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Knowledge-based System for Port Placement and Robot Setup Optimization in Minimally Invasive Surgery

IFAC Proceedings Volumes 2012年第22期45卷 722-728页

作者： Oliver Weede Markus Mehrwald Heinz Wörn Karlsruhe Institute of Technology Institute for Process Control and Robotics Germany

A new knowledge-based planning system is presented, that optimizes the positions of ports for the instruments and the endoscopic camera in manual and robot assisted laparoscopic surgery. For robot assisted interventions, the initial robot configuration of the da Vinci ® Surgical System is included in the optimization. Modeling of the patient, the intervention and the telemanipulator are described. The patient model is including the pneumoperitoneum. The intervention model is inferred from recorded trajectories of the surgical instruments. The optimization is performed with the Seed Throwing Optimization meta-heuristic. Criteria for optimization are reachability of target areas, collision avoidance and dexterity as well as ergonomic factors. These criteria are modeled as fuzzy sets. The optimized port positions are projected on the patient's abdomen with a new laser-based projection system. The error of the laser-based projection was measured. The advantages and disadvantages of the system are discussed and compared to an existing augmented reality system. First results show that the computed configuration leads to maximum access in the operation field in the narrow pelvis, maximum separation of the telemanipulator's arms and allows an ergonomic completion of the intervention.

关键词： Telerobotics Medical systems Multiobjective optimisations

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Extraction of Solids of Revolution from Point Cloud Scenes for Grasp Planning Tasks

Extraction of Solids of Revolution from Point Cloud Scenes f...

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ROBOTIK 2012;7th German Conference on robotics

作者： Stefan Escaida Navarro Tobias Klock Daniel Braun Heinz Woern Institute for Process Control and Robotics Karlsruhe Institute of Technology

This paper presents a method for constructing high fidelity geometrical models of objects in a point cloud scene with the goal of grasp planning and evaluation. We consider objects whose volume can be modeled as a solid of revolution which is extracted from the scene in a sample consensus framework. The approach also provides a natural strategy for segmenting object features such has cup-handles that are an exception to this shape assumption.

关键词： Robots Geometry Approximation methods Estimation Noise Shape Grasping

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Robustness, scalability and flexibility: Key-features in modular self-reconfigurable mobile robotics

Robustness, scalability and flexibility: Key-features in mod...

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

作者： Rene Matthias Andreas Bihlmaier Heinz Wörn Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

In this paper we address some of the most important aspects in modular self-reconfigurable mobile robotics. Related work indicates that it is not sufficient to just have a flexible, scalable and robust platform but that it is necessary to preserve these capabilities in higher levels of organization to benefit from them. Hence we analyze the way in which similar platforms and the according software are implemented. Then we describe the way our own platform is implemented within the SYMBRION and REPLICATOR projects. Afterwards we show how we manage to preserve the robustness and flexibility for use by other researchers in higher levels of organization. To conclude we provide some measurements that show the general adequacy of our platform architecture to cope with the challenges posed by multi-modular self-reconfigurable robotics.

关键词： Hardware Computer architecture Software Robustness Robot sensing systems Software architecture

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Introducing a standardized electronics architecture for multi-modular self-reconfigurable mobile robots

Introducing a standardized electronics architecture for mult...

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IEEE International Conference on robotics and Biomimetics

作者： Rene Matthias Heinz Wörn Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

In this paper we provide the fundamentals and a proof of concept for a completely new approach in multi-modular self-reconfigurable mobile robotics. The architecture described consists of two main parts being strongly interconnected. The first part is the development of an architecture based upon a high-speed fully switched Ethernet-network. This approach contrasts the way existing platforms were designed. The use of a switched Ethernet-network, instead of commonly used bus-systems, depicts a paradigm change in this field of robotics. The second part stipulates a strict decomposition of the robot module into various submodules. A powerful mainCPU, running a μClinux, represents the central entity of the architecture. It is supported by several peripheral microcontrollers, which perform low-level tasks and data preprocessing only. The submodules are treated as blackboxes, being independant from each other, only loosely coupled by a local SPI-bus. This results in a more robust and manageable system. As the number of submodules is not restricted, the architecture is very flexible. The employment of standards like POSIX and Ethernet severely eases the developmental process and further research.

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Combining shape sensor and haptic sensors for highly flexible single port system using Fiber Bragg sensor technology

Combining shape sensor and haptic sensors for highly flexibl...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Christoph Ledermann Jan Hergenhan Oliver Weede Heinz Woern Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

Single port surgery is a promising approach to further optimize the benefits of robot assisted minimally invasive surgery. Advantages include further minimization of trauma and reduction of scars, but it also increases the need for flexible, high-end instruments and miniaturized sensors. This paper describes a new concept of a miniaturized sensor system which combines a kinesthetic sensor, a tactile sensor and a position sensor. Latter is realized as a shape sensor. The combination of the sensors is possible because they are all based on Fiber Bragg Grating technology. A concept for each sensor is also presented. They are improved compared to current research and adapted to our needs. The miniaturized sensor system is integrated into an innovative, highly flexible single port system.

关键词： Shape Tactile sensors Fiber gratings Strain

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Stabilization of moved objects for tele-operated robots

Stabilization of moved objects for tele-operated robots

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems

作者： Wilhelm August Heinz Woern Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

In this paper a tele-operated robot system is presented for transporting and stabilizing a ball rolling on a tray. A ball on a tray is a very sensitive system. Therefore it can be used to make lateral forces visible. In our experimental setup a round tray of 25 cm in diameter is attached to the end effector of an industrial robot manipulator. A small ball is placed on the tray. The position of the rolling ball is observed by an USB camera which is attached to the end effector of the robot above the tray, moving with the end effector. The result of the presented research is a controllable transport of the tray as a tele-operated system in all three dimensions. Lateral forces are smoothed by convenient adaption of the orientation and movement of the end effector. The mathematical model of the controller is based on Lagrangian mechanics. The input of the controller is the current position of the ball on the tray observed by the camera and the current configuration of the kinematic chain of the robot manipulator. The idea behind this experiment is to use a small sphere as a sensor to minimize lateral forces while transporting sensitive goods.

关键词： Mathematical model Robot sensing systems Cameras control systems Acceleration Equations

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Object recognition based on depth information and associative memory

Object recognition based on depth information and associativ...

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International Workshop on Robot Sensing (ROSE)

作者： Stephan Puls Norah Schnorr Heinz Wörn Institute of Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

Steady improvement of robotic systems due to developments in the realm of sensing the world enables advances towards human-robot-cooperation. In order for the robot to be reactive in its environment objects need to be identified. In this paper an approach is presented which allows identification of objects in the working area of an industrial robot. Neural Networks are used as associative memory to learn new items and efficiently recognize learned objects.

关键词： Object recognition Biological neural networks Robot sensing systems Service robots Humans

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Haptic object recognition for multi-fingered robot hands

Haptic object recognition for multi-fingered robot hands

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Stefan Escaida Navarro Nicolas Gorges Heinz Wörn Julian Schill Tamim Asfour Rüdiger Dillmann Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany Institute for Process Control and Robotics Karlsruhe Institute of Technology Humanoids and Intelligence Systems Lab Karlsruhe Institute of Technology Germany

In this paper, we present an approach for haptic object recognition and its evaluation on multi-fingered robot hands. The recognition approach is based on extracting key features of tactile and kinesthetic data from multiple palpations using a clustering algorithm. A multi-sensory object representation is built by fusion of tactile and kinesthetic features. We evaluated our approach on three robot hands and compared the recognition performance using object sets consisting of daily household objects. Experimental results using the five-fingered hand of the humanoid robot ARMAR, the three-fingered Schunk Dexterous Hand 2 and a parallel Gripper are performed. The results show that the proposed approach generalizes to different robot hands.

关键词： Vectors Grippers Tactile sensors Haptic interfaces

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Force approximation and tactile sensor prediction for reactive grasping

Force approximation and tactile sensor prediction for reacti...

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Proceedings of the Biannual World Automation Congress

作者： Heinz Wörn Thomas Haase Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

The sense of touch is an important component of dexterous manipulation. Multi-fingered robot hands with integrated tactile sensors are able to analyze and evaluate grasps. Therefore, predefined set-points are required to compare realized with nominal target values. Based on the comparison results, developed reactive grasping skills are able to optimize grasps. The question that arises here is whether and how tactile set-points as well as acting forces could be obtained. A preliminary analysis could provide information about important expectation values and grasp characteristics. Thus, force approximation and tactile sensor prediction are required. This paper describes an innovative approach of how to assign forces to received tactile sensor values as well as the design of a tactile sensor prediction. Additionally, potential fields of applications as well as some statistical analysis of received tactile sensor images are presented. It is shown, how to extend the designed algorithms to find reasonable grasp positions at the surface of complex objects.

关键词： Tactile sensors Force Grasping Force measurement Service robots

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Towards an autonomous manipulator system for decontamination and release measurement

Towards an autonomous manipulator system for decontamination...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Simon Notheis Patrick Kern Michael Mende Björn Hein Heinz Wörn Sascha Gentes Institute for Process Control and Robotics / Institute for Technology and Management in Construction Karlsruhe Institute of Technology Karlsruhe Germany

This paper will present a manipulator and transport system for autonomous exploration, decontamination and radiation measurement / release measurement of contaminated surfaces as found during dismantling of nuclear power plants. An innovative system for surface ablation and measurement tasks is currently being developed under the research project MAFRO (Manipulatorgestütztes Freimessen von Oberflächen = manipulator-based release measurement of surfaces), a joint project of the institute for process control and robotics and the institute for Technology and Management in Construction at the Karlsruhe institute of Technology (KIT), funded by the German Federal Ministry of Education and Research (BMBF). The setup comprises a transport system and a manipulator equipped with vacuum suction units to move along walls.

关键词： Manipulators Surface treatment Pollution measurement Decontamination Laser ablation Surface emitting lasers Surface contamination

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