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Interactive simulation of teeth cleaning

International Congress Series 2001年第C期1230卷 682-688页

作者： Gockel, T. Salb, T. Weyrich, T. Burgert, O. Dillmann, R. Department for Computer Science Institute for Process Control Robotics Universität Karlsruhe (TH) 76128 Karlsruhe Germany

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-processing techniques for the model generation are shown, an editor for modelling of the elastic behaviour of the toothbrush parts is presented and the mathematical method for modelling of flexible parts of the toothbrush is explained. After the introduction of the PHANToM haptoid and the explanation of a new approach to collision detection, first results of the project are shown. © 2001, Elsevier Science B.V. All rights reserved.

关键词： Interactive simulation system Teeth cleaning Toothbrush

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Automated generated collision-free time optimized robot movements in industrial environments based on rounding

Automated generated collision-free time optimized robot move...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： B. Hein M. Salonia H. Worn Computer Science Department Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)078037004X

This paper presents a new approach to optimized notion planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based on the A*-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The collision-free result path is then optimized in execution time using rounding, a common command of every standard robot controller in the industry.

关键词： Service robots robotics and automation Industrial control Orbital robotics Robot control computer industry Defense industry Process planning Robot programming computer science

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A volume-based process model for computer-assisted surgery

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International Congress Series 2001年第C期1230卷 8-13页

作者： Däuber, S. Krempien, R. Schorr, O. Brief, J. Hassfeld, S. Wörn, H. Department of Computer Science University of Karlsruhe (TH) Institute for Process Control and Robotics 76128 Karlsruhe Kaiserstraße 12 Germany Department of Clinical Radiology University of Heidelberg Hedelberg Germany Department of Oral and Maxillofacial Surgery University of Heidelberg Hedelberg Germany

computer systems, which assists surgical procedures, are more and more leaving the status of being mere prototypes [1-4]. It is increasingly necessary for the surgeons and developers to ensure the quality, accuracy and security of their systems. Standards may help to achieve these objects. In this work, we present a standard which deals with the inaccuracies emerging in the particular steps of a CAS procedure. It is based on the definition of radiotherapy procedures as provided by the International Commission on Radiation Units and Measurements (ICRU) [5]. © 2001 Elsevier Science B.V.

关键词： Accuracy computer-assisted surgery Standardization

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Remotely controllable mobile microrobots acting as nano positioners and intelligent tweezers in scanning electron microscopes (SEMs)

Remotely controllable mobile microrobots acting as nano posi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Schmoeckel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780365763

In the scanning electron microscope, many studies require micromanipulation tools that can be flexibly and comfortably used for the handling and positioning of objects ranging from a few millimeters down to fractions of microns. In the paper, some aspects of the control of small mobile microrobots by teleoperation are addressed facing the special behavior of their piezoelectric actuators and the challenge of handling tasks in ranges of very different orders of magnitude (100 nm-100 mm). In order to give the teleoperated tweezers a kind of low-level "intelligence", a control loop using the SEM as a sensor system is being developed. In different open-loop handling experiments, the employed 6D-mouse proves satisfactory as an intuitive user interface.

关键词： Scanning electron microscopy Electron mobility Piezoelectric actuators Intelligent control Intelligent sensors Intelligent actuators Open loop systems control systems Sensor systems User interfaces

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Flexible Mobile Microrobots for Various Remote-controlled Micro-Manipulating Tasks

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IFAC Proceedings Volumes 2001年第9期34卷 327-331页

作者： Jörg Seyfried Ferdinand Schmoeckel Axel Bürkle Heinz Wörn Institute for Process Control and Robotics (IPR) Computer Science Department Universität Karlsruhe (TH) Kaiserstrasse 12 D-76128 Karlsruhe Germany

The handling of objects smaller than 1 mm is a great challenge for the robotics research community. Applications are the handling of biological cells, teleoperation under vacuum conditions (e.g. inside a scanning electron microscope - SEM) or the manufacture of prototypes of microsystems. In this paper, some aspects of the control of small mobile microrobots by teleoperation are addressed. The employed 6D-mouse proves satisfactory as an intuitive user interface. A distributed control and planning architecture is presented as well as a closed-loop control approach basing on a sensor system that mainly consists of a standard SEM.

关键词： Microsystems Assembly robots Telemanipulation Biotechnology Microscopes

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O 2 CA 2 : A New Hybrid control Architecture for a Low Cost AUV

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IFAC Proceedings Volumes 2001年第7期34卷 311-316页

作者： P. Ridao M. Carreras J. Batlle J. Amat Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Department of Automatic Control and Computer Engineering Politechnical University of Catalunya. Pau Gargallo n°5 08028 Barcelona (Spain).

The Object Oriented control Architecture for Autonomy (O 2 CA 2 ) is a control architecture being developed at the University of Girona for the GARBI underwater vehicle. Conceived as a hybrid, it is organised in three layers (Deliberative, control Execution and Reactive) merging the deliberation mechanisms of planning with reactive behaviours in charge of controlling the robot. The aim of this paper is to provide an overall description of the whole architecture and an in depth description of the Reactive-layer. The concepts of the architecture have been tested with the simulation of a simple mission consisting of navigating through a sequence of way-points while avoiding contact with obstacles.

关键词： Autonomous Vehicles control architectures behaviour fuzzy systems guidance navigation marine systems

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Three-dimensional digital ultrasound imaging system for surgical navigation

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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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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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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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