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A vision-guided multi-robot cooperation framework for learning-by-demonstration and task reproduction

Bidan Huang, Menglong Ye, Su-Lin Lee, Guang-Zhong Yang
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Experiment results show that the robots can sew with sub-millimeter accuracy and adapt to multiple personalized stent designs.  ...  The human demonstrations were firstly observed by the vision module, and then encoded using a statistical model to generate the reference motion trajectory.  ...  [13] proposed a single-camera system for auto-suturing with a monocular pose measurement algorithm [14] .  ... 
doi:10.1109/iros.2017.8206355 dblp:conf/iros/HuangYLY17 fatcat:k3364cqpfnh45dug2zzuumyoja

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA April 2020 2372-2379 SilhoNet-Fisheye: Adaptation of A ROI Based Object Pose Estimation Network to Monocular Fisheye Images.  ...  ., +, LRA Oct. 2020 6670-6677 Computer vision 3D-Aware Scene Change Captioning From Multiview Images.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Remote Minimally Invasive Surgery – Haptic Feedback and Selective Automation in Medical Robotics

Christoph Staub, Keita Ono, Hermann Mayer, Alois Knoll, Heinz Ulbrich, Robert Bauernschmitt
2011 Applied Bionics and Biomechanics  
While the benefits of force feedback in telesurgery has already been demonstrated and measured forces are also used during task learning, the transmission of signals between the operator console and the  ...  With this concept, the concrete example of knot-tying for suturing is exemplified and evaluated.  ...  The accuracy of image-based methods for static positioning tasks is less sensitive to calibration than PBVS [7] , as the positioning error is directly reduced in image space.  ... 
doi:10.1155/2011/765172 fatcat:wsuv2fqqivhwhhevrntewp5s64

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA April 2019 2062-2069 Image enhancement Variational Object-Aware 3-D Hand Pose From a Single RGB Image.  ...  ., +, LRA July 2019 2455-2462 Computational Design of Statically Balanced Planar Spring Mechanisms.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Table of Contents

2022 IEEE Robotics and Automation Letters  
Monocular Frontal View Images . . . . . . . . . ....N.Gosala and A.  ...  Singh Adaptive Flow Planning of Modular Spherical Robot Considering Static Gravity Stability . . . . . . . . H. Luo and T. L.  ... 
doi:10.1109/lra.2022.3165102 fatcat:enjzebowe5hn7hsfwklc7nieuy

Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey

Jose Sanchez, Juan-Antonio Corrales, Belhassen-Chedli Bouzgarrou, Youcef Mezouar
2018 The international journal of robotics research  
Finally, we conclude this survey with a discussion of the current state of the art and propose future directions within the proposed classification.  ...  We present a survey of recent work on robot manipulation and sensing of deformable objects, a field with relevant applications in diverse industries such as medical (e.g. surgery assistance), food handling  ...  Using a monocular camera, they estimated the location of the needle by fitting an ellipse.  ... 
doi:10.1177/0278364918779698 fatcat:q3nhl3uzhrdkbjss3lqo5pvwhy

Advanced Applications of Industrial Robotics: New Trends and Possibilities

Andrius Dzedzickis, Jurga Subačiūtė-Žemaitienė, Ernestas Šutinys, Urtė Samukaitė-Bubnienė, Vytautas Bučinskas
2021 Applied Sciences  
The results of this review revealed four directions of required advancement in robotics: development of intelligent companions; improved implementation of AI-based solutions; robot-oriented design of objects  ...  We also provide an overview of survey publications and technical reports, classified by application criteria, and the development of the structure of existing solutions, and identify recent research gaps  ...  A comparative study of robot pose optimisation using static and dynamic stiffness models for different cutting scenarios.  ... 
doi:10.3390/app12010135 fatcat:o4ohtgzqnvfnfjqcc34p65yvpm

CARS 2021: Computer Assisted Radiology and Surgery Proceedings of the 35th International Congress and Exhibition Munich, Germany, June 21–25, 2021

2021 International Journal of Computer Assisted Radiology and Surgery  
Acknowledgements This work has been funded by the research project PI18/00169 from Instituto de Salud Carlos III & FEDER funds.  ...  Suture needles were also used, but, for these three reasons, that the size of the suture needle is small, it is rarely seen depending on the angle, and it is often pinched by a needle holder, we didn't  ...  Conclusion The results regarding the accuracy of half-guided dental implant placement were consistent with literature [2] . 3D Slicer could be used in static computer-aided implant surgery as an alternative  ... 
doi:10.1007/s11548-021-02375-4 pmid:34085172 fatcat:6d564hsv2fbybkhw4wvc7uuxcy

Image Guided Surgical Interventions

Douglas P. Perrin, Nikolay V. Vasilyev, Paul Novotny, Jeffrey Stoll, Robert D. Howe, Pierre E. Dupont, Ivan S. Salgo, Pedro J. del Nido
2009 Current problems in surgery  
Although real-time 3D CT imaging is limited by the need to reconstruct the image from a large volume of data, advances in computing speed have nearly eliminated this as a technological constraint.  ...  In most cases radiograph static images or fluoroscopy have been used in the operating room.  ...  Usually used for image registration. • Fluoroscopy-real-time updating of x-ray-generated images from flat-panel semiconductor detectors. • Gating-signal (eg, image) acquisition using a detectable triggering  ... 
doi:10.1067/j.cpsurg.2009.04.001 pmid:19651287 fatcat:oiojybbztrcejpgdskq33wmrhu

A gaze-contingent framework for perceptually-enabled applications in healthcare

Alexandros Kogkas, George Mylonas, Ara Darzi, National Institute For Health Research (NIHR)
Then, the gaze-controlled robotised flexible endoscope is introduced; experienced endoscopists and novice users performed a simulated examination of the upper gastrointestinal tract using predominately  ...  Patient safety and quality of care remain the focus of the smart operating room of the future.  ...  The ORB-SLAM algorithm [216] is used with a monocular camera to estimate its pose in a 3D environment and map features of video frames.  ... 
doi:10.25560/96580 fatcat:bgig4fiuqjejbcs7lvf4skckuq

Reiter_columbia_0054D_11184.pdf [article]

Assistive Visual Tools For Surgery Austin Reiter This thesis describes efforts towards the development of computational vision tools to assist physicians during surgical procedures.  ...  It was originally introduced to address the limitations of manual laparoscopy, whereby long rigid tools are being used to perform complicated surgical procedures.  ...  Using a grasping constraint, the full pose of the marker is retrieved by thresholding the luminance component of the pixels to detect the marker pattern in the image.  ... 
doi:10.7916/d8vh5w2h fatcat:2k4c23qoanf7vkd2qbuoo5hc34

Image-guided robotics for autonomous venipuncture

Alvin I. Chen
The device combines 3D near-infrared and ultrasound imaging, computer vision software, and a miniaturized dexterous robot that inserts the needle based on real-time image guidance.  ...  Methods to robustly segment, localize, and track the pose of the vessels are presented, and robotic prototypes capable of autonomously aligning and servoing the needle under real-time image guidance are  ...  The needle tip was then extracted manually from each image and used to compute the 3D needle tip location.  ... 
doi:10.7282/t3gx4dt0 fatcat:k4l6hjb5h5g37nd65cxr3ipv24

TERMIS EU 2008 Porto Meeting June 22–26, 2008 Porto Congress Center–Alfândega Portugal

2008 Tissue Engineering. Part A  
The ''subacromial impingement syndrome'' resulting from this unbalance leads to an extension of the rotator cuff lesion.  ...  Many authors have postulated a mechanism of compensation, but its existence still requires evidence. According to this model, the longitudinal muscles of the shoulder and the undamaged mus-  ...  The development of vaccine technologies has emerged as a forefront healthcare initiative, especially technologies for use in developing countries, posing severe economic and logistic constraints.  ... 
doi:10.1089/tea.2008.1504 fatcat:cxioapxnyjdjdoljvydhuq75r4

Towards Anthropomorphic Robotic Paper Manipulation

Christof Elbrechter
Given the fact that most objects in our homes are explicitly tuned to be grasped, used and manipulated by human hands, transitioning from traditional robot grippers to anthropomorphic robot hands seems  ...  We chose paper manipulation, which poses many unsolved challenges along the conceptional axes of perception, modeling and robot control.  ...  Libfidtrack was not used because of its infeasibility to handle monocular 3D/6D marker pose estimation and license incompatibilities.  ... 
doi:10.4119/unibi/2942199 fatcat:3kzt3dbbqjgslaqmppnj2nx7jq

Robotic devices for automated venipuncture and diagnostic blood analysis

Max Loeb Balter
The system uses 3D near-infrared and ultrasound imaging to guide the robotic needle insertion, a sample handling module to deliver the sample to the processing unit, and an analyzer capable of performing  ...  However, manual blood draw success rates depend heavily on clinician skill and patient physiology, and results are generated almost exclusively in centralized labs from large-volume samples using labor-intensive  ...  The needle tip was then extracted manually from each image and used to compute the 3D needle tip location.  ... 
doi:10.7282/t3xg9tz6 fatcat:bagyxy7bo5eenf5mpzvfmwkvvq
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