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4th ACM/IEEE International Conference on Human-Robot Interaction, HRI'09

作者： Westphal, Ralf Winkelbach, Simon Wahl, Friedrich M. Gösling, Thomas Oszwald, Markus Hüfner, Tobias Krettek, Christian Institute for Robotics and Process Control Technical University of Braunschweig Mühlenpfordtstr. 23 38106 Braunschweig Germany Department of Trauma Surgery Hannover Medical School Carl-Neuberg-Str. 1 30625 Hannover Germany

ISBN: (纸本)9781605584041

Today, femoral shaft fractures are usually stabilized by means of intramedullary nails. This video presents the development of a telemanipulator system, which, by supporting the fracture reduction process, aims at achieving reliable operation results with high reduction accuracies. First, we present a system using 2D X-ray images as base information for the surgeon to guide the reduction. We show the advantages but also the limitations of this approach, which finally led to the development of a telemanipulator system that is based on 3D imaging data instead. Copyright is held by the author/owner(s).

关键词： Human robot interaction

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Robotic cadaver testing of a new total ankle prosthesis model (GERMAN ANKLE SYSTEM)

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Journal of Foot and Ankle Research 2008年第S1期1卷 O10-O10页

作者： Martinus Richter Stefan Zech Ralf Westphal Yvonne Klimesch Thomas Gosling Department for Trauma Orthopaedic and Foot Surgery Coburg Medical Center Germany Institute for Robotics and Process Control Technical University Braunschweig Germany Trauma Department Hannover Medical School Hannover Germany

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Sensors, medical image and signal processing. Findings from the section on sensor, signal and imaging informatics.

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Yearbook of medical informatics 2007年第1期16卷 70-73页

作者： Westphal, R. Technical University of Braunschweig Institute for Robotics and Process Control Braunschweig Germany

To summarize current excellent research in the field of sensor, signal and imaging informatics. Synopsis of the articles selected for the IMIA Yearbook 2007. The selection process for this yearbook section "Sensor, signal and imaging informatics" results in five excellent articles, representing research in four different nations. Papers from the fields of brain machine interfaces, sound surveillance in telemonitoring, soft tissue modeling, and body sensors have been selected. The selection for this yearbook section can only reflect a small portion of the worldwide copious work in the field of sensors, signal and image processing with applications in medical informatics. However, the selected papers demonstrate, how advances in this field may positively affect future patient care.

关键词： Medical informatics International Medical Informatics Association yearbook sensors signal and imaging informatics

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Multi Sensor Fusion in Robot Assembly Using Particle Filters

Multi Sensor Fusion in Robot Assembly Using Particle Filters

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IEEE International Conference on robotics and Automation (ICRA)

作者： U. Thomas S. Molkenstruck R. Iser F. M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

In this paper, we present a new method for sensor fusion in robot assembly. In our approach, model information can be derived automatically from CAD-data. We introduce force torque maps, which are either computed automatically exploiting modern graphical processors or are measured by scanning forces and torques during contact motions. Subsequently, force torque maps are applied as model information during execution of real assembly tasks. Also, computer vision is included by comparing relative poses of features in virtual images with their real relative poses given from measured images. For fusion of these two (or more) different sensors we suggest to use particle filters. Experiments with variations of peg in hole tasks in a real work cell demonstrate our new approach to be very useful for the whole process chain from planning to execution.

关键词： Robotic assembly Sensor fusion Robot sensing systems Particle filters robotics and automation Force measurement Force sensors Torque measurement Computer vision process planning

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On-line rigid object recognition and pose estimation based on inertial parameters

On-line rigid object recognition and pose estimation based o...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Daniel Kubus Torsten Kroger Friedrich M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

This paper proposes an object recognition and gripping pose estimation approach based on on-line estimation of the complete set of inertial parameters, i.e. the mass, the coordinates of the center of mass, and the elements of the inertia matrix, of an object gripped by or attached to a manipulator. A multi-sensor fusion approach combining 6D force/torque, 6D acceleration, 3D angular velocity, and joint angle data to estimate these parameters is presented. In order to facilitate practical implementation, approaches to handling force/torque sensor offsets and to compensating the forces/torques caused by the distal mounting plate of the force/torque sensor and the gripper are incorporated. Regarding the joint angle signals, preprocessing steps to derive the angular velocity, linear acceleration and angular acceleration vector w.r.t. the sensor frame are addressed. The estimation of the complete set of inertial parameters employing the recursive instrumental variables (RIV) method is discussed. The extraction of features that are invariant w.r.t. translation and rotation, i.e. the mass and the principal moments of inertia, as well as a recognition approach based on the Kullback-Leibler divergence are presented. Experimental results show very low errors in the estimates of the inertial parameters, good pose estimation accuracy, and the viability of the recognition approach.

关键词： Object recognition Force sensors Torque Acceleration Angular velocity Parameter estimation Grippers Vectors Recursive estimation Instruments

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Comparison between Manual and Semi-automatic Segmentation of Nasal Cavity and Paranasal Sinuses from CT Images

Comparison between Manual and Semi-automatic Segmentation of...

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29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2007), vol.14

作者： K. Tingelhoff A. I. Moral M. E. Kunkel M. Rilk I. Wagner K. W. G. Eichhorn F. M. Wahl F. Bootz Clinic and Policlinic of Otolaryngology/Ear Nose and Throat Surgery University of Bonn Germany Institute of Robotics and Process Control Technical University of Braunschweig Germany

Segmentation of medical image data is getting more and more important over the last years. The results are used for diagnosis, surgical planning or workspace definition of robot-assisted systems. The purpose of this paper is to find out whether manual or semi-automatic segmentation is adequate for ENT surgical workflow or whether fully automatic segmentation of paranasal sinuses and nasal cavity is needed. We present a comparison of manual and semi-automatic segmentation of paranasal sinuses and the nasal cavity. Manual segmentation is performed by custom software whereas semi-automatic segmentation is realized by a commercial product (Amira). For this study we used a CT dataset of the paranasal sinuses which consists of 98 transversal slices, each 1.0mm thick, with a resolution of 512×512 pixels. For the analysis of both segmentation procedures we used volume, extension (width, length and height), segmentation time and 3D-reconstruction. The segmentation time was reduced from 960 minutes with manual to 215 minutes with semi-automatic segmentation. We found highest variances segmenting nasal cavity. For the paranasal sinuses manual and semiautomatic volume differences are not significant. Dependent on the segmentation accuracy both approaches deliver useful results and could be used for e.g. robot-assisted systems. Nevertheless both procedures are not useful for everyday surgical workflow, because they take too much time. Fully automatic and reproducible segmentation algorithms are needed for segmentation of paranasal sinuses and nasal cavity.

关键词： Image segmentation Computed tomography Surges Surgery Ethics robotics and automation Anatomy Image reconstruction Biomedical imaging Medical diagnostic imaging

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3D Endoscopic Approach for Endonasal Sinus Surgery

3D Endoscopic Approach for Endonasal Sinus Surgery

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29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2007), vol.12

作者： A. I. Moral M. E. Kunkel K. Tingelhoff M. Rilk I. Wagner K. W. G. Eichhorn F. Bootz F. M. Wahl Institute of Robotics and Process Control Technical University of Braunschweig Germany Clinic and Policlinic of Otolaryngology/Ear Nose and Throat Surgery University of Bonn Germany

Functional endoscopic sinus surgery (FESS) is a minimal invasive approach adopted in case of chronic sinusitis (inflammation of the paranasal sinuses). The paranasal sinuses are hollow structures within the bones surrounding the nasal cavity. During FESS the surgeon moves the endoscope and other surgical instruments within the nasal cavity following specific paths to approach each one of the paranasal sinuses. The purpose of this study was to reconstruct these paths to access the paranasal sinuses using volumetric CT data. The results will be used for Finite Element modeling and simulations for Robot Assisted Endonasal Surgery.

关键词： Computed tomography Bones Minimally invasive surgery Endoscopes Image reconstruction Eyes Image segmentation Skull Head Ethics

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Autonomous execution of automatically planned robot tasks based on force torque maps

Autonomous execution of automatically planned robot tasks ba...

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作者： Thomas, Ulrike Movshyn, Alexander Wahl, Friedrich M. Institute for Robotics and Process Control Technical University of Braunschweig Germany Technical University of Braunschweig

A new assembly planning system, PiRATE (Planning Robot Assembly Tasks for Execution) has been developed to generate and evaluate assembly sequences automatically with the help of force torque maps to close the gap between task planning and execution. PiRATE is able to generate and evaluate assembly sequences for real industrial assemblies. Force torque maps are computed automatically to provide a complete chain from assembly planning to assembly execution for each robot task. These maps are used during execution of the assembly task. The localization problem has been successfully solved in mobile robotics using the Bayesian methods. The start positions had larger distances to the goal position and thus representative forces and torques were too small in some cases, but calibrating PiRATE with the real work cell will lead to smaller uncertainties.

关键词： robotics

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6D Force and Acceleration Sensor Fusion for Compliant Manipulation control

6D Force and Acceleration Sensor Fusion for Compliant Manipu...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Torsten Kroger Daniel Kubus Friedrich M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

This paper focusses on sensor fusion in robotic manipulation: 6D force/torque signals and 6D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Beside an improvement of hybrid force/pose control behavior, an additional major benefit is that regular resetting/zeroing of force/torque sensors before free space/contact transitions can be omitted. All essential equations, transformations, and calculations that are required for this 6D fusion approach are derived. To highlight the meaning for practical implementations, numerous experiments with a six-joint Staeubli RX60 industrial manipulator are presented, and the achieved results are discussed

关键词： Force sensors Acceleration Sensor fusion Force control Torque control Robot sensing systems Force measurement Velocity control Intelligent robots Torque measurement

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Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning

Distributed Sensing and Prediction of Obstacle Motions for M...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thorsten Rennekamp Kai Homeier Torsten Kroeger Institute for Robotics and Process Control Technical University of Braunschweig Germany

This work recommends an architecture and its fundamental components for motion planning for mobile robots in dynamic environments. An adaptive behavior to typical motion patterns of people is essential for robots to be accepted in crowded environments. This adaptation is achieved by a global and distributed sensing system to detect obstacle motions and model motion behavior. This article focuses on the detection, the modeling and the prediction of obstacle motion behavior. The model consists of a dynamic Bayesian network. The topology of the network is a geometric graph

关键词： Mobile robots Motion planning Predictive models Robot sensing systems Network topology Path planning Intelligent robots process planning Motion detection Bayesian methods

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