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Three-dimensional digital ultrasound imaging system for surgical navigation

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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Application of the symplectic group in a novel branch of soft computing for controlling of electro-mechanical devices

Application of the symplectic group in a novel branch of sof...

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International Workshop on Robot Motion and control (RoMoCo)

作者： J.K. Tar K. Kozlowski I.J. Rudas T. Ilkei John von Neumann Faculty of Informatics Budapest Polytechnic Institute of Mathematical and Computational Sciences Budapest Hungary Chair of Control Robotics and Computer Science Poznan University of Technology Poznan Poland Budapest Polytechnic Institute of Mathematical and Computational Sciences Budapest Hungary Budapest Polytechnic Budapest Hungary

An application of a special approach aiming at the development of a new branch of soft computing (SC) for the adaptive control of approximately and partially known electromechanical systems is reported. Like "traditional" SC it uses "uniform structures" for modeling, but these structures are obtained from the symplectic group (SG). This approach can considerably reduce the number of free parameters in the model in comparison e.g. with that of the neural networks or ample sets of fuzzy rules. It also replaces the process of parameter tuning with simple, lucid, and explicit algebraic operations of limited steps. While in the previous approaches SG was utilized as an inner symmetry of classical mechanical systems, in the present one it is used in a formal way not utilizing mechanical symmetries. Furthermore, SG is not the internal symmetry of electrical, that is of electro-mechanical systems. In the present paper the new formal approach is demonstrated in the adaptive control of a 3 mechanical DOF SCARA-type robot arm actuated by DC motors together forming a 6 DOF electromechanical system. It is concluded on the basis of simulations that the control designed for the 3 DOF mechanical degrees of freedom can efficiently compensate for the behavior of the electrical degrees of freedom not modeled by the controller.

关键词： Mechanical systems control systems Adaptive control Robot control Informatics Neural networks Fuzzy neural networks Fuzzy sets DC motors computer science

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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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Distributed modular computer-integrated surgical robotic systems: Architecture for intelligent object distribution 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Schorr, Oliver Hata, Nobuhiko Bzostek, Andrew Kumar, Rajesh Burghart, Catherina Taylor, Russel H. Kikinis, Ron Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute for Process Control and Robotics University of Karlsruhe Germany Department of Computer Science Johns Hopkins University BaltimoreMD United States

ISBN: (纸本)3540411895

This paper presents intelligent object distribution architecture to maximize the performance and intelligence of a distributed surgical robotics system and its preliminary implementation in an MR-guided surgical robot system in an open-configuration MR! scanner. The method enables networked integration of a robot control server and multiple clients with minimum engineering overhead but maximum flexibility and performance. The clients in this study include an intraoperative imager, high-performance image processing computers), and surgical navigation host. The first contribution of the paper is to propose the use of object distribution by common object request broker architecture (CORBA), in which a robot control object on the robot control server can be remotely but transparently invoked from the clients regardless of their hardware, operating systems, or programming language. Second, we propose a technique to achieve additional flexibility by reporting the robot configuration information, i.e. geometry and kinematics of the robot, to the clients upon connection. Third, we ensure protection against an unauthorized entity by introducing a security control host that authorized the clients’ access to the robot server. In a prototype implementation of an MR-guided surgical robot system, the robot was controlled by surgical navigation software (the 3D Slicer) on a UNIX client by invoking the distributed control object on a robot control server on a PC. The method was evaluated in performance studies;and the result indicated 3.6 milliseconds for retrieving positions of the robot stages and 25.5 milliseconds to send a frame-based motion command, which are satisfactory for surgical robot control. In conclusion, the proposed method shows the potential usefulness of flexibly integrating the legacy software to a surgical robot system with minimum engineering overhead, thereby achieving highly complex and intelligent tasks in robot-assisted surgery. © Springer-Verlag Berlin Hei

关键词： Robotic surgery

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Real-time scheduling on multithreaded processors

Real-time scheduling on multithreaded processors

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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： J. Kreuzinger A. Schulz M. Pfeffer T. Ungerer U. Brinkschulte C. Krakowski Institute for Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper investigates real-time scheduling algorithms on upcoming multithreaded processors. As evaluation testbed we introduce a multithreaded processor kernel which is specifically designed as core processor of a micro-controller or system-on-a-chip. Handling of external real-time events is performed through multithreading. Real-time threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed micro-controller supports multiple ISTs with zero-cycle context switching overhead. We investigate the behavior of fixed priority preemptive, earliest deadline first, least laxity first and guaranteed percentage scheduling with respect to multithreaded processors. Our finding is that the strategies GP and LLF result in a good blending of instructions of different threads thus enabling a multithreaded processor to utilize latencies best. Assuming a zero-cycle context switch LLF performs best, however implementation cost context, are prohibitive.

关键词： Processor scheduling Yarn Switches Scheduling algorithm System testing Kernel Process design System-on-a-chip Multithreading Delay

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