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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Movement Analysis for Surgical Skill Assessment and Measurement of Ergonomic Conditions

Movement Analysis for Surgical Skill Assessment and Measurem...

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International Conference on Artificial Intelligence, Modelling and Simulation (AIMS)

作者： O. Weede F. Möhrle H. Wörn M. Falkinger H. Feussner Polytechnic of Namibia Windhoek Namibia University of Kaiserslautem Kaiserslautem Germany KIT Institute for Process Control and Robotics Karlsruhe Germany MITI research group Technical University Munich Munich Germany

A measurement for ergonomic conditions is derived from motion analysis of surgical instruments. Several features for surgical skill assessment are examined and an overall grading system for surgical skill assessment and evaluation of ergonomic conditions based on the movement of the instruments' tool tips is presented. The grading system is applied to different ergonomic conditions provided by different types of displays, including three 3D displays. The features examined for skill evaluation include a movement alphabet derived from recorded trajectories by the k-Means algorithm. The system is trained with expert knowledge about the expertise of surgeons. The findings show that surgeons working under better ergonomic conditions perform less movements during an intervention. The time in which they move the instruments to complete the intervention is less. There is less depth oscillation with the tool-tips. The variety of different types of movements is less. The path length of the tool tips is shorter. There are less unnecessary movements. Results of a qualitative study show that measurements for skill evaluation can be applied for measuring ergonomic conditions.

关键词： Ergonomics Instruments Surgery Trajectory Three-dimensional displays Oscillators Tracking

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ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

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INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

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Multi kinect people detection for intuitive and safe human robot cooperation in the operating room

Multi kinect people detection for intuitive and safe human r...

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International Conference on Advanced robotics (ICAR)

作者： Tim Beyl Philip Nicolai Jörg Raczkowsky Heinz Wörn Mirko D. Comparetti Elena De Momi Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Karlsruher Institut fur Technologie Karlsruhe Baden-WÃ¼rttemberg DE Department of Electronics Information and Bioengineering Neuro Engineering and medicAl Robotics Laboratory Milan Italy Politecnico di Milano Milano Lombardia IT

Microsoft Kinect cameras are widely used in robotics. The cameras can be mounted either to the robot itself (in case of mobile robotics) or can be placed where they have a good view on robots and/or humans. The use of cameras in the surgical operating room adds additional complexity in placing the cameras and adds the necessity of coping with a highly uncontrolled environment with occlusions and unknown objects. In this paper we present an approach that accurately detects humans using multiple Kinect cameras. Experiments were performed to show that our approach is robust to interference, noise and occlusions. It provides a good detection and identification rate of the user which is crucial for safe human robot cooperation.

关键词： Cameras Robot vision systems Collision avoidance Noise Surgery Accuracy

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GAL@Home

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Zeitschrift für Gerontologie und Geriatrie 2012年第8期45卷 716-721页

作者： M. Gietzelt J. Spehr Y. Ehmen S. Wegel F. Feldwieser M. Meis M. Marschollek K.-H. Wolf E. Steinhagen-Thiessen M. Gövercin Peter L. Reichertz Institute for Medical Informatics University of Braunschweig - Institute of Technology and Hannover Medical School Braunschweig Germany Institute for Robotics and Process Control University of Braunschweig - Institute of Technology Braunschweig Germany Geriatric Research Group Department of Geriatric Medicine Charité - Universitätsmedizin Berlin Berlin Germany Department Market and Effects Research Hearing Centre Oldenburg GmbH Oldenburg Germany Peter L. Reichertz Institute for Medical Informatics University of Braunschweig - Institute of Technology and Hannover Medical School Hannover Germany

A considerable proportion of falls occur within the domestic environment. Sensor-based identification of falls in seniors’ homes could help them to remain autonomous and self-sufficient in their own homes. The objective of this study was to evaluate fall detection systems within the home environment using optical and accelerometric sensor systems. Portable triaxial accelerometers and optical sensors were used to detect falls in subjects with known problems of mobility and a recent fall history. Three subjects were investigated with the system. Overall nine falls occurred during the study period. Four falls were recorded by the accelerometric system and one fall by the optical system. Subjects with increased risk of falling as measured with mobility and fall risk assessments tend to fall more frequently. The study shows that there is a considerably large difference between fall-detector evaluation studies in domestic environments and in laboratory trials.

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A supervision system for the intuitive usage of a telemanipulated surgical robotic setup

A supervision system for the intuitive usage of a telemanipu...

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IEEE International Conference on robotics and Biomimetics

作者： Holger Mönnich Philip Nicolai Tim Beyl Jörg Raczkowsky Heinz Wörn Medical Robotics group of the Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany Medical Robotics group of the Institute for Process Karlsruhe Institute of Technology Karlsruhe Germany Medical Robotics group of the Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

This paper introduces the OP:Sense system that is able to track objects and humans and. To reach this goal a complete surgical robotic system is built up that can be used for telemanipulation as well as for autonomous tasks, e.g. cutting or needle-insertion. Two KUKA lightweight robots that feature seven DOF and allow variable stiffness and damping due to an integrated impedance controller are used as actuators. The system includes two haptic input devices for providing haptic feedback in telemanipulation mode as well as including virtual fixtures to guide the surgeon even during telemanipulation mode. The supervision system consists of a marker-based optical tracking system, Photonic Mixer Device cameras (PMD) and rgb-d cameras (Microsoft Kinect). A simulation environment is constantly updated with the model of the environment, the model of the robots and tracked objects, the occupied space as well as tracked models of humans.

关键词： Cameras Robot vision systems Surgery Haptic interfaces Humans Collision avoidance

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OP:Sense - An Integrated Rapid Development Environment in the context of Robot Assisted Surgery and Operation Room Sensing

OP:Sense - An Integrated Rapid Development Environment in th...

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IEEE International Conference on robotics and Biomimetics

作者： Philip Nicolai Tim Beyl Holger Monnich Jorg Raczkowsky Heinz Worn Medical Robotics group of the Institute for Process Control and Robotics of Karlsruhe Institute of Technology (KIT)

ISBN: (纸本)9781457721366

In this video we show the capabilities of the OP:Sense system. OP:Sense is an integrated rapid application development environment for robot assisted surgery. It mainly aims on MIRS and on open head neurosurgery as OP:Sense is developed for the EU Projects FP7 SAFROS and FP7 ACTIVE that aim on these use-cases. Besides the framework, OP:Sense also integrates applications. Thus it is not only the framework itself but also a system that demonstrates how robots can be used for surgical interventions. Core of the system is the ACE TAO framework [1] [2] that implements realtime CORBA for communication between distributed systems. We built interfaces based on CORBA for use in Matlab and Simulink. Also there are modules for 3D Slicer and applications for the control of devices like robots, or surgical tools. As Matlab is a mighty tool for rapid application development it can be used to develop applications in a faster way compared to using C++ or similar programming languages. We use Matlab for setting up our environment and for tasks and computations that does not need to run in realtime. For Realtime tasks like telemanipulation we use Simulink models.

关键词： MATLAB rapid application development Common object request broker architecture Robot Environments Surgical Instruments Religious Missions Distributed Systems AND operation robot assisted surgery

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A Distance and Diversity Measure for Improving the Evolutionary process of Modular Robot Organisms

A Distance and Diversity Measure for Improving the Evolution...

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IEEE International Conference on robotics and Biomimetics

作者： Lutz Winkler Heinz Worn Adrian Friebel Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT Research Group for Multicellular Systems Biology Interdisciplinary Centre for Bioinformatics (IZBI) University of Leipzig

ISBN: (纸本)9781457721366

In this paper, we present a novel diversity measure for a population of modular robot organisms. Evaluating this diversity we will get a prospect of the fitness of future generations of organisms in an evolutionary process. The degree of the diversity in a population is a measure for the adaptability to the environment. If the diversity is too low, it is necessary to change evolutionary parameters such as mutation probabilities or to start a new evolutionary run in order to get better adapted organisms. The novel measure helps to improve and speed-up the evolutionary process, which is mandatory as the evolution of robot organisms, specially the coevolution of controller and topology of organisms is a very tedious process. In four different experiments using the Robot3D simulator and the Symbricator modular robots, we will show the usefulness of this diversity measure. The goal of the first two experiments will be the evaluation of two different selection strategies: fitness proportionate and rank selection. In the last two experiments we will explore the differences between a restrained evolution, where the type of agent, which controls an element in an organism is predetermined by its parent element, and a free evolution.

关键词： Organism Modular robots Evolutionary health evolution evolution evolution Elements

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Human-robot interaction for 3D telemanipulated fracture reduction

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

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Ralf Westphal Simon Winkelbach Friedrich M. Wahl Thomas Gösling Markus Oszwald Tobias Hüfner Christian Krettek Institute for Robotics and Process Control Technical University of Braunschweig Germany Braunschweig Germany Department of Trauma Surgery Hannover Medical School Germany Hannover Germany

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.

关键词： Robots Educational institutions Accuracy X-ray imaging Surgery Haptic interfaces Biomedical imaging

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3D visualized robot assisted reduction of femoral shaft fractures: Evaluation in exposed cadaveric bones

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Technology and Health Care 2009年第4期17卷 337-343页

作者： Oszwald, Markus Westphal, Ralf Bredow, Jan Gaulke, Ralph Huefner, Tobias Wahl, Friedrich Krettek, Christian Goesling, Thomas Department of Trauma Surgery Hannover Medical School Hannover 30625 Carl-Neuberg-Str.1 Germany Institute for Robotics and Process Control Technical University of Braunschweig Braunschweig Germany Hospital for Special Surgery Orthopaedic Department New York NY United States

The main problems in intra-medullary nailing of femoral shaft-fractures are leg-length discrepancies and rotational differences with an incidence of 2-18% and 20-40% respectively. These may lead to severe postoperative sequelae such as additional correctional operations and difficult rehabilitation. Insufficient visualization can be considered the main reason for these complications. Finally, retention of the fragments in the correct alignment before nail insertion is difficult. To overcome these problems we established a robotic telemanipulator system to support the reduction process. It was evaluated in 30 fractures of embalmed human femora. Specially programmed software used an image-dataset which was acquired by an isocentric 3D fluoroscope. For visualization, a surface projection was generated. Localization and tracking of the fragments and the robot-arm as well as accuracy measurement was performed by using an optical navigation system. Manipulation was controlled via a force-feedback joystick. This way, collisions of the fragments were transmitted back to the surgeon. At the end of the reduction the robot could rigidly retain the fragments' position. © 2009-IOS Press and the authors. All rights reserved.

关键词： THREE-dimensional imaging in medicine FEMUR -- Wounds & injuries medical rehabilitation robotics in medicine FRACTURES

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