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A vision-guided multi-robot cooperation framework for learning-by-demonstration and task reproduction
2017
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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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
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., +, 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
2011
Applied Bionics and Biomechanics
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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
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., +, 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
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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
2018
The international journal of robotics research
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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
2021
Applied Sciences
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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
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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
2009
Current problems in surgery
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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
2022
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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]
2017
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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
2016
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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
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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
2020
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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
2017
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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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