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 elec...
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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.
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 ...
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The assembly of complex microsystems consisting of several single components (i.e. hybrid microsystems) is a task which has to be solved to make mass production of microsystems possible. Therefore, it is necessary to ...
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The manipulation of large CT datasets needs fast visualisation methods for a comfortable user interaction. Modern visualisation techniques make use texture hardware in graphics workstations extensively. In the followi...
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ISBN:
(纸本)1586030140
The manipulation of large CT datasets needs fast visualisation methods for a comfortable user interaction. Modern visualisation techniques make use texture hardware in graphics workstations extensively. In the following we will present an interactive tool for the positioning of anatomical landmarks in CT datasets of non-pathological children. The tool includes a fast visualisation of CT cross sections based on a texture mapping technique and an interactive three-dimensional view of the segmented CT dataset.
Planning, visualisation and intraoperative navigation in a robot assisted environment for craniofacial surgery require highly accurate methods for the segmentation of bone structures in CT data. Clinical systems are s...
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ISBN:
(纸本)1586030140
Planning, visualisation and intraoperative navigation in a robot assisted environment for craniofacial surgery require highly accurate methods for the segmentation of bone structures in CT data. Clinical systems are still based on time consuming interactive methods like the seed-point segmentation. Faster methods with no need for interactivity lacks in precision. In the following we will present an automatic and highly accurate algorithm for the segmentation of bone contours in CT data. It is based on an algorithm for the automatic calculation of a grey-value tissue relation model for CT and MRI data.
We present the concept of a system architecture for the computer aided craniofacial surgery. The architecture is based on CORBA, an industrial standard specification for the development of distributed applications. Ou...
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ISBN:
(纸本)1586030140
We present the concept of a system architecture for the computer aided craniofacial surgery. The architecture is based on CORBA, an industrial standard specification for the development of distributed applications. Our concept includes a fundamental behaviour oriented communication model and some fundamental software safety considerations. We've developed a standard library for the integration of new services and devices into our system architecture. It decreases development time noticeably. We tested the performance and usability of our concept on an evaluation set up consisting of a surgery robot system, an infrared navigation system, a force-torque sensor and a visualisation software, obtaining excellent results. Future work will consist in the integration of further devices and the extension of our safety concept. An accurate clinical evaluation will take place continuously.
In craniofacial surgery bone fractures and repositioned bone segments often have to be fixed by titanium miniplates. In clinical routines the surgeon has to fit each miniplate to be used to the individual bone structu...
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ISBN:
(纸本)1586030140
In craniofacial surgery bone fractures and repositioned bone segments often have to be fixed by titanium miniplates. In clinical routines the surgeon has to fit each miniplate to be used to the individual bone structure of the patient: bending and fitting of a miniplate must frequently be repeated several times. Often up to twenty minutes are required to achieve the best fit of a single osteosynthesis plate. As a patient usually receivd several miniplates for bone fixture, he will be exposed to long anaesthesia. In co-operation with the surgeons of the Clinic of Maxillofacial surgery at the University of Heidelberg we have conceived a planning system for the preoperative positioning of miniplates on a model of the patient's skull. The appropriate bending is computed and the bending data are stored for later use by a bending device and an intraoperative positioning aid. The principles of our computer-aided tool are presented in this paper.
In this paper, a flexible manipulation system used in a catalogue sale business is presented. One application of such a system is the object turning operation for the barcode search. The regrasping procedures are stud...
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In this paper, a flexible manipulation system used in a catalogue sale business is presented. One application of such a system is the object turning operation for the barcode search. The regrasping procedures are studied in detail to its significance in object turning. This work focuses on regrasping tasks with several different grippers.
Modeling manipulators has been an important part in robotic simulations. There are various types of robot systems used in today's robotic research and application, e.g., the six axis industrial robots, humanoid re...
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Modeling manipulators has been an important part in robotic simulations. There are various types of robot systems used in today's robotic research and application, e.g., the six axis industrial robots, humanoid redundant manipulators and 4 finger grippers. Therefore, the model's structure can be very complex, requiring techniques for both modeling and simulating the system. "Traditional" simulation packages handle each robot respectively. This paper presents a formal model for arbitrary manipulators or grippers and implement the theoretical ideas into a real modeling and simulation tool.
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