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Development of a Novel Hand-eye Coordination Algorithm for Robot Assisted Minimally Invasive Surgery*

Development of a Novel Hand-eye Coordination Algorithm for R...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yanwen Sun Bo Pan Yili Fu Guojun Niu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The minimally invasive surgical robot greatly improved surgical OR efficiency, and surgeon manipulates the surgical instruments through master-slave control under the guidance of laparoscope vision. As a mapping of the surgeon's hand-eye coordination, the coordination between surgical instruments and laparoscope has an important impact on the surgical efficiency and the ergonomics. In this paper, a novel hand-eye coordination algorithm is proposed for the robot -assisted minimally invasive surgery (RMIS). Firstly, a novel cascade-calibration (CC) algorithm structure is proposed to determine the pose relationship between the robot laparoscope arm coordinate system and the robot instruments arm coordinate system. A hand-eye coordination algorithm is also proposed, which provides accurate master-slave control and improves the surgical operation room (OR) efficiency. We validate the proposed algorithm through two experiments with our minimally invasive surgical robot system. Our experiments demonstrate that the proposed method is competitively effective to induce the hand-eye coordination for the RMIS.

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Trajectory Error Eliminates of Input Shaping on X-Y Platform by Phase Erro Feedforward Control

Trajectory Error Eliminates of Input Shaping on X-Y Platform...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Yongping Sun Ming Yang Yangyang Chen Jiang Long Jia Cao Dianguo Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728133997

In this paper, the servo system mechanical drive is analyzed, flexible beam vibration will cause end point trajectory distortion. Simplify the flexible beam load as a second-order system, which is a low frequency light damped vibration system, the ZVD input shaper which is very suitable for vibration suppression of low frequency light damping system is adopted. Due to the different vibration frequencies and damping coefficients of the X-Y platform flexible load, the X-axis and Y-axis input shapers cause different command lags, which can cause trajectory distortion. The adaptive feedforward controller based on phase angle error is used to solve trajectory distortion problem. Combined with the input shaper and adaptive feedforward control based on phase error, it can solve the vibration suppression of X-axis and Y-axis flexible load with different vibration characteristics, and can guarantee the track accuracy. Finally, the effectiveness of the algorithms is verified by simulation.

关键词： Servo system Vibration suppression Input shaping adaptive feedforward control vibration suppression Servo systems lateral axis Vibrational frequencies Shapers FEEDFORWARD CONTROL beam loading Adaptive feedforward control flexible load trajectory error second order system Damping ratio phase error

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An Improved Dynamic Window Approach Integrated Global Path Planning

An Improved Dynamic Window Approach Integrated Global Path P...

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IEEE International Conference on robotics and Biomimetics

作者： Fuhai Zhang Ning Li Tiegang Xue Ying Zhu Rupeng Yuan Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation sub-function of direction, the evaluation sub-function of smoothing speed and the evaluation sub-function of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained.

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Video Text Processing Method Based on Image Stitching

Video Text Processing Method Based on Image Stitching

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International Conference on Image, Vision and Computing (ICIVC)

作者： Tianxiang Zhou Ke Wang Jun Wu Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728123264

This paper studies the video of text with large field of view, solves the problem of text acquisition when a single frame cannot obtain complete text information. This paper proposes a method for acquiring video text panoramas, which automatically processes video text content by natural scene text positioning, text tracking, image stitching and other methods. First, the text is detected using the YOLO target detection framework. Second, use ECO tracking method to keep track of text. Finally, the local matching and global stitching method are used to obtain a text panorama. Experiments show that the proposed method can automatically process video and obtain high-resolution panoramic images with text parts, which greatly improves the text processing speed and effect of video content.

关键词： Text detection Tracking Image stitching image stitching texts Videotapes tracking field of view Word Processing text processing Single frame

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Design and Simulation of an Accelerometer Allocation Scheme for Six-dimensional Acceleration Sensor

Design and Simulation of an Accelerometer Allocation Scheme ...

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IEEE International Conference on robotics and Biomimetics

作者： Zhiwei Wu Yongjun Sun Fenglei Ni Yiwei Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, a novel spatial geometry of six-dimensional acceleration sensor(SDAS) is designed. And the sensor equation is calculated. The reliability of SDAS is improved by adding redundant line accelerometer. The GDOP(Geometric Dilution of Precision) index used in satellite navigation is introduced into SDAS for configuration evaluation. Compared with the classic cube configuration, the three indexes have improved significantly. The relationship between the output error of the SDAS and the installation error of the linear accelerometer is analyzed theoretically. Compared with the proposed layout structure using 12 accelerometers, it has obvious advantages.

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A Novel Visual Odometer Assisted Pose Tracking Method for Mobile Robots

A Novel Visual Odometer Assisted Pose Tracking Method for Mo...

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IEEE International Conference on robotics and Biomimetics

作者： Rupeng Yuan Fuhai Zhang Ying Zhu Yili Fu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Pose tracking is very crucial for robot's autonomous navigation. LIDAR based pose tracking algorithms are widely used due to its high cost-effective advantage. However these methods are likely to give back wrong result if the environment is blocked by the obstacles. In this paper, a visual odometer assisted pose tracking method is proposed to increase the robustness of pose tracking. Statistical index is introduced to evaluate the samples' score of LIDAR based pose tracking. If the result is not credible, the result of visual odometer will compensate the error along the maximum error direction. The experiment shows that the proposed method is able to track the robot correctly if the environment is blocked by obstacles.

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Compliance Control of the Hydraulic-Driven Single Legged Robot

Compliance Control of the Hydraulic-Driven Single Legged Rob...

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IEEE International Conference on robotics and Biomimetics

作者： Yixiao Fan Xu Li Haibo Feng Songyuan Zhang Chengbo Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents the force control strategies and a kind of compliance control strategies of the hydraulic- driven unit (HDU) in the legged robots. The model of HDU is established and the transfer function of the HDU force control system is given. The analysis of the force control strategies is introduced according to the characteristic of the HDU system. Based on the force control strategy called velocity feedback control strategy which performs the best, the virtual model control strategy which is a kind of compliance control strategy is presented to enhance the adaptability of the legged robot. Finally, the experiments are taken on the HDU experiment platform to test the performance of the force control strategies and the compliance control strategy. The landing buffer experiments are taken on the single leg robot to verify the effectiveness of the compliance control strategy. In the landing buffer experiments, the impact force of the single leg robot's knee HDU is about 0.33 time of what it is without the compliance control strategy while landing.

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Design of a Highly Compliant Underactuated Prosthetic Hand*

Design of a Highly Compliant Underactuated Prosthetic Hand*

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IEEE International Conference on robotics and Biomimetics

作者： Ming Cheng Shaowei Fan Li Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a highly compliant prosthetic hand based on a novel synergy mechanism. The prosthetic hand consists of a synergy mechanism, four fingers and one thumb. The synergy mechanism can transmit the power from two motors to four fingers. It can effectively reduce the number of motors. At the same time, it makes the prosthetic hand have excellent dexterity. The underactuated finger has three joints with two DOF. It has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object, which can mimic the human finger as much as possible. The thumb uses one motor to drive the two flexion-extension joints and uses a manual switch to drive the abduction-adduction joint, which can reduce the number of motors and the cost efficiently. The performance evaluation is given to demonstrate the comprehensive performance in terms of the versatility, compliance, sensing, size, weight and cost of the proposed design.

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Visual-Based Pose Tracking in Weak Light

Visual-Based Pose Tracking in Weak Light

引用

International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)

作者： Longzhi Zhang Dongmei Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Visual tracking is a popular topic in computer vision, which has broad application prospects in military guidance, aerospace, video surveillance and analysis, medical diagnosis, intelligent robotics, human-computer interaction, and etc. Current tracking algorithms perform poorly in specific scenes, such as a target in condition of weak light. Thus, a pose tracking method based on visual information is put forward, to implement real-time visual tracking in weak light. More precisely, in proposed method, target pose parameters are known at the first frame in a given video sequence, additionally, edge features and point features are taken as visual features to improve the realtime of tracking. The experimental results demonstrate that our approach has better real-time performance of tracking in weak light.

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A Novel Grasping Control Method for Dexterous Prosthesis based on Eye-tracking*

A Novel Grasping Control Method for Dexterous Prosthesis bas...

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IEEE International Conference on robotics and Biomimetics

作者： Jie Li Chunyuan Shi Dapeng Yang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The state-of-art dexterous prosthetic hand with multi-degree-of-freedom urgently requires a control method to match its dexterity. The purpose of this paper is to develop a method on rapid grasp control of prosthetic hand based on eye-tracking and verify its effectiveness by experiments. Firstly, an interactive experiment platform was established. Based on the platform, the operator can select the necessary grasping pattern from a graphic interface through eye movement and trigger the selected pattern by gazing the target for a short time (~300ms). The selected grasp pattern will be fed back to the operator during the hand prosthesis performing reach-and-grasp tasks. Finally, to verify the effectiveness of this method, experiments were conducted by an able-bodied participant wearing the prosthesis to grasp some daily-used objects. Our result shows that, by adopting the eye tracking technology in the human visual channel, the grasp control of the prosthesis can be supervised and regulated in real-time and thus an effective interaction between the dexterous prosthesis and the operator can be achieved.

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