We introduce a method to apply a preoperative 3D plan for inserting dental implants with an assisting medical robot. The treatment plan is based on the 3D visualization of the CT data of the patient.s maxilla and mand...
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When planning craniofacial surgical interventions, the ideal appearance of the patient is very important. The final appearance should be as close as possible to that which the patient would have if he/she were without...
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The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scannin...
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ISBN:
(纸本)9051993862
The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scanning systems. As an anatomical knowledge base improves the recognition of structures in CT or MRI scans, we chose a knowledge based segmentation in our approach, which will be explained in the following.
In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical ...
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ISBN:
(纸本)9051993862
In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical results. On the one hand this implies the use of image processing, three dimensional modelling techniques and visualization techniques of medical image data, on the other hand planning systems, intraoperative navigation devices and surgical robots are needed. In this paper a complex expert system is presented, which uses a planner for generating treatment plans, an infrared navigation for monitoring both patient, robot, and surgical tool, and a surgical robotic system in order to work on bone. Special stress is laid on the architecture of the planning system, the structure of the treatment plans, and the intraopertative communication protocols.
A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algor...
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A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.
Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. systems following the programming by demonstration (PbD) paradigm that were deve...
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Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. systems following the programming by demonstration (PbD) paradigm that were developed within the last years are getting closer to this goal. However, most of these systems lack the possibility for the user to supervise and alter the course of program generation after the initial demonstration was performed. In this paper we present an approach, where the user is able to supervise the entire program generation process and to annotate, and edit system hypotheses. Moreover, the knowledge representation and algorithms presented enable the user to generalize the generated program by annotating conditions and object selection criteria via a 3D simulation and graphical user interface. The resulting PbD-system widens the PbD approach in robotics to the interactive generation of flexible robot programs based on demonstration and annotations.
In biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and t...
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In biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, and now higher-level problems have to be tackled: control systems with adequate computational power, user-interfaces and planning systems for micromanipulation systems have to be implemented and tested. Special attention must be paid to the requirements of micromanipulation, which differs greatly in some aspects from conventional manipulation. This paper discusses the information processing aspects of the control system of a micromanipulation station. The micromanipulation station consists of a microassembly robot working under a light-optical microscope, a CCD camera and an XY-stage. The requirements for the control computer system are high: assembly and execution planning has to be done in order to perform fully-automated microassembly, a vision system is necessary, and the control of the microrobots and the peripherals connected to the system demand high I/O power. The paper also shows a user interface to access the system resources in a user-friendly way and presents a sketch of the planning and the control algorithms
Automation of highly precise microassembly steps will make it easier to realize low cost microsystems. For this, a microrobot-based microassembly desktop station is being developed at the University of Karlsruhe. In t...
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Automation of highly precise microassembly steps will make it easier to realize low cost microsystems. For this, a microrobot-based microassembly desktop station is being developed at the University of Karlsruhe. In this paper, we suggest a common microassembly model for a computer-aided microassembly planning-which is based on geometric reasoning-and discuss its components in detail. The feasibility criteria for the generation of feasible assembly sequences and the optimization criteria for selecting the optimal assembly plan are described. For both these planning steps, the algorithms for an automatic procedure have been developed and implemented. For stations employing several microrobots, a method for decomposition and allocation of an assembly plan is suggested. Finally, we discuss the structure of the station's planning system.
Surgery in the craniomaxillofacial area is complex. Planning a surgical operation can help the surgeon enhance the quality of the operation. On the other hand, the benefit of a planning phase cannot be realized if the...
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A method is presented for the model-based redesign of enterprises. It consists of two main steps, the initialization step and the optimization step. During the initialization step, the processes are modelled and analy...
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A method is presented for the model-based redesign of enterprises. It consists of two main steps, the initialization step and the optimization step. During the initialization step, the processes are modelled and analysed. During the optimization step, the optimal configuration is found for the possible modifications of the processes. Emphasis is placed on the process analysis. The proposed approach is based on activity chains which describe the set of activities needed for the achievement of a given gear, and their execution order necessary to guarantee a low processing time. An algorithm is presented for filtering such activity chains from an enterprise model. It is based on graph theory and corresponds to the solution of an optimization problem, whereby the sum of weights of ail edges belonging to the solution graph should be maximized under some given constraints. Because of the high complexity of the problem, some complexity-reducing measures are presented, measures that arise from the earlier problem analysis.
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