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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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Three-dimensional geometric modeling of the spine based on reverse engineering technology

Three-dimensional geometric modeling of the spine based on r...

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Lining Sun Heqiang Tian Dongmei Wu Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In human skeletal system, the spine shape is very complex, so its geometric model reconstruction is particularly important. The spine geometric model is created by the main use of reverse modeling method. In this paper, the three-dimensional spine mesh model is reconstructed firstly by marching cubes (MC) algorithmwhich is a popular technique for isosurface extraction from a volume data set. Then, the mesh model is turned into a realistic geometric model by reverse engineering methods. It can be seen that the spine geometric model and its anatomy has a good similarity by comparing and analyzing. This kind of modeling method provides a choice for complex bone structures. And the final geometric model can be imported into three-dimensional modeling software and finite element analysis software for surgical planning and biomechanical analysis.

关键词： Solid modeling Surface reconstruction Data models Reverse engineering Image reconstruction Surface fitting Three dimensional displays

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Submovement composition for motion and interaction control of a robot manipulator

Submovement composition for motion and interaction control o...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Loredana Zollo Antonino Salerno Luca Rossini Eugenio Guglielmelli Laboratory of Biomedical Robotics and Biomicrosystems Università Campus Bio-Medico di Roma Rome Italy

The paper presents a novel control paradigm for robot motion and interaction control that is inspired by recent studies of neuroscience on the intermittency of neural control in humans. Robot end-effector motion is generated by sequences of elementary motion units, called submovements, that properly modulated can achieve accurate motion regulation or else interaction control. control performance in free space as well as in the interaction can be managed by changing features of motion units in each sequence. Theoretical formulation of the control strategy is presented in this paper and an application to robot point-to-point motion in free space and in the interaction is provided. Finally, the proposed method is compared to traditional methods via experimental trials.

关键词： Trajectory Force PD control Aerospace electronics Accuracy Manipulators

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Pose planning for robotically assisted minimally invasive surgery

Pose planning for robotically assisted minimally invasive su...

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Gang Li Dongmei Wu Ruqi Ma Kai Huang Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Robotically assisted minimally invasive surgery (RAMIS) is an increasingly important technology, which leads to great advances in the field of general surgery. However, the potential of this technology is constrained by the collision occurred during the operation. One effective solution to this problem is through an efficient preoperative planning for the robotic system, including port placement, robot base placement and pose planning. This paper mainly discusses the pose planning problem, referred to as the initial configuration of stationary joints, and describes a pose planning method for the minimally invasive robotic surgery system currently under developed. This method utilizes an optimization procedure, which includes criteria to guarantee a collision-avoidance operation, under the constraint of ensuring the fixed positions of entry port in patient's body, to position the stationary joints at the beginning of the operation properly.

关键词： Manipulators Joints Planning Surgery Robot kinematics Instruments

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Integrated optimization model for three-layer distribution network design and its solution algorithm

Integrated optimization model for three-layer distribution n...

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international conference on Information Sciences and Interaction Sciences (ICIS)

作者： Li Jin Tao Ku Yunlong Zhu Hai Shen Key Laboratory of Industrial Informatics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy of Sciences Beijing Beijing CN

A particular three-layer capacitated location-routing problem is investigated in which there exist two echelons of facilities to be located. A Lagrangian relaxation is used to separate the problem and obtain lower bound. Subgradient optimization is used to improve the lower bound and feedback information among the sub problems. Genetic algorithm and other heuristics are used to solve subproblems. Two level chromosome coding method composed of binary code and real code and corresponding crossover operator and mutation operator is used. The numerical results indicate that the method is efficient for solving small scale problem.

关键词： Design optimization Algorithm design and analysis Lagrangian functions Laboratories informatics Design automation Vehicles Routing Feedback Genetic algorithms

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A new strategy for boundary surface detection in 3D biomedical images

A new strategy for boundary surface detection in 3D biomedic...

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Liuhang Cheng Lisheng Wang Yu Ma Institute of Image Processing and Pattern Recognition Department of Automation Shanghai Jiaotong University Shanghai China

Detecting boundary surface for the object of interest within 3D biomedical images is an important step towards understanding and quantitative analysis of the object. However, existing 3D edge detection techniques have the limitations in detecting connected edge voxels and tracing undetected edge voxels from 3D images. In this paper, we propose a new strategy to detect boundary surface for the object of interest in 3D biomedical image. The new strategy utilizes the connectivity of boundary surface in the detection and tracing of edge voxels, and is much effective in overcoming the two limitations existing in 3D edge detectors. The performance and advantages of the proposed method are illustrated by many examples from different 3D biomedical images.

关键词： Image edge detection Three dimensional displays Detectors Biomedical imaging Surface reconstruction Surface treatment Surface cracks

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Microarray-facilitated mechanical characterization of breast tissue pathology samples using contact-mode Atomic Force Microscopy (AFM)

Microarray-facilitated mechanical characterization of breast...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Rajarshi Roy Wenjin Chen Lauri A. Goodell Jun Hu David J. Foran Jaydev P. Desai Medical Systems (RAMS) Laboratory University of Maryland College Park MD USA Cancer Institute of New Jersey Informatics (CBII) New Brunswick NJ USA Department of Pathology and Laboratory Medicine Robert Wood Johnson Medical School-UMDNJ New Brunswick NJ USA Director of Center for Biomedical Imaging and Informatics (CBII) Chief of the Division of Medical Informatics in the Department of Pathology New Brunswick Cancer Institute of New Jersey NJ USA Medical Systems (RAMS) Laboratory Maryland Robotics Center Institute for Systems Research University of Maryland College Park MD USA

Much of the difficulty in rendering consistent evaluation of pathological tissue specimens arises from qualitative impressions of observers. Hence, a quantitative phenotype to automatically characterize the type and stage of cancer based upon an objective measure of its morphology and mechanical properties could provide insight regarding the changes that occur in the tissue environment during the course of disease onset and progression. In this work, we attempt to evaluate the elastic modulus of normal and cancerous human breast tissue using Atomic Force Microscopy (AFM), which consists of a micro-cantilever that probes the sample at multiple locations to evaluate its local stiffness. We use the Hertz contact model to evaluate the elastic modulus values. Our initial findings show that cancerous specimens exhibit significantly lower elastic modulus than normal breast tissue.

关键词： Force Cancer Breast tissue Atomic force microscopy Biomedical imaging

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Usability of a robotic surgical microscope

Usability of a robotic surgical microscope

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Markus Finke Achim Schweikard Institute for Robotics and Cognitive Systems University of Lübeck Lubeck Germany

During surgical procedures, various medical systems (e.g. microscope or C-arm) are used. Their precise and repeatable manual positioning can be very cumbersome and interrupts the surgeon's workflow. Robotized systems can assist the surgeon but they require suitable kinematics and control. However, positioning must be fast, flexible and intuitive. We describe a fully motorized surgical microscope. Hardware components like motors, encoders and controllers as well as implemented applications are specified. Our microscope combines fast manual handling with accurate, automatic positioning. Intuitive control is provided by a small remote control mounted to one of the surgical instruments. Positioning accuracy and repeatability are less than 1mm and vibrations caused by automatic movements fade away in about one second.

关键词： Microscopy Surgery Joints Robots Accuracy Brushless motors Lenses

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Interface for non-haptic control in automation

Interface for non-haptic control in automation

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IEEE international conference on Industrial informatics (INDIN)

作者： C. Roesener A. Perner S. Zerawa S. Hutter Institute of Computer Technology University of Technology Vienna Austria School Centre Ungargasse Vienna Austria

The approach extends control principles of standard building automation. Introducing control commands based on information from 3D head pose estimation and tracking systems, new methods in communication and contactless controlled systems are made accomplishable. Using a visual user-interface, visually detected movements can be transformed into standard control commands. Using a defined markup language, an application dependent command set is correlated with actual head movements. The mapping itself can be adapted to application dependent demands and the individual needs of the users. The concept of “visual control” is intended to be a further step towards bridging the information gap between (physically challenged) people and their smart environments. The concept is applied to a prototype used in different settings of a building automation, utilising cutting-edge software with standard control devices and sensors.

关键词： Automatic control Communication system control control systems robotics and automation Magnetic heads Buildings Senior citizens Cameras Prototypes Educational institutions

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Development of A pulse-type servo drive system and the application on a 3-axises robot

Development of A pulse-type servo drive system and the appli...

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international Asia conference on informatics in control, automation and robotics, CAR

作者： Qingzhang Chen Xian-feng Chen Ya-fei He Xin-di Shen Dept. Automobile Engineering of Mechanincal Engineering College Changshu Institute of Technology CSLG China Coll. of Mech. & Electron. Eng. Shanghai Second Polytech. Univ. Shanghai China Dept. Automobile Engineering of Mechanincal Engineering College Changshu Institute of Technology CSLG Changshu China

The principles and structure of a new economical pulse-type servo drive system were presented. One part is main control board for servo motor with incremental encoder, which receive pulse position command form upper controller. With the scholastic calculation in main control part of servo drive, and the dead time of PWM signals was compensated by hardware circuit, this drive system has a high performance in dynamic response and stability. Another is power board, to realize the inverter function and supply electronic power. Due to the suitable dead time of PWM inverter, the outputs variable frequency voltage of the drive is more suitable for controlling of servo motor. For the purpose of small volume, the main control part and power board were integrated. The results of time and frequency domain analyzing show that the servo drive is performance enhancement of high bandwidth control and fast response. The application of the servo drive system on a 3-axises robot is described. As highly integrated of this servo drive system, it provides an economical solution in servo motor control for robot and flexible manufacture and can be sustained without significant design effort.

关键词： Servomechanisms Robots Power generation economics Space vector pulse width modulation Servomotors Pulse width modulation Pulse width modulation inverters Electric variables control control systems Hardware

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A 3D in-vivo constitutive model for porcine liver: Matching force characteristics and surface deformations

A 3D in-vivo constitutive model for porcine liver: Matching ...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Kevin Lister Zhan Gao Jaydev P. Desai Members of the Robotics Automation and Medical Systems Laboratory Maryland Robotics Center Institute for Systems Research University of Maryland College Park MD USA Director of the Robotics Automation and Medical Systems Laboratory Maryland Robotics Center Institute for Systems Research University of Maryland College Park MD USA

Advancements in real-time surgical simulation techniques have provided the ability to utilize more complex nonlinear constitutive models for biological tissues which result in increased haptic and graphic accuracy. When developing such a model, verification is necessary to determine the accuracy of the force response as well as the magnitude of tissue deformation for tool-tissue interactions. In this study, we have constructed an experimental setup that provides the ability to obtain force-displacement information as well as surface deformation of porcine liver for in-vivo probing tasks. In addition, the system is capable of accurately determining the geometry of the liver specimen. These combined attributes provide the context required to simulate the experiment with accurate boundary conditions, whereby the only variable in the analysis is the material properties of the liver specimen. During the simulation, effects of settling due to gravity have been taken into account by a technique which incorporates the proper internal stress conditions in the model without altering the geometry. Initially, a model developed from ex-vivo tension, compression and pure shear experimentation is run through the simulation to determine the efficacy of utilizing an ex-vivo model for simulation of in-vivo probing tasks on porcine liver. Subsequently, a method for improving upon the model was developed such that increased accuracy could be achieved for the force characteristics while maintaining a high correlation with the surface displacement data.

关键词： Liver Force Probes Data models Materials Geometry Deformable models

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