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Human-computer interfaces for interaction with surgical tools in robotic surgery

Human-computer interfaces for interaction with surgical tool...

引用

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

作者： C. Staub S. Can B. Jensen A. Knoll S. Kohlbecher Robotics and Embedded Systems Technische Universität München Germany Department of Neurology University of Munich (LMU) Germany

the current trend toward robot assistants and the execution of autonomous tasks in minimally invasive surgery increases the operation complexity of telepresence systems. the available input channels are currently limited to traditional human-computer interfaces. We introduce two human-robot interfacing modalities that aim to make robotic surgery more intuitive. To reduce the surgeon's mental load, gaze-contingent camera control is implemented. Eye tracking is performed by means of head worn tracking goggles. the tracking goggles are tightly integrated with a stereoscopic visualization system, based on the polarization method. the second technique supports scrub nurses during surgical tool interaction, e.g. tool exchange, via haptic gestures executed on the robot. Strain-gauges sensors installed at the instrument are used to detect hand tapping sequences, which trigger activation of specified commands.

关键词： Cameras Instruments Surgery Endoscopes Head robot vision systems

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Dynamic Evolution of Language Games between two Autonomous robots

Dynamic Evolution of Language Games between two Autonomous R...

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IEEE International conference on Development and Learning, ICDL

作者： J.-C. Baillie M. Nottale Laboratory of Electrical & Computer Engineering ENSTA Paris France

the "talking robots" experiment, inspired by the "talking heads" experiment from Sony, explores possibilities on how to ground symbols into perception. We present here the first results of this experiment and outline a possible extension to social behaviors grounding: the purpose is to have the robots develop not only a lexicon but also the interaction protocol, or language game that they use to create the lexicon. this raises several complex problems that we review here

关键词： Grounding Protocols Cameras Head Shape robot vision systems Artificial intelligence Mechanical factors Humans Computational modeling

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SLAM-based grasping framework for robotic arm navigation and object model construction

SLAM-based grasping framework for robotic arm navigation and...

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IEEE International conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Natchanon Wongwilai Nattee Niparnan Attawith Sudsang Department of Computer Engineering Chulalongkorn University Bangkok Thailand

A typical grasping system consists of three subtasks: object model acquisition, grasping point calculation and navigation of the robotic arm. these tasks are usually considered separately. In this paper, we present a framework that combines these steps together. Our main motivation is that as the robot are moving, new information should be obtained from the sensor and these information should be used to increase accuracy of the model of the object and the current position of the robot. In other words, our framework employs SLAM approach. We also provide several real world implementations of our framework and compare them to illustrate the benefit of our framework. In particular, we install a depth camera DepthSense DS325 on a Katana robotic arm and use this system to simulate the navigation of the robotic arm for grasping. the comparison of our implementation confirms effectiveness of our framework.

关键词： Grasping Cameras Navigation robot vision systems Accuracy

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Implementation of visionAlgorithm for SRV-1 Mobile robot

Implementation of VisionAlgorithm for SRV-1 Mobile Robot

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4th International conference on Modelling,Identification and Control(ICMIC 2012)

作者： Emam Fathy Khaled El-Metwally A.R.Hanafy Arab Academy for Science and Technology and Maritime Transport Heliopolis Cairo 2033 Egypt Dept. of Electrical Power Eng. Cairo University Giza 12211 Egypt Dept. of Electrical Power Eng. Cairo UniversityGiza 12211 Egypt

the latest research in the field of autonomous robotics is focused on the development of novel principles and approaches to address the process of adaptation and evolution in multi-robotic systems. To achieve the task, every individual robot is required to have the ability to interact with the environment, with other robots and to keep on localizing itself. In this research, an vision based obstacle avoidance approach, to provide the concrete base for localizing the individual robots in multi-robotic environment, is addressed. the development of this vision algorithm is based on the library of basic vision algorithms which is developed in this research for the vision system based on Blackfin BF537 processor. the computer vision system is also, useful in several applications of autonomous vehicles, such as map generation, obstacle avoidance tasks, positioning tasks and target tracking. Furthermore, computer vision can provide a significant gain in reliability, versatility and accuracy of robotic tasks, which are important concerns in most applications.

关键词： Optical flow, Horn–Schunck, Mobile robot, SRV-1.

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Design of a Smart Embedded vision System Based on FPGA for Medical Applications

Design of a Smart Embedded Vision System Based on FPGA for M...

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International conference on Signal Processing and Communication (ICSPC)

作者： Amar Babu Yandrapati Venkata Krishna Pratap Reddy Singam Banbhushan Namburu Venkatesh Paladugu Tirumala Krishna Karakula Dept. of Electronics and Communication Lakireddy Bali Reddy College Mylavaram India

Applications in fields like medical, robots, and automobiles must have embedded vision with the optimized design metrics in today’s smart environment. A tiny computer and camera can be used to create a tiny vision system for the specific purpose; this kind of system is called an embedded vision system. For better design metrics, this project involves developing an embedded vision system and putting it to use in real-time applications. Design criteria that are optimized include low price, rapid development, compact size, and swift speed. the proposed embedded vision system is implemented with the ZYNQSOC. the ZYNQ SOC combines the software programmability of a CPU with the hardware programming of such an FPGA to give high adaptability, excellent performance, scalability, and low power. the embedded vision system was tested by attaching the OV7670 camera to the zedboard. the Zedboard’s client-server architecture enables real-time continuous data streaming to the computer via Ethernet. the hardware platform for the suggested embedded vision system is developed with built-in IP cores in VHDL in Vivado, C-language application software written in SDK, and Petalinux on Ubuntu. this platform is required for applications based on embedded vision systems. Applications for the proposed biomedical clever integrated vision system are available.

关键词： Measurement VHDL Machine vision Scalability robot vision systems Programming Cameras

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An Approach for Object Picking using Correlation analysis and robotic Manipulation

An Approach for Object Picking using Correlation analysis an...

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International conference on Reliability, Infocom Technologies and Optimization (ICRITO) (Trends and Future Directions)

作者： S. Pradeep Asha Rani Vijander Singh Shivangi Agarwal University of Delhi Delhi Instrumentation and Control Engineering Division Netaji Subhas Institute of Technology Dwarka New Delhi

the aim of the present work is to pick and place an object with the help of robotic manipulator using computer vision. Real time object detection is achieved using a camera to capture the image in the region of interest (ROI). 2-D correlation between the object and captured image, along with image processing techniques, locates the object position. the pixel coordinates are then converted to real time distance coordinates. the object location is conveyed to the robotic arm with the help of software instructions and required operation of pick/place is performed. the object is successfully located and grabbed by the robotic arm, provided the relative position of the robotic arm and the camera is fixed. the method uses two-dimensional image analysis in place of three-dimensional object detecting techniques. Hence the proposed algorithm is simple, requires less memory space, does not require any filter, reduces the instruction set and has high accuracy.

关键词： robot kinematics Cameras robot vision systems Correlation Object detection Manipulators

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A finite element model for 3D shape reconstruction and nonrigid motion tracking

A finite element model for 3D shape reconstruction and nonri...

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International conference on computer vision (ICCV)

作者： T. McInerney D. Terzopoulos Department of Computer Science University of Toronto Toronto ONT Canada Canadian Institute for Advanced Research Canada

the authors present a physics-based approach for recovering the 3-D shape and tracking the motion of nonrigid objects using a 3-D elastically deformable balloon model. the balloon model is based on a thin-plate under tension spline which deforms to fit visual data according to internal forces stemming from the elastic properties of the surface and external forces which are produced from the data. the finite element method is used to represent the model as a continuous surface. A natural finite element is used whose nodal variables comprise the position of the surface plus its first and second partial derivatives, reflecting each of the partial derivatives that occur in the spline's strain energy functional. Hence, the model directly estimates all the information needed to measure the differential geometric properties of the fitted surface. the balloon model was applied to the reconstruction of 3-D objects with irregular shape features. Its effectiveness is demonstrated in extracting the left ventricular surface and tracking its nonrigid motion in dynamic computerized tomography volume images.< >

关键词： Finite element methods Shape Surface reconstruction Image reconstruction Tracking Deformable models Spline Surface fitting Capacitive sensors Solid modeling

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Research of Volleyball robot Based on YOLOv8 Lightweight and Binocular vision

Research of Volleyball Robot Based on YOLOv8 Lightweight and...

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Data Science and computer Application (ICDSCA), IEEE International conference on

作者： Yiyao Zhao Jiahui Wang Yanjiang Cui Haonan Zhan Qing Yu Juju Zhao Dalian Polytechnic University Dalian China

ISBN: (数字)9798350368239

ISBN: (纸本)9798350368246

the study of volleyball robot capture mechanism is a challenging problem, and how to realize real-time and high-precision capture is the focus of current research. In order to solve these problems, this paper designs a capture system based on an improved YOLO model and binocular vision scheme for the study of volleyball robot capture mechanism. By improving faster as the backbone network and introducing the EMA attention mechanism, the YOLO model is realized to be lightweight, and the parameter computation is reduced by 26.5%, which ensures the real-time performance of the volleyball robot; meanwhile, the accuracy is improved by 1.1 %. On this basis, the improved YOLO is combined with an improved binocular vision scheme based on the principle of solving triangles to obtain the accurate world coordinate system of the volleyball relative to the disk, ensuring that the robot can solve the world coordinates of the volleyball in real time. In practical applications, the distance error within 2 meters is always kept within 1 cm, through experimental verification, the design scheme in this paper can effectively improve the real-time and accuracy of the robot capture mechanism, and make an important contribution to the development of the robot capture mechanism.

关键词： YOLO Accuracy Attention mechanisms robot kinematics Computational modeling Wheels Debugging Real-time systems Mobile robots robots

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Pathfinder: A Fog Assisted vision-Based System for Optimal Path Selection of Service robots

Pathfinder: A Fog Assisted Vision-Based System for Optimal P...

引用

International conference on Informatics, Electronics & vision (ICIEV)

作者： Niloy Irtisam Riad Ahmed Mohammad Moniruzzaman Akash Raiyaan Abdullah Sujan Sarker Sejuti Rahman Lafifa Jamal University of Dhaka Dhaka Bangladesh

ISBN: (数字)9781728193311

ISBN: (纸本)9781728193328

Service delivery application involving robots relies on the success of the navigation process. To ensure maximum performance, the navigation process should generate optimal path avoiding collisions with dynamic obstacles. Selecting such a path by analyzing the dynamic environment condition while putting minimal overhead on robots is a challenging problem in service robot navigation. In this work, we develop a Fog assisted service robot navigation system that puts most of the computing tasks to a central Fog server. the server employs a vision-based monitoring system to locate the robots and obstacles. the optimal path is generated by analyzing the available information and the robots are instructed accordingly. We implement a test-bed system to evaluate the performance of the proposed system. the results depict that the proposed fog-based system can achieve as low as 23.81% of average distance covered, 22.05% of average service delivery time, and 22.72% of average energy consumption compared to the without fog systems. Contribution-A fog-based system for service robot navigation is proposed that uses computer vision to generate optimal obstacle free path.

关键词： robots Navigation Service robots Servers robot sensing systems Collision avoidance Sensors

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Acquisition Algorithm of Spatial Control Parameter Relative Distance for On-line Insulation

Acquisition Algorithm of Spatial Control Parameter Relative ...

引用

International conference on Measurement, Information and Control (MIC)

作者： Xizhen Zhang Xiaoyan Sun Chenhong Yao Zhihui Wang Information and Control College Xi’an University of Architecture & Technology Xi’an China

ISBN: (数字)9781728130354

ISBN: (纸本)9781728130361

Most vision control of the existing power-line insulator robot system needs to be realized indirectly through the remote computer. the vision system itself does not have the ability of vision control, and the level of automation is low. In order to improve the visual control ability and automation level of the power-line insulator robot, an on-line spatial control parameter acquisition algorithm for insulator is presented based on target extraction. the algorithm can be embedded in the hardware platform of visual system to automatically measure the relative distance of insulators. the results of hardware implementation show that the proposed algorithm can measure the relative distance accurately on the hardware platform of visual system. the error rate of distance measurement is basically less than 3%, which achieves the desired effect and design requirements.

关键词： Insulators Visualization robot kinematics Sensors Transmission line measurements Hardware

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