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2009 WRI World Congress on Computer Science and Information Engineering, CSIE 2009

作者： Suthakorn, Jackrit Lorsakul, Auranuch Department of Biomedical Engineering Center for Biomedical and Robotics Technology Mahidol University Bangkok Thailand

ISBN: (纸本)9780769535074

A navigation system combines preoperative and intraoperative surgeries that are offered to minimize risk of damage to patents' anatomic structures. This paper analyzes two different navigation approaches: a computerized tomography (CT) marker based approach and a conventional non-computerized tomography marker approach. This study provides advantages and benefits of the CT marker based approach. 3D coordinates, frame description, homogeneous transform, and kinematic equations are calculated and displayed in a GUI. Results show that the CT maker based approach are not statistically different from conventional approaches and thus viable to perform intelligent dental navigation. © 2008 IEEE.

关键词： Computerized tomography

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Kinematic Comparison of CT Marker Base and Non-CT Marker Base Approaches for Intelligent Dental Surgical Navigation Development

Kinematic Comparison of CT Marker Base and Non-CT Marker Bas...

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Computer Science and Information Engineering, CSIE, WRI World Congress on FLAGGED

作者： Jackrit Suthakorn Auranuch Lorsakul Department of Biomedical Engineering and Center of Biomedical and Robotics Technology Faculty of Engineering Mahidol University Bangkok Thailand

A navigation system combines preoperative and intraoperative surgeries that are offered to minimize risk of damage to patentspsila anatomic structures. This paper analyzes two different navigation approaches: a computerized tomography (CT) marker based approach and a conventional non-computerized tomography marker approach. This study provides advantages and benefits of the CT marker based approach. 3D coordinates, frame description, homogeneous transform, and kinematic equations are calculated and displayed in a GUI. Results show that the CT maker based approach are not statistically different from conventional approaches and thus viable to perform intelligent dental navigation.

关键词： Kinematics Dentistry Surgery Navigation Computed tomography Intelligent robots biomedical optical imaging Optical computing Optical network units biomedical engineering

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On the design and development of a rough terrain robot for rescue missions

On the design and development of a rough terrain robot for r...

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IEEE International Conference on robotics and Biomimetics

作者： J. Suthakorn S.S.H. Shah S. Jantarajit W. Onprasert W. Saensupo S. Saeung S. Nakdhamabhorn V. Sa-Ing S. Reaungamornrat Center of Biomedical and Robotics Technology Faculty of Engineering Mahidol University Salaya Nakhon Pathom Thailand

Rescue robots play an important role during rescue missions in disasters such as 9/11, which caused more than 2,000 deaths and thousands of injuries. However, tele-operating rescue robots are unable to perform their tasks constantly due to the limitation of current wireless communication technology. Therefore, rescue robots with the capability of performing their tasks autonomously during temporarily lost connections to the control base would be ideal. This paper introduces our development of a semi-autonomous rough terrain robot for rescue missions. The robot's hardware components, system architecture, and software architecture are described in order to provide a general overview of our robot. An alternative and comprehensive map-generating algorithm is presented and discussed. Finally, experimental setup and results from a testing arena are reported.

关键词： Mobile robots Earthquakes Wireless communication Communication system control Simultaneous localization and mapping Shape Robot control Intelligent robots Biomimetics biomedical engineering

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Toward robot-assisted dental surgery: Path generation and navigation system using optical tracking approach

Toward robot-assisted dental surgery: Path generation and na...

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IEEE International Conference on robotics and Biomimetics

作者： Auranuch Lorsakul Jackrit Suthakorn Chanjira Sinthanayothin Wichit Tharanon Department of Biomedical Engineering and Center of Biomedical and Robotics Technology (BART LAB) Faculty of Engineering Mahidol University Bangkok Thailand Development Agency Pathum Thani Thailand

The main aim of this paper is to develop dental implant surgical navigation system based on homogenous transformation algorithms. This work is a partial section of robot-assisted surgical development. The previous works are presented in numerous basic research. They are methodology design on tool tip calibration, optical marker recognition, and pose determination using neural networks. This paper concerns with tracking path generation system based on fundamental of optical tracking. The intraoperative system is the principal focus area of this study. The homogenous transformation has been calculated in term of kinematics equation among marker relationship. The stereo camera is utilized to retrieve 3D position of different pattern styles of markers. The beneath marker recognition algorithm using rotation-invariant neural network and physical method is performed to identify markers. The fundamental relationship among markers are computed to obtain the orientation and translation between the guided path and the instrument's tool tip. The experiment has been demonstrated and performed under prototype model. The method is to work on procedure step by step. They begin with patient information input and continuously perform on marker recognition, tool tip calibrations and marker digitization. The path tracking is executed to observe the accuracy of the system. The result shows that the system can be performed to track path based on beforehand planning.

关键词： Robots Dentistry Surgery Navigation biomedical optical imaging Calibration Optical computing Neural networks Implants Design methodology

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An acceleration-based control framework for interactive gaming

An acceleration-based control framework for interactive gami...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Tiexiang Wen Lei Wang Jia Gu Bangyu Huang Research Center of Medical Robotics Institute of Biomedical and Health Engineering Shenzhen Institute of Advanced Technology Chinese Academy and Sciences Shenzhen China

In this paper we presented a 3-D acceleration-based interactive framework using body sensor networks (BSN) for real-time game controls. The framework consists of three modules: a wireless signal acquisition module that senses the accelerations of body movements, a signal processing module that uses the Kalman filter to rectify the contaminated acceleration data, and a control module that makes interactive gaming strategies. Our framework enables a wearable gaming control solution that differs from the conventional methods using joysticks, key boards or mice. The framework was implemented on a racing-type game. The results suggested that our framework was fully functioning. It was capable of combining moderate physical exercises with the computer game, at the meantime brought in more funs and motivations to exercises.

关键词： Acceleration Body sensor networks biomedical monitoring Signal processing Wireless sensor networks Accelerometers Physics computing Application software Heart rate Batteries

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Stem Cells: Patterned Differentiation of Individual Embryoid Bodies in Spatially Organized 3D Hybrid Microgels (Adv. Mater. 46/2010)

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Advanced Materials 2010年第46期22卷

作者： Hao Qi Yanan Du Lianyong Wang Hirokazu Kaji Hojae Bae Ali Khademhosseini Center for Biomedical Engineering Department of Medicine Brigham and Women's Hospital Harvard Medical School Boston MA 02115 (USA) Telephone: 1 – 617‐768 — 8395 Fax: 1 – 617‐768 — 8477 Harvard‐MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge MA 02139 (USA) Biomedical Engineering School of Medicine Tsinghua University Beijing (China) Key Laboratory of Bioactive Materials Ministry of Education College of Life Science Nankai University Tianjin (China) Department of Bioengineering and Robotics Graduate School of Engineering Tohoku University Sendai (Japan)

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Bio-inspired assistive robotics: Service dogs as a model for human-robot interaction and mobile manipulation

Bio-inspired assistive robotics: Service dogs as a model for...

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IEEE/RAS-EMBS International Conference on biomedical robotics and Biomechatronics (BioRob)

作者： Hai Nguyen Charles C. Kemp Center for Robotics and Intelligent Machines Faculty of Biomedical Engineering at Georgia Technology USA

Service dogs have successfully provided assistance to thousands of motor-impaired people worldwide. As a step towards the creation of robots that provide comparable assistance, we present a biologically inspired robot capable of obeying many of the same commands and exploiting the same environmental modifications as service dogs. The robot responds to a subset of the 71 verbal commands listed in the service dog training manual used by Georgia Canines for Independence. In our implementation, the human directs the robot by giving a verbal command and illuminating a task-relevant location with an off-the-shelf green laser pointer. We also describe a novel and inexpensive way to engineer the environment in order to help assistive robots perform useful tasks with generality and robustness. In particular, we show that by tying or otherwise affixing colored towels to doors and drawers an assistive robot can robustly open these doors and drawers in a manner similar to a service dog. This is analogous to the common practice of tying bandannas or handkerchiefs to door handles and drawer handles in order to enable service dogs to operate them. This method has the advantage of simplifying both the perception and physical interaction required to perform the task. It also enables the robot to use the same small set of behaviors to perform a variety of tasks across distinct doors and drawers. We report quantitative results for our assistive robot when performing assistive tasks in response to user commands in a modified environment. In our tests, the robot successfully opened two different drawers in 18 out of 20 trials (90%), closed a drawer in 9 out of 10 trials (90%), and opened a door that required first operating a handle and then pushing it open in 8 out of 10 trials (80%). Additionally, the robot succeeded in single trial tests of opening a microwave, grasping an object, placing an object, delivering an object, and responding to various other commands, such as staying quiet

关键词： Mobile robots Human robot interaction Dogs Robustness Biological system modeling Testing Intelligent robots Senior citizens Costs Biomechatronics

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Dynamic complexity of cognitive event-related potential based on time-dependent approximate entropy

Dynamic complexity of cognitive event-related potential base...

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International Conference on biomedical and Pharmaceutical Engineering, ICBPE

作者： Nan Zhao Supin Wang Xiaofeng Liu Mingxi Wan Department of Biomedical Engineering Xi''an Jiaotong University Xi'an China Center of Robotics Shandong University of Science and Technology China

A method for calculating dynamic complexity of cognitive event-related potential (ERP) was introduced, which was recognized as time-dependent approximate entropy (ApEn). In addition, two calculating methods, mean of entropy for each trial (Mean of ApEn) and entropy for averaged ERP (ApEn of ERP), were validated and compared through an investigation of EEG complexity in a Chinese Stroop task containing two types of stimulus. Two phenomena can be observed from the experiment: 1. In contrast to the ApEn before stimulus, ApEn from two types of tasks decreased remarkably after the presence of stimulus, reached a minimum corresponding to the response output and rose back after response over frontal, central, and parietal regions. 2. ApEn of ERP had significant difference among three periods: pre-stimulus, within-response, and post-response, while Mean of ApEn did not. It is demonstrated that time-dependent approximate entropy is an effective method to measure the dynamic complexity of cognitive ERPs.

关键词： Entropy Enterprise resource planning biomedical engineering Electroencephalography biomedical measurements Algorithm design and analysis Cognitive robotics Stochastic processes Time series analysis Electrophysiology

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Development of a CPM Machine for Injured Fingers

Development of a CPM Machine for Injured Fingers

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Yili Fu Fuxiang Zhang Xin Ma Qinggang Meng Robotics Institute and Advanced Manufacturing Technology Center Harbin Institute of Technology Harbin China Robotics Institute Harbin Institute of Technology Harbin China Biomedical Imaging Laboratory Singapore Affiliated Hospital Harbin Medical University Harbin China

Human fingers are easy to be injured. A CPM machine is a mechanism based on the rehabilitation theory of continuous passive motion (CPM). To develop a CPM machine for the clinic application in the rehabilitation of injured fingers is a significant task. Therefore, based on the theories of evidence based medicine (EBM) and CPM, we've developed a set of biomimetic mechanism after modeling the motions of fingers and analyzing its kinematics and dynamics analysis. We also design an embedded operating system based on ARM (a kind of 32-bit RISC microprocessor). The equipment can achieve the precise control of moving scope of fingers, finger's force and speed. It can serves as a rational checking method and a way of assessment for functional rehabilitation of human hands. Now, the first prototype has been finished and will start the clinical testing in Harbin Medical University shortly

关键词： Fingers Humans Biomimetics Motion analysis Kinematics Operating systems Reduced instruction set computing Microprocessors Force control Medical control systems

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Development of a CPM machine for injured fingers

Development of a CPM machine for injured fingers

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2005 27th Annual International Conference of the Engineering in Medicine and Biology Society, IEEE-EMBS 2005

作者： Fu, Yili Zhang, Fuxiang Ma, Xin Meng, Qinggang IEEE Robotics Institute Advanced Manufacturing Technology Center Harbin Institute of Technology Harbin CO 150001 China Robotics Institute Harbin Institute of Technology Harbin CO 150001 China Biomedical Imaging Lab. 30 Biopolis Street 138671 Singapore Singapore Harbin Medical University 4Th Affiliated Hospital Harbin CO 150086 China

ISBN: (纸本)0780387406

关键词： biomedical equipment

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