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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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Qualitative analysis of spatio-temporal event detectors

Qualitative analysis of spatio-temporal event detectors

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作者： Kaiser, Benedikt Heidemann, Gunther Institute for Process Control and Robotics Building 40 University of Karlsruhe 28 Kaiserstr. 12 D-76128 Karlsruhe Germany Intelligent Systems Group Stuttgart University Universitätsstr. 38 D-70569 Stuttgart Germany

ISBN: (纸本)9781424421756

Interest point detection is an established method to select relevent image regions. Such techniques use features like corners or edges, which are known to indicate regions likely to hold patterns of interest. Selection of such regions increases processing efficiency. For the recognition of motion, however, such context-free methods are still very rare. Though there are numerous methods to find space-time volumes of motion in image sequences, most aim at finding just motion as a such, not volumes which are more promising for analysis than others. Therefore Laptev and Lindeberg (2005) generalized the Harris detector to the spatio-temporal domain. But the problem remains to evaluate what kind of motion is captured by a detector. For example, the detector of Laptev and Lindeberg should capture "corners" - like the original 2D-version of Harris and Stephens (1988) - but what does that mean for motion? Therefore we present an approach to visualize events which were selected by a spatio-temporal interest point detector. Since the analysis of single examples is not fruitful, we use clustering to analyze large quantities of space-time volumes selected by a detector. The resulting cluster centers are prototypical events, representing the types of events the detector responds to. Thus a qualitative yet statistically exhaustive analysis of detector properties is possible. © 2008 IEEE.

关键词： Edge detection

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Human-robot interaction for 3D telemanipulated fracture reduction

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

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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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Qualitative analysis of spatio-temporal event detectors

Qualitative analysis of spatio-temporal event detectors

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International Conference on Pattern Recognition

作者： Benedikt Kaiser Gunther Heidemann Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany Intelligent Systems Group University of Stuttgart Stuttgart Germany

Interest point detection is an established method to select relevent image regions. Such techniques use features like corners or edges, which are known to indicate regions likely to hold patterns of interest. Selection of such regions increases processing efficiency. For the recognition of motion, however, such context-free methods are still very rare. Though there are numerous methods to find space-time volumes of motion in image sequences, most aim at finding just motion as a such, not volumes which are more promising for analysis than others. Therefore Laptev and Lindeberg (2005) generalized the Harris detector to the spatio-temporal domain. But the problem remains to evaluate what kind of motion is captured by a detector. For example, the detector of Laptev and Lindeberg should capture ¿corners¿ - like the original 2D-version of Harris and Stephens (1988) - but what does that mean for motion? Therefore we present an approach to visualize events which were selected by a spatio-temporal interest point detector. Since the analysis of single examples is not fruitful, we use clustering to analyze large quantities of space-time volumes selected by a detector. The resulting cluster centers are prototypical events, representing the types of events the detector responds to. Thus a qualitative yet statistically exhaustive analysis of detector properties is possible.

关键词： Event detection Detectors Motion analysis Motion detection Image edge detection Image sequences Image analysis Image motion analysis Image sequence analysis Visualization

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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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A Force Feedback Virtual Simulator for Education and Training

A Force Feedback Virtual Simulator for Education and Trainin...

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IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS)

作者： Lucio Tommaso De Paolis Euro Blasi Alessandro De Mauro Giovanni Aloisio Department of Innovation Engineering Salento University Lecce Italy SPACI Consortium Italy Institute for Process Control and Robotics (IPR) Medical Robotics Group University of Karlsruhe Germany

The essential requirements of a virtual reality based simulator are a realistic virtual environment and a reproduction of haptic sensation due to the interactions in the virtual environment. The interactions need to be performed in real-time, since a delay between the user action and the system reaction reduces the user experience. Accuracy and efficiency are two opposite requirements; in fact, increased accuracy implies higher computational time and vice versa. So, it is necessary to find a trade-off according to the application and, sometimes, to reduce the realism in favour of the real-time interaction. In this paper is presented a virtual simulator provided of a haptic interface and a virtual environment reconstructed from real patient's medical images in order to have haptic sensations in addition to a very realist virtual environment.

关键词： Force feedback Virtual environment Haptic interfaces Virtual reality Real time systems Delay Computational modeling medical simulation Image reconstruction Biomedical imaging

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Synthesis of CAD/CAM, robotics and biomaterial implant fabrication: single-step reconstruction in computer aided frontotemporal bone resection*

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International Journal of Oral & Maxillofacial Surgery 2002年第5期29卷

作者： Stephan Weihe Michael Wehmöller Henning Schliephake Stefan Haßfeld Alexander Tschakaloff Jörg Raczkowsky Harald Eufinger Department of Oral and Maxillofacial Surgery Regional Plastic Surgery Ruhr-University Bochum Institute of Production Systems and Processing Techniques Ruhr-University Bochum Department of Oral and Maxillofacial Surgery Hannover Medical School Department of Oral and Maxillofacial Surgery Ruprecht-Karls-University Heidelberg DEGIMA Medizinprodukte GmbH Pinneberg and Institute of Process Control and Robotics University of Karlsruhe Germany

The preoperative manufacturing of individual skull implants, developed by an interdisciplinary research group at Ruhr-University Bochum, is based on the use of titanium as the most common material for implants at present. Using the existing technology for materials that can be milled or moulded, customized implants may be manufactured as well. The goal of the study was to examine biodegradable materials and to evaluate the practicability of intraoperative instrument navigation and robotics. Data acquisition of an adult sheep’s head was performed with helical computer tomography (CT). The data were transferred onto a computer aided design/computer aided manufacturing system (CAD/CAM system), and two complex defects in the frontotemporal skull were designed. Standard individual titanium implants were milled for both of the defects. Additionally, for one of the defects a resection template, as well as a mould for the biodegradable poly(D,L-lactide) (PDLLA) implant, were fabricated by the CAD/CAM system. A surgeon carried out the first bone resection (#1) for the prefabricated titanium implant using the resection template and an oscillating saw. The robot system Stäubli RX90CR, modified for clinical use, carried out the other resection (#2). Both titanium implants and the PDLLA implant were inserted in their respective defects to compare the precision of their fit. A critical comparison of both implant materials and both resection types shows that fabrication of a PDLLA implant and robot resection are already possible. At present, the titanium implant and resection using a template are more convincing due to the higher precision and practicability.

关键词： biodegradable carrier computer aided design (CAD) computer aided manufacturing (CAM) cranioplasty polylactide (PLA) robotics tissue engineering titanium

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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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Distributed modular computer-integrated surgical robotic systems: Architecture for intelligent object distribution 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on medical Image Computing and Computer-Assisted Intervention, MICCAI 2000

作者： Schorr, Oliver Hata, Nobuhiko Bzostek, Andrew Kumar, Rajesh Burghart, Catherina Taylor, Russel H. Kikinis, Ron Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute for Process Control and Robotics University of Karlsruhe Germany Department of Computer Science Johns Hopkins University BaltimoreMD United States

ISBN: (纸本)3540411895

This paper presents intelligent object distribution architecture to maximize the performance and intelligence of a distributed surgical robotics system and its preliminary implementation in an MR-guided surgical robot system in an open-configuration MR! scanner. The method enables networked integration of a robot control server and multiple clients with minimum engineering overhead but maximum flexibility and performance. The clients in this study include an intraoperative imager, high-performance image processing computers), and surgical navigation host. The first contribution of the paper is to propose the use of object distribution by common object request broker architecture (CORBA), in which a robot control object on the robot control server can be remotely but transparently invoked from the clients regardless of their hardware, operating systems, or programming language. Second, we propose a technique to achieve additional flexibility by reporting the robot configuration information, i.e. geometry and kinematics of the robot, to the clients upon connection. Third, we ensure protection against an unauthorized entity by introducing a security control host that authorized the clients’ access to the robot server. In a prototype implementation of an MR-guided surgical robot system, the robot was controlled by surgical navigation software (the 3D Slicer) on a UNIX client by invoking the distributed control object on a robot control server on a PC. The method was evaluated in performance studies;and the result indicated 3.6 milliseconds for retrieving positions of the robot stages and 25.5 milliseconds to send a frame-based motion command, which are satisfactory for surgical robot control. In conclusion, the proposed method shows the potential usefulness of flexibly integrating the legacy software to a surgical robot system with minimum engineering overhead, thereby achieving highly complex and intelligent tasks in robot-assisted surgery. © Springer-Verlag Berlin Hei

关键词： Robotic surgery

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on medical Image Computing and Computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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