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Analysis of manual segmentation in medical image processing

Analysis of manual segmentation in medical image processing

引用

VIPIMAGE 2007 - 1st ECCOMAS Thematic Conference on Computational Vision and Medical Image processing

作者： Tingelhoff, K. Eichhorn, K.W. Wagner, I. Bootz, F. Kunkel, M.E. Moral, A.I. Westphal, R. Rilk, M. Wahl, F. Department of Otolaryngology Head and Neck Surgery University of Bonn Germany Institute for Robotics and Process Control Technical University of Braunschweig Germany

ISBN: (纸本)9780415457774

Manual segmentation is often used as gold standard for evaluation of automatic segmentation. The purpose of this paper is to describe the problems of manual segmentation and the dubiety of manual segmentation as a gold standard. We realized two experiments in which we determined inter- and intraindividual variability. In the first one ten ENT surgeons and ten medical students segmented the right maxillary sinus and ethmoid sinuses manually on a standard CT dataset of a human head. In the second experiment two participants outlined maxillary sinus and ethmoid sinuses five times consecutively. The manual segmentation was accomplished with custom software. The first experiment shows the variability of manual segmentation which can be caused by components like experience, different interpretations of CT data or different levels of accuracy. The second experiment shows varying results even if one ENT specialist or one manual segmenta-tion expert segments the dataset five times consecutively. © 2008 Taylor & Francis Group,.

关键词： Medical image processing

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Intuitive and model-based on-line programming of industrial robots: A modular on-line programming environment

Intuitive and model-based on-line programming of industrial ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Bjorn Hein Martin Hensel Heinz Worn Institute for Process Control and Robotics Universitat Karlsruhe Germany

This paper focuses on the simplification of the on-line programming process of industrial robots. It presents a modular on-line programming environment (software and hardware), which supports an intuitive way of moving and teaching robots, while supporting the user with assisting algorithms like collision avoidance and automatic path planning. Main idea is the combination of different approaches from tele-operation, programming by demonstration and off-line programming, and reuse them in a new fashion on-line on the shopfloor. The proposed programming environment is designed to evaluate the usability of different combination of assisting techniques.

关键词： Robot programming Service robots Programming environments robotics and automation Hardware Education Educational robots Software algorithms Collision avoidance Path planning

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Building Local Metrical and Global Topological Maps Using Efficient Scan Matching Approaches

Building Local Metrical and Global Topological Maps Using Ef...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 526-1042

作者： Rene Iser Friedrich M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

ISBN: (纸本)9781424420575

This paper describes a new solution of the simultaneous localization and mapping (SLAM) problem. Instead of building one global consistent map, aimed by the most common SLAM techniques, we compute a set of local metrical maps and fuse them to a graph-like structure resulting in a topological map. Thus, our approach does not require a global metrical map consistency. The main contribution of this paper is an algorithm for closing spatial loops. Loop closing means, that a subset of the edges of the graph representing the topological map forms a cycle. To this end we describe a very efficient enhancement of the well-known RANSAC technique for actively recognizing regions explored by the robot previously. This improvement exploits the theory of the birthday attack whose mathematical background is known from cryptography. A fast sample-based scan matcher is employed to compute the local maps. We derive the covariance of the current robot pose from the sample distribution in order to perform a recognition only when loop closing is very likely. Our approach has been implemented and experimental results show its excellent performance.

关键词： Topological maps SLAM Random Sample Matching Scan Matching

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12D force and acceleration sensing: A helpful experience report on sensor characteristics

12D force and acceleration sensing: A helpful experience rep...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

The potential of six-axis acceleration sensors in the field of robotic manipulation applications is quite high and most of it has not been used yet - neither in theoretic literature nor in research experiments. When considering six-joint industrial manipulators with six-axis force/torque and six-axis acceleration sensing, many new possibilities arise: all ten inertial parameters of any object can be identified and objects can be recognized based on these parameters, position control behavior can be improved; non-contact forces can be extracted and force control performance can be improved; visual-servoing methods can use acceleration signals to become more robust. The authors made numerous experiments in the mentioned fields and recognized major weaknesses during the realization of prototypic research setups with six-axis acceleration sensors. These problems regard sensor drift, undesired sensor-internal dependencies as the influence of any distal sensor part, noise, and undesired crosstalk behavior. In order to benefit from acceleration signals, it is important to clearly overcome these problems. This paper analyzes typical systematic errors, characterizes them, and suggests important solution methods for a successful usage of acceleration information.

关键词： Force sensors Acceleration Sensor phenomena and characterization Crosstalk Service robots Robot sensing systems Industrial control Manipulators Position control Force control

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Multi-sensor integration and sensor fusion in industrial manipulation: Hybrid switched control, trajectory generation, and software development

Multi-sensor integration and sensor fusion in industrial man...

引用

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

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

The potential of multi-sensor integration in industrial manipulation systems is enormously high - and almost unused in real-world systems and applications. Scientific literature provides plenty of approaches for sensor integration, sensor-guided and sensor-guarded robot control, visual servoing, robot control architectures, and software systems, but it is still one of the major challenges to bring all fields together. Therefore we need a better over-all view onto different domains. This overview paper covers three areas, which play a fundamental role to ldquogluerdquo the above mentioned fields together: 1) The manipulation control system (or architecture) from the control engineerpsilas point of view enabling the usage of hybrid switched systems for robotic manipulation systems. 2) The problem of trajectory generation in hybrid switched control systems. 3) Important aspects on software engineering in the field of robot control architectures. Each of these parts is accompanied by real-world experimental results in order to highlight the relevance and the potential of these technologies.

关键词： Trajectory Robot sensing systems control systems Robots Manipulators Robot control Acceleration

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A control Theory Approach to Improve the Real-Time Capability of Multi-Threaded Microprocessors

A Control Theory Approach to Improve the Real-Time Capabilit...

引用

International Symposium on Object-Oriented Real-Time Distributed Computing

作者： Uwe Brinkschulte Mathias Pacher Institute for Process Control Automation and Robotics University of Karlsruhe Germany

ISBN: (纸本)9780769531328

Our aim is to investigate if it is possible to control the throughput (IPC rate) of a thread running on a simultaneous multi-threaded microprocessor by a closed feedback loop. We showed in previous experimental studies that the proposed approach works. In this paper we discuss the control theory approach from a theoretical point of view. We develop a mathematical model of a general purpose multi-threaded microprocessor enhanced with a closed feedback controller and use control theory methods to investigate properties like stability and settling time.

关键词： control theory Microprocessors Yarn Clocks Adaptive control Communication system control robotics and automation Throughput Mathematical model Delay

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A framework for analysis and design of haptic interfaces

A framework for analysis and design of haptic interfaces

引用

IEEE International Conference on Mechatronics and Automation

作者： D. Braun I. Tchouchenkov H. Worn Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

In this paper an overview over the field of haptics, haptic analysis and haptic design is given. The different groups of people in touch with haptics are introduced and their view on the different sectors is discussed. The state of art in the fields of haptic analysis and design is shown and the problems in the combination of this fields is analyzed. A framework for haptic analysis and design which overcomes this problems is proposed. In addition some works and on a system according to this framework are described in detail. The future works and expected results are also outlined as a conclusion.

关键词： Haptic interfaces Feedback Humans control systems robotics and automation Art Machinery Vehicle driving Force control Wheels

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Grasping and guiding a human with a humanoid robot

Grasping and guiding a human with a humanoid robot

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Nicolas Gorges Andreas J. Schmid Dirk Goger Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe (TH) Karlsruhe Germany

ISBN: (纸本)9781424428212

This paper presents a novel approach for tightly-coupled human-robot interaction that consists of a robot actively grasping and guiding a human being. We propose a multi-stage procedure that particularly considers exceptional conditions which allow the human to quit the interaction at any stage. The system comprises a combination of different sensor modalities to supervise the grasping and guiding procedure and to guarantee a safe human-robot interaction. In particular, a capacitive sensor in the palm of the robot hand allows a contactless detection of the human while approaching. Finally, experimental results are presented.

关键词： Humanoid robots Robot sensing systems Robot kinematics Human robot interaction Sensor systems Capacitive sensors Educational robots Tactile sensors Fingers Education

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Robot assisted fracture reduction

Robot assisted fracture reduction

引用

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

ISBN: (纸本)9783540774563

Reduction in femoral shaft fractures may be difficult to achieve with minimal invasive techniques. Malalignment and high intraoperative radiation exposures often results. Our hypothesis is that robot assisted fracture reduction may improve the precision of reduction while reducing the amount of radiation exposure. We present a telemanipulator system for robot assisted reduction of femoral shaft fractures. The telemanipulated reduction is performed with a 2 dof input device with haptical feedback based on intraoperatively acquired 3D imaging data. We performed a test series to measure achievable reduction accuracies on artificially broken human femur bones without soft tissues. Furthermore, we performed first tests for the reduction on complete human legs in 3D. It could be shown, that telemanipulated reduction of such fractures in 3D is yielding very good accuracies in an intuitive and efficient way. Robot assisted fracture reduction can improve the reduction accuracy and reduce the X-ray irradiation exposure to the patient and the OR staff. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： robotics

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Human-robot interaction for 3D telemanipulated fracture reduction

Human-robot interaction for 3D telemanipulated fracture redu...

引用

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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