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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Schmoeckel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780365763

In the scanning electron microscope, many studies require micromanipulation tools that can be flexibly and comfortably used for the handling and positioning of objects ranging from a few millimeters down to fractions of microns. In the paper, some aspects of the control of small mobile microrobots by teleoperation are addressed facing the special behavior of their piezoelectric actuators and the challenge of handling tasks in ranges of very different orders of magnitude (100 nm-100 mm). In order to give the teleoperated tweezers a kind of low-level "intelligence", a control loop using the SEM as a sensor system is being developed. In different open-loop handling experiments, the employed 6D-mouse proves satisfactory as an intuitive user interface.

关键词： Scanning electron microscopy Electron mobility Piezoelectric actuators Intelligent control Intelligent sensors Intelligent actuators Open loop systems control systems Sensor systems User interfaces

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Flexible Mobile Microrobots for Various Remote-controlled Micro-Manipulating Tasks

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IFAC Proceedings Volumes 2001年第9期34卷 327-331页

作者： Jörg Seyfried Ferdinand Schmoeckel Axel Bürkle Heinz Wörn Institute for Process Control and Robotics (IPR) Computer Science Department Universität Karlsruhe (TH) Kaiserstrasse 12 D-76128 Karlsruhe Germany

The handling of objects smaller than 1 mm is a great challenge for the robotics research community. Applications are the handling of biological cells, teleoperation under vacuum conditions (e.g. inside a scanning electron microscope - SEM) or the manufacture of prototypes of microsystems. In this paper, some aspects of the control of small mobile microrobots by teleoperation are addressed. The employed 6D-mouse proves satisfactory as an intuitive user interface. A distributed control and planning architecture is presented as well as a closed-loop control approach basing on a sensor system that mainly consists of a standard SEM.

关键词： Microsystems Assembly robots Telemanipulation Biotechnology Microscopes

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An integrative framework for global self-localization

An integrative framework for global self-localization

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： J. Weber L. Franken K.-W. Jorg K. Schmitt E. von Puttkamer Computer Science Department Robotics & Process Control Research Group University of Kaiserslautern Kaiserslautern Germany

Concerning the robustness of mobile robot navigation, global self-localization is a key feature for many service applications. In this paper we describe an efficient Bayesian approach for hybrid topological/metric navigation, which is designed to exploit information from multiple sources of sensor data. Experiments with a combination of odometry/laserscans/computer vision show the system was able to generate initial position hypotheses, to cope with environmental ambiguities and to recover from severe position errors.

关键词： Sensor phenomena and characterization Mobile robots Navigation Service robots Robustness Sensor fusion computer science process control Robust control Application software

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Three-dimensional digital ultrasound imaging system for surgical navigation

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International Congress Series 2001年第C期1230卷 117-122页

作者： Sakuma, Ichiro Tanaka, Yasuyoshi Takai, Yuichi Kobayashi, Etsuko Dohi, Takeyoshi Schorr, Oliver Hata, Nobuhiko Iseki, Hiroshi Muragaki, Yoshihiro Hori, Tomokatsu Takakura, Kintomo Institute of Environmental Studies Graduate School of Frontier Sciences The University of Tokyo Tokyo 113-8656 7-3-1 Hongo Bunkyo-ku Japan Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe D-76128 Kaiserstrasse 12 Germany Surgical Planning Laboratory Brigham and Women's Hospital Harvard Medical School Boston MA 02115 75 Francis Street United States Department of Neurosurgery Tokyo Women's Medical University Tokyo 162-8666 8-1 Kawada-cho Shinjuku-ku Japan

A new three-dimensional (3D) digital ultrasound imaging system for surgical navigation was developed. The system could obtain 3D data within 12 s and show the data about 40 s. Volume rendering of the 3D data could be possible in a practically short time by introducing the volume rendering graphics accelerator. We applied the system in two clinical cases. The system can also register the obtained image to the other 3D data such as MRI and X-ray CT data by incorporating 3D position tracking system on its ultrasound probe. © 2001 Elsevier science B.V.

关键词： 3D digital ultrasound imaging system Surgical navigation Volume rendering

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A pattern catalogue of surgical interventions for computer-supported operation planning

A pattern catalogue of surgical interventions for computer-s...

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Münchenberg, J. Wörn, H. Brief, J. Hassfeld, S. Mühling, J. Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe 76128 Karlsruhe Germany Clinic for Cranio-Maxillo-Facial-Surgery University of Heidelberg 69120 Heidelberg Germany

ISBN: (纸本)1586030140

In this paper we present a new operation planning system which was evaluated in the clinic for Cranio-Maxillo-Facial-Surgery at the University of Heidelberg. In opposite to commercial systems our goal was, that the system considers the complete surgical intervention and not only a single procedure of it. A second goal was, that the system enables managing of complex operations, independent of which way the intervention will be intraoperatively performed (without technical support, with passive navigation support or active support by robots). Our system supports the surgeon during the preoperative planning as well as during the intraoperative execution phase. Therefore we developed a course model by which the managing of surgical interventions is possible. The focus of this paper is on this course model. At first we introduce instruction graphs and describe the structure of each activity observing its attributes and their context. Additionally, various surgical scopes will be presented which enable the surgeon to select one view among different ones of the individual operation procedures in accordance to medical and technical knowledge as well as in accordance to different degrees of abstraction. At last we demonstrate operation patterns, used as expert knowledge.

关键词： Robots

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Intuitive operation planning based on force feedback

Intuitive operation planning based on force feedback

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Münchenberg, J. Wörn, H. Brief, J. Kübler, C. Hassfeld, S. Raczkowsky, J. Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe 76128 Karlsruhe Germany Clinic for Cranio-Maxillo-Facial-Surgery University of Heidelberg 69120 Heidelberg Germany

ISBN: (纸本)1586030140

In the craniofacial surgery image-slices obtained from tomographies are used for planning and simulation of surgical interventions. Using these image-slices three-dimensional geometric models can be reconstructed, representing bones and soft tissue. However, for planning complex surgical interventions simulation methods are needed additionally to the pure visualisation. Exemplary, planning a Frontal Orbital Advancement (FOA) operation the cutting trajectories, their depth and orientation in each point, the drill hole, the position, orientation and deformation of bones, etc. are the point of interest. Especially for intraoperative execution supported by navigation systems or robots. In order to be able to plan such complex interventions with the help of computers, geometrical and haptical models must be generated from the image-slices. On the one hand these models represent the anatomical structures exactly, on the other hand they are needed for the simulation of the different activities, which have to be performed during the surgical intervention like drilling, milling, deforming, positioning, etc. Beside the geometrical and haptical models methods for interactions must be supplied to the physician for an accurate and intuitive planning of the surgical intervention. We developed such an operation planning system which is already used in clinical practise in Heidelberg.

关键词： Navigation systems

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Laser measuring system for a flexible microrobot-based micromanipulation station

Laser measuring system for a flexible microrobot-based micro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Buerkle S. Fatikow Computer Science Department Institute for Process Control and Robotics (IPR Universität Karlsruhe Karlsruhe Germany Computer Science Department Institute for Process Control and Robotics IPR Universität Karlsruhe Karlsruhe Germany

There is an increasing interest in performing assembly of microsystems by flexible microrobots. A microrobot-based microassembly desktop station has been developed at the University of Karlsruhe. In this paper, new implementation results of a computer vision based automatic control system of a mobile microrobot with an integrated flexible manipulator are discussed. The operations of the robot manipulator take place under a microscope equipped with a CCD-camera. A major drawback of this system is its lack of depth information. For this reason, the sensor system has been enhanced by a line laser, using laser triangulation. The set-up of the modified sensor system is described. The measuring principle is based on a method called sheet of light triangulation, a variation of standard triangulation. This approach is described in detail, and its advantages and limitations are discussed.

关键词： Manipulators Sensor systems Robotic assembly Microassembly computer vision Automatic control Mobile computing Robot sensing systems robotics and automation Microscopy

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Planning of rapid grasp operations in unstructured scenes

Planning of rapid grasp operations in unstructured scenes

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

作者： M. Muller H. Worn Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

Grasping of unmodelled objects in unstructured scenes is a significant task in numerous robot applications. In order to reach short cycle times, grasp planning must make the best of the image information acquired all at once, which comprises more or less visual occlusions and thus unknown regions. For time reasons, it is not acceptable to inspect in further steps all unknown regions by means of local sensing before grasp planning. We present a grasp planning system, which determines explicitly the fractions of grasp operations in known and unknown regions. Using that crucial information, a planning system may not request a tool change, but prefer a grasping operation with the mounted gripper, which moves mostly in known and free regions. Then, only a small part has to be executed slowly using local sensing with, for examples, proximity or force torque sensors.

关键词： Layout Grippers Robot sensing systems Law Legal factors Force sensors Service robots Torque Shipbuilding industry Fingers

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A robust algorithm for segmenting deformable linear objects from video image sequences

A robust algorithm for segmenting deformable linear objects ...

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International Conference on Pattern Recognition

作者： F. Abegg D. Engel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0769507506

A new algorithm for segmenting and tracking deformable (shape-changing) linear (thin and long with negligible diameter) objects in video images is presented. The core of algorithm is to detect the two boundary curves of a deformable linear object within adaptive tracking windows. The boundaries are found by analyzing the gray value gradients within the tracking windows. The algorithm allows moderate changes in the image brightness by introducing tolerance parameters to the algorithm. It also provides a robust tracking of the shape- and width-changing object by using a fuzzy estimation of the object's membership function at the tracked points. The result describes the shape of the object and is used to define features for shape change detection.

关键词： Robustness Image segmentation Image sequences Service robots Robot sensing systems Shape Image processing Robot vision systems Active contours Pixel

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Robust algorithms for recognizing shape changes of deformable linear objects in video image sequences

Robust algorithms for recognizing shape changes of deformabl...

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IEEE International Conference on Image processing

作者： F. Abegg H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780362977

A new algorithm for segmenting and tracking deformable (shape-changing) linear (thin and long with negligible diameter) objects in video images is presented. The core of the algorithm is to detect the two boundary curves of a deformable linear object within adaptive tracking windows. The boundaries are found by analyzing the gray value gradients within the tracking windows, The algorithm provides a robust tracking of the shape- and width-changing object by using a fuzzy estimation of the object's membership function at the tracked points. The result of the segmentation is a list of base describing the shape of the object. This list is used to define features for shape change detection. For the feature analysis, we propose an algorithm which works well for several classes of feature curves. Experiments on robotic applications using both algorithms show promising results.

关键词： Robustness Image recognition Shape Image sequences Change detection algorithms Image segmentation Object detection Algorithm design and analysis Service robots Robot sensing systems

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