Issue 1-Progress in Medical Devices-ZENTIME PUBLISHING CORPORATION LIMITED

Design and simulation of lower limb exoskeleton based on online gait generation algorithm

Jiaqing Wang¹, Renling Zou¹, Hongwei Tan¹, Jianchao Sun¹, Shi Gu¹, Xuezhi Yin²

¹Department of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200082, China. ²Shanghai Berry Electronic Technology Co., Ltd., Shanghai 200233, China.

Address correspondence to: Renling Zou, Department of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200082, China. E-mail: zourenling@163.com.

Acknowledgement: This work was supported by the Science and Technology Commission of Shanghai Munici pality (21S31906000); the National Natural Science Foundation of China (61803265) and Medical-industrial cross-project of USST (1022308524).

DOI: https://doi.org/10.61189/621538dunoyl

Received August 19, 2024; Accepted January 20, 2025; Published March 31, 2025

Highlights

● A novel lower limb exoskeleton was designed based on human biomechanics.

● The positive and inverse kinematic solutions of the exoskeleton were determined using the D-H method and geo metric method, respectively.

● Geometrical relationships of the exoskeleton linkage members were utilized to derive workspace expressions for different gait stages.

● The efficacy of the online gait generation algorithm was assessed by providing initial conditions.

● Simulation experiments were conducted to analyse the dynamic self-balancing capabilities of the exoskeleton during flat walking.

Research Article |Published on: 31 March 2025

[Progress in Medical Devices] 2025; 3 (1): 1-11

DOI: https://doi.org/10.61189/621538dunoyl

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Optimal design and experimental study of Mg alloy electrodes for tissue welding

Juxiao Wang, Lin Mao, Weiwei Fan, Chengli Song

Shanghai Institute for Minimally Invasive Therapy, School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Address correspondence to: Lin Mao, Shanghai Institute for Minimally Invasive Therapy, School of Health Science and Engineering, NO.516 Jungong Road, Shanghai 200093, China. Tel: +86-21-55572159. E-mail: linmao@usst.edu.cn.

DOI：https://doi.org/10.61189/392182sdzooq

Received December 31, 2024; Accepted February 19, 2025; Published March 31, 2025

Highlights

●Three types of circular electrodes with varying thicknesses were designed to achieve weight reduction, accompanied by support structures for intestinal tissue on both sides.

●The mechanical properties of the three electrode configurations were systematically compared to determine the optimal thickness for welding.

●In vitro tissue experiments successfully welded the tissue, identifying the optimal welding parameters.

Research Article |Published on: 31 March 2025

[Progress in Medical Devices] 2025; 3 (1): 12-20

DOI: https://doi.org/10.61189/392182sdzooq

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Measurement methods for positioning accuracy of multileaf collimators in radiation therapy: A mini review

Yuxi Fang¹, Rongguo Yan¹, Chunying Jiao², Yueling Li², Baolin Liu¹

¹School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China. ²Beijing Institute of Medical Device Testing, Beijing 101111, China.

Address correspondence to: Rongguo Yan, School of Health Science and Engineering, University of Shanghai for Science and Technology, No.334, Jungong Road, Shanghai 200093, China. E-mail: yan rongguo@usst.edu.cn.

Acknowledgement: This work was supported by the National Key Research and Development Program (2022YFC2409502).

DOI: https://doi.org/10.61189/284918qpvynd

Received July 19, 2024; Accepted August 28, 2024; Published March 31, 2025

Highlights

● A comprehensive review of the structure, 3D and 2D views, operational principles, and major manufacturers of multileaf collimators (MLCs) used in radiation therapy.

● Introduction and comparison of three methods for evaluating the positioning accuracy of MLCs: dose film measurement system, Matrixx ionization chamber array, and electronic field imaging system.

Review Article |Published on: 31 March 2025

[Progress in Medical Devices] 2025; 3 (1): 21-25

DOI: https://doi.org/10.61189/284918qpvynd

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Research advances of beamforming algorithms in medical ultrasound systems

Fei Liu¹, Haipo Cui¹, Fujia Sun², Shuhao Hou³, Peng Yue⁴

Schools of ¹Health Science and Engineering, ²Mechanical Engineering, ³Materials and Chemistry, University of Shanghai for Science and Technology, Shanghai 200093, China. ⁴Shanghai Guoyan Medical Device Testing Cen ter Co., Ltd., Shanghai 200000, China.

Address correspondence to: Haipo Cui, School of Health Science and Engineering, University of Shanghai for Science and Technology, NO.334, Jungong Road, Shanghai 200093, China. Tel: +86 21-55271290, E-mail: hpcui@usst.edu.cn; Fujia Sun, School of Mechanical Engineering, University of Shanghai for Science and Technology, NO.516, Jungong Road, Shanghai 200093, China. Tel: +86 13621773624, E-mail: chinasfj@126.com.

DOI: https://doi.org/10.61189/273582nrnxmc

Received August 12, 2024; Accepted September 11, 2024; Published March 31, 2025

Highlights

● Algorithms such as adaptive beamforming and synthetic aperture technology have significantly improved the quality of ultrasound images.

● New algorithms, such as deep learning, can adapt to more complex signal environments at the expense of real-time performance.

● Combining different algorithms can overcome the limitations of a single algorithm, thereby improving image resolution, contrast, and noise resistance.

Review Article |Published on: 31 March 2025

[Progress in Medical Devices] 2025; 3 (1): 26-42

DOI: https://doi.org/10.61189/273582nrnxmc

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Research progress of ankle-foot rehabilitation robots

Hongtao Shen, Qingyun Meng, Mingxia Wei, Jiajia Zha

School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Address correspondence to: Qingyun Meng, School of Health Science and Engineering, University of Shanghai for Science and Technology, Yangpu District, Shanghai 200093, China. Tel: +86-13761813609; E-mail: mengqy@sumhs.edu.cn.

DOI: https://doi.org/10.61189/192898kemezc

Received August 23, 2024; Accepted October 16, 2024; Published March 31, 2025

Highlights

● Three types of ankle-foot rehabilitation robots, categorized by structure, are designed to address different stages of rehabilitation training.

● The development of control methods for rehabilitation robots, including integration of multiple control methods, remains a key area of exploration.

● The combination of artificial intelligence algorithms and rehabilitation robots represents a significant and promising research direction.

Review Article |Published on: 31 March 2025

[Progress in Medical Devices] 2025; 3 (1): 43-56

DOI: https://doi.org/10.61189/192898kemezc

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Gait prediction for lower limb exoskeleton robots based on real-time adaptive Kalman filtering

Haonan Geng¹, Xudong Guo¹, Fengqi Zhong², Haibo Lin¹, Guojie Zhang³, Qin Zhang⁴, Jiaheng Chen¹

¹School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China. ²CloudSemi, Pudong New Area, Shanghai 200120, China. ³LingYuan Iron and Steel CO., LTD, Lingyuan 122500, Liaoning Province, China. ⁴Medical Engineering Department of Northern Jiangsu People’s Hospital, Yangzhou 225001, Jiangsu Province, China.

Address correspondence to: Xudong Guo, School of Health Science and Engineering, University of Shanghai for Science and Technology, No.516 Jungong Road, Shanghai 200093, China. Email: guoxd@usst.edu.cn.

DOI: https://doi.org/10.61189/164995qvdasw

Received September 29, 2024; Accepted December 3, 2024; Published March 31, 2025

Highlights

● The paper develops a gait prediction control strategy for lower limb exoskeleton robots using a real-time adaptive Kalman filtering algorithm, with public gait data from a Clinical Gait Analysis serving as input.

● The model incorporates motor rotation angle, angular velocity, and angular acceleration as core parameters, calculated based on the principles of uniformly accelerated motion. It achieves gait prediction by initializing parameters, calculating Kalman gain, correcting measurements, and updating the covariance matrix.

● A control strategy guided by normal gait parameters enables the exoskeleton to transition efficiently into the desired motion state during startup and gait phase switching. The system employs a microcontroller and Raspberry Pi as its control core, integrated with Bluetooth communication for effective robot control.

Review Article |Published on: 31 March 2025

[Progress in Medical Devices] 2025; 3 (1): 57-65

DOI: https://doi.org/10.61189/164995qvdasw

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Research progress on intestinal anastomosis technology and related devices

Yilong Chen, Lin Mao, Zijie Zhou, Chengli Song

Shanghai Institute for Minimally Invasive Therapy, School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Address correspondence to: Lin Mao, Shanghai Institute for Minimally Invasive Therapy, School of Health Science and Engineering, University of Shanghai for Science and Technology, Yangpu District, Shanghai 200093, China. Tel: +86-21-55572159. E-mail: linmao@usst.edu.cn.

DOI: https://doi.org/10.61189/314845qnicsc

Received January 19, 2025; Accepted February 19, 2025; Published March 31, 2025

Highlights

● Continuous suturing in traditional manual suturing shortens operation time and reduces infection risk. Absorb- able sutures are preferred for intestinal suturing and anastomosis to minimize foreign body reactions.

● Mechanical anastomosis with linear and circular metal staples offers distinct advantages, while new biodegrad- able staples demonstrate good performance.

● Magnetopressure anastomosis, leveraging magnetic attraction, has shown success in specific scenarios, provid- ing innovative approaches to intestinal anastomosis.

● Radio frequency energy tissue welding technology enables rapid, seamless intestinal anastomosis, with fewer complications and holds strong potential for future applications.

● The support method for intestinal anastomosis, particularly the “degradable internal stent anastomosis” using a simple support method, shows significant promise in animal studies.

Review Article |Published on: 31 March 2025

[Progress in Medical Devices] 2025; 3 (1): 66-76

DOI: https://doi.org/10.61189/314845qnicsc

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