistent with numerical results in MATLAB. Therefore, the joint calculation method can be used for motor control of the ankle rehabilitation robot.

10.1109/cyber46603.2019.9066767

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Validation of the Longshi scale in assessment of function in patients from different economic, educational and regional backgrounds in China

Clinical Rehabilitation (2023)

Feng Xiong Xiangxiang Liu Mingchao Zhou Chunbao Wang Quanquan Liu

Objective This study validates performance of the Longshi scale against modified Barthel index in assessment of function in patients from different economic, educational and regional backgrounds in China. Design This is a cross-sectional study. Setting One hundred and three hospitals and rehabilitation institutions across China. Participants A total of 14,752 patients with physical and cognitive impairments were enrolled and classified to five educational levels and five family income levels; 8060 participants were further selected from five regions to study regional influences. Main measures Activities of daily living were assessed with two evaluation tools, the Longshi scale and modified Barthel index. Results of evaluation with Longshi scale performed by non-healthcare workers were validated against modified Barthel index performed by healthcare workers using Pearson's correlation test. Results There were significant positive correlations between the findings of the Longshi scale administered by non-healthcare professionals and the modified Barthel index administered by healthcare professionals. This was true for level of education (correlations ranged from 0.697 to 0.822), family income level (correlations ranged from 0.724 to 0.761) and region (correlations ranged from 0.737 to 0.776). Conclusion In a large dataset of 14,752 patients, positive correlations were found between Longshi scale and modified Barthel index measures of function. Positive correlations persisted across subgroup analysis of groups from different social, economic and regional backgrounds, and with administration by non-healthcare professionals. Clinical trial registration ChiCTR2000034067, www.chictr.org.cn

Barthel index

Family income

10.1177/02692155231174689

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Citations (2)

Clickomania is Hard, Even with Two Colors and Columns

Princeton University Press eBooks (2017)

Aviv Adler Erik D. Demaine Adam Hesterberg Quanquan Liu Mikhail Rudoy

Clickomania is a classic computer puzzle game with several versions. Although rules and objectives vary slightly among different versions, the basic premise is the same: you are presented with a two-dimensional grid of colored square tiles and asked to clear those tiles by removing a contiguous like-colored group at each step (or click). There are two main variants of the game, which differ in the objective of the player: (1) Elimination variant: The player wins by removing all the tiles. (2) Score variant: The player gains points from each click, based on the number of tiles removed with that click and wins by achieving at least a specified score. For each variant, this chapter studies how hard it is for a computer to determine whether it is possible to win from a given initial configuration of the board. Specifically, it shows that Clickomania is computationally hard, even for two-color patterns occupying just two columns.

Colored

10.23943/princeton/9780691171920.003.0018

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A survey of artificial intelligence in tongue image for disease diagnosis and syndrome differentiation

Digital Health (2023)

Qi Liu Yan Li Yang Peng Quanquan Liu Chunbao Wang

The rapid development of artificial intelligence technology has gradually extended from the general field to all walks of life, and intelligent tongue diagnosis is the product of a miraculous connection between this new discipline and traditional disciplines. We reviewed the deep learning methods and machine learning applied in tongue image analysis that have been studied in the last 5 years, focusing on tongue image calibration, detection, segmentation, and classification of diseases, syndromes, and symptoms/signs. Introducing technical evolutions or emerging technologies were applied in tongue image analysis; as we have noticed, attention mechanism, multiscale features, and prior knowledge were successfully applied in it, and we emphasized the value of combining deep learning with traditional methods. We also pointed out two major problems concerned with data set construction and the low reliability of performance evaluation that exist in this field based on the basic essence of tongue diagnosis in traditional Chinese medicine. Finally, a perspective on the future of intelligent tongue diagnosis was presented; we believe that the self-supervised method, multimodal information fusion, and the study of tongue pathology will have great research significance.

10.1177/20552076231191044

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Design Conceptualization of a Flexible Robotic Drill System for Minimally Invasive Tracheostomy

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) (2018)

Michelle Botyrius Quanquan Liu Chwee Ming Lim Hongliang Ren

The medical field has been seeing an increasing trend towards minimally invasive surgeries for a significant period of time. Minimally invasive surgeries tend to be less risky than their traditional counterparts, due to smaller incisions that have less risk for bleeding or infection while expediting healing time. Minimally invasive techniques can also be paired with robotic control systems to reduce error for commonly performed surgical tasks or procedures. The trend towards minimally invasive surgeries requires the development of novel medical devices to perform these surgical techniques properly, which is the unmet need addressed by this project. This problem is addressed in the context of tracheostomy, a common procedure performed on critical care patients to gain airway access to restore normal breathing. The goal of this project was to design a flexible drill bit to facilitate the drilling of a tracheostomy hole from an endoscopic device that can be inserted through the oral cavity. This drill bit must be flexible, to bend to approximately 90° to approach the esophageal wall perpendicularly and drill into the trachea for windpipe access. Following the design and assembly of the drill bit, a simple proof-of-concept experiment verified the mechanical stability of the drill over various bending angles.

Drill bit

Expediting

Invasive surgery

10.1109/rcar.2018.8621853

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Citations (4)

Mechanism design of an ankle robot MKA-III for rehabilitation training

Chunbao Wang Zhijiang Lu Lihong Duan Quanquan Liu Tongyang Sun

With the development of aging society, the number of hemiplegia patients grows rapidly and over 75% of survivors suffering hemiplegia need rehabilitation training. To assist therapists, series of rehabilitation training robots were carried out. However, most of current researches are only focusing on function training. They ignore the importance of neurological rehabilitation in early phrase of hemiplegia. Early rehabilitation takes a fundamental position in neurological rehabilitation and whole-body rehabilitation. To fulfill all of those requirements, MKA series have been developed. During the experiment, there is some problems including unreliable transmission and dehumanization design. For these reasons, in this paper, we propose the MKA-III. Based on physiological structure and rehabilitation theory, the mechanism was design. In this paper, the detail design of the mechanism is introduced. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. In addition, for the motor control and information acquisition, the hard system is introduced.

10.1109/cyber.2016.7574837

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Development of lower limb rehabilitation evaluation system based on virtual reality technology

2022 IEEE International Conference on Real-time Computing and Robotics (RCAR) (2016)

Shihui Shen Chang Gao Yong Zhao Haojian Lu Yajing Shen

Nowadays, with the development of the proportion of the elderly population in the world, several problems caused by the population aging gradually into people's horizons. One of the biggest problems plagued the vast majority of the elderly is hemiplegia, which leads to the vigorous development of the physical therapists. However, these traditional methods of physical therapy mainly rely on the skill of the physical therapists. In order to make up the defects of traditional methods, many research groups have developed different kinds of robots for lower limb rehabilitation training but most of them can only realize passive training which cannot adopt rehabilitation training based on the patients' individual condition effectively and they do not have a rehabilitation evaluation system to assess the real time training condition of the hemiplegic patients effectively. In order to solve the problems above, this paper proposed a lower limb rehabilitation evaluation system which is based on the virtual reality technology. This system has an easy observation of the human-computer interaction interface and the doctor is able to adjust the rehabilitation training direct at different patients in different rehabilitation stage based on this lower limb rehabilitation evaluation system. Compared with current techniques, this novel lower limb rehabilitation evaluation system is expected to have significant impacts in medical rehabilitation robot field.

10.1109/rcar.2016.7784083

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Citations (3)

Red-blue and standard pebble games : complexity and applications in the sequential and parallel models

Quanquan Liu

Pebble

Source

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Study on synthesis and properties of nanoparticles loaded with amaryllidaceous alkaloids

Open Life Sciences (2017)

Lihong Duan Meng Li Chunbao Wang Qingmei Wang Quanquan Liu

Abstract Alzheimer’s disease (AD) is the most common disease among the elderly people and a major social and medical problem. Amaryllidaceous alkaloids, acting as acetylcholinesterase inhibitors, represent a potential treatment of AD. However, they also have some deficiencies, such as extensive toxicity and widespread side effects. In order to improve the bioavailability and reduce the toxic and side effects, brain targeting of amaryllidaceous alkaloids was enhanced by considering low density lipoprotein (LDL) receptors of blood-brain barrier (BBB) endothelial cells as therapeutic targets. Amaryllidaceous alkaloids were highly selectively and quantitatively riveted to the surface of low density lipoproteins by using a new method - mild click chemistry. The structure of products has been characterized by NMR, FT-IR, and other methods. In addition, drug loading rate, encapsulation rate, and drug release by the nanoparticles were determined to assess the quality of the nanoparticles.

10.1515/biol-2017-0041

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Citations (3)