作者：
Wörn, HeinzHoppe, Harald
Institute for Process Control and Robotics Kaiserstraße 12 Karlsruhe76128 Germany
While an increasing number of operation planning systems enable surgeons to preoperatively define and plan complex surgical interventions, providing these planning data intraoperatively in a reasonable way is still a ...
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In this paper, an interactive simulation system for teeth cleaning is presented. This simulation system offers assistance for optimizing design and manufacturing of new toothbrushes. Data acquisition and pre-processin...
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This paper presents a novel strategy for rapid reconstruction of 3d surfaces based on 2d gradient directions. I.e., this method does not use triangulation for range data acquisition, but rather computes surface normal...
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The institute for processcontrol and robotics has developed a new system using projector based augmented reality for the intraoperative visualization of preoperatively defined surgical planning data. Projector based ...
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ISBN:
(纸本)1586031430
The institute for processcontrol and robotics has developed a new system using projector based augmented reality for the intraoperative visualization of preoperatively defined surgical planning data. Projector based augmented reality in medical applications represents a new field of research and gives an alternative solution to the commonly used Head Mounted Display technology. Moreover, the projector is not only used for visualization, but also for registration of the patient without the usage of invasive fiducial techniques as e.g. screw markers or frames. Recent results showed an achieved accuracy of ±1.5 mm which roughly meets clinical demands.
To support diagnosis and therapy, it is a fundamental aim of medical image processing to describe morphological characteristics of pathological structures or image objects in general. Different authors propose quantit...
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ISBN:
(纸本)1586031430
To support diagnosis and therapy, it is a fundamental aim of medical image processing to describe morphological characteristics of pathological structures or image objects in general. Different authors propose quantitative methods of description like bounding boxes[l], fourier descriptors[2] or contour moments [3]. Unfortunately, these methods either don't supply a complete, respectively precise description of the object or only operate on two-dimensional images. Among the range of application are systems to classify lung nodules [4] or to help the diagnosis of brain tumors [5]. In this paper we present a method to analyze the morphology or shape of any three-dimensional object in order to describe it mathematically well-defined. We show how the description can be used to perform statistical operations on morphologies. The method presented in this paper was developed to assist the planning of craniofacial surgery. We analyze the shape of a given set of skull CT-data and use the mathematical description to statistically calculate the average shape of the skulls.
Efficient navigation of mobile platforms in dynamic, human centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that should be able to fulf...
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Efficient navigation of mobile platforms in dynamic, human centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that should be able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling and path planning units. In this paper we present some implemented methods in the context of distributed vision, the corresponding data fusion algorithms and the resulting 3D world model. We also show some experimental results of the implementation.
The only way to establish a robot system in surgery is to obtain the acceptance of the surgeon. In order to achieve this, such a robot system - the safety of the system preconditioned - has to be easy to use. Since th...
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The only way to establish a robot system in surgery is to obtain the acceptance of the surgeon. In order to achieve this, such a robot system - the safety of the system preconditioned - has to be easy to use. Since the operator wants to use the robot as a kind of intelligent tool an intuitive man-machine interface is needed. The use of the system has to be as easy as the use of a navigation system, for instance, which is already successfully established in the surgical theatre. Furthermore the man-machine interface must be able to detect application errors and prevent dangerous robot movements. This paper describes such an intuitive man-machine interface including major input device, force controlled robot guidance, system status feedback, and plausibility check.
The ultimate ambition of a robotic system in surgical theater has to be the safety of the involved humans: patient, physicians, nurses. In order to provide that claim the criteria of ergonomics, redundancy, short reac...
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ISBN:
(纸本)0780365763
The ultimate ambition of a robotic system in surgical theater has to be the safety of the involved humans: patient, physicians, nurses. In order to provide that claim the criteria of ergonomics, redundancy, short reaction time, and accuracy must be met. In contrast to many other surgical robotic applications we are studying complex bone cut trajectories which require several distinct orientations of the robot tool and milling cutter, respectively. Exact bone cuts are especially needed for bone repositionings placed at the human skull in craniofacial surgery. Therefore, the system has to be flexible enough to keep the capability of changing the patient's position during the intra-operative phase. This paper introduces the overall concept and realization of the system.
Easy programming methods following the programming by demonstration (PbD) paradigm have been developed. The main goal of these systems is to allow an inexperienced human user to easily integrate motion and perception ...
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ISBN:
(纸本)0780365763
Easy programming methods following the programming by demonstration (PbD) paradigm have been developed. The main goal of these systems is to allow an inexperienced human user to easily integrate motion and perception skills or complex problem solving strategies. However, describing unconsciously performed actions or motor coordinations is very complex and in general not possible. This paper describes how tactile sensors are integrated in the PbD system which learns from human demonstration. An analysis of the tactile sensor and its characteristics is performed. Furthermore, the integration of tactile information in the systems' cognitive functions is pointed out. Finally, it is concluded that the enhancement of a data glove with tactile sensors improves the analysis of human demonstration. Moreover, the supplied information increases the sub-symbolic and symbolic task knowledge which lead to a more reliable recognition of the user's actions.
The presented mobile microrobots are employed inside the vacuum chamber of a scanning electron microscope (SEM). Very often more than one robot is required even for simple handling tasks due to the unfamiliar force ra...
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ISBN:
(纸本)0780372417
The presented mobile microrobots are employed inside the vacuum chamber of a scanning electron microscope (SEM). Very often more than one robot is required even for simple handling tasks due to the unfamiliar force ratios in the micro world. This paper describes how the SEM is used as a position sensor system that is a presupposition of the automatic coordination of microrobots. For depth measurements a triangulation principle with the help of the electron beam is used. First results and the required calibration methods are presented.
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