IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第8页

Robots for search site monitoring, suspect guarding, and evidence identification 用于搜索现场监控、嫌疑人护卫和证据识别的机器人

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-06-01 DOI: 10.11591/ijra.v9i2.pp84-93

Yi-Chang Wu, Jih-Wei Lee, Huan-Chun Wang

引用次数: 0

Cylinder Diameter Measurement for Rail Tankers Using 3D Laser Scanning Technology 利用三维激光扫描技术测量铁路罐车气缸直径

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-06-01 DOI: 10.1109/ICRAS49812.2020.9134924

Qi Chao, Shao Xuejun, Pan Qing, Wu Huijie

引用次数: 0

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller. 面向双手静脉插管:双力约束双手机器人系统的初步研究。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9196889

Changyan He, Ali Ebrahimi, Emily Yang, Muller Urias, Yang Yang, Peter Gehlbach, Iulian Iordachita

{"title":"Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller.","authors":"Changyan He, Ali Ebrahimi, Emily Yang, Muller Urias, Yang Yang, Peter Gehlbach, Iulian Iordachita","doi":"10.1109/icra40945.2020.9196889","DOIUrl":"https://doi.org/10.1109/icra40945.2020.9196889","url":null,"abstract":"Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools and retinal tissue. In this paper, a dual force constraint controller for robot-assisted retinal surgery was presented to keep the tool-to-vessel forces and tool-to-sclera forces below prescribed thresholds. A cannulation tool and forceps with dual force-sensing capability were developed and used to measure force information fed into the robot controller, which was implemented on existing Steady Hand Eye Robot platforms. The robotic system facilitates retinal vein cannulation by allowing a user to grasp the target vessel with the forceps and then enter the vessel with the cannula. The system was evaluated on an eye phantom. The results showed that, while the eyeball was subjected to rotational disturbances, the proposed controller actuates the robotic manipulators to maintain the average tool-to-vessel force at 10.9 mN and 13.1 mN and the average tool-to-sclera force at 38.1 mN and 41.2 mN for the cannula and the forcpes, respectively. Such small tool-to-tissue forces are acceptable to avoid retinal tissue injury. Additionally, two clinicians participated in a preliminary user study of the bimanual cannulation demonstrating that the operation time and tool-to-tissue forces are significantly decreased when using the bimanual robotic system as compared to freehand performance.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2020 ","pages":"4441-4447"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra40945.2020.9196889","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"25455303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection. 一种用于MRI引导下腰痛注射的全驱动车载机器人助手。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9197534

Gang Li, Niravkumar A Patel, Weiqiang Liu, Di Wu, Karun Sharma, Kevin Cleary, Jan Fritz, Iulian Iordachita

{"title":"A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection.","authors":"Gang Li, Niravkumar A Patel, Weiqiang Liu, Di Wu, Karun Sharma, Kevin Cleary, Jan Fritz, Iulian Iordachita","doi":"10.1109/icra40945.2020.9197534","DOIUrl":"10.1109/icra40945.2020.9197534","url":null,"abstract":"This paper reports the development of a fully actuated body-mounted robotic assistant for MRI-guided low back pain injection. The robot is designed with a 4-DOF needle alignment module and a 2-DOF remotely actuated needle driver module. The 6-DOF fully actuated robot can operate inside the scanner bore during imaging; hence, minimizing the need of moving the patient in or out of the scanner during the procedure, and thus potentially reducing the procedure time and streamlining the workflow. The robot is built with a lightweight and compact structure that can be attached directly to the patient's lower back using straps; therefore, attenuating the effect of patient motion by moving with the patient. The novel remote actuation design of the needle driver module with beaded chain transmission can reduce the weight and profile on the patient, as well as minimize the imaging degradation caused by the actuation electronics. The free space positioning accuracy of the system was evaluated with an optical tracking system, demonstrating the mean absolute errors (MAE) of the tip position to be 0.99±0.46 mm and orientation to be 0.99±0.65°. Qualitative imaging quality evaluation was performed on a human volunteer, revealing minimal visible image degradation that should not affect the procedure. The mounting stability of the system was assessed on a human volunteer, indicating the 3D position variation of target movement with respect to the robot frame to be less than 0.7 mm.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2020 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra40945.2020.9197534","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39348468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Large-Scale Volumetric Scene Reconstruction using LiDAR 基于激光雷达的大规模体景重建

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197388

Tilman Kuhner, Julius Kummerle

{"title":"Large-Scale Volumetric Scene Reconstruction using LiDAR","authors":"Tilman Kuhner, Julius Kummerle","doi":"10.1109/ICRA40945.2020.9197388","DOIUrl":"https://doi.org/10.1109/ICRA40945.2020.9197388","url":null,"abstract":"Large-scale 3D scene reconstruction is an important task in autonomous driving and other robotics applications as having an accurate representation of the environment is necessary to safely interact with it. Reconstructions are used for numerous tasks ranging from localization and mapping to planning. In robotics, volumetric depth fusion is the method of choice for indoor applications since the emergence of commodity RGB-D cameras due to its robustness and high reconstruction quality. In this work we present an approach for volumetric depth fusion using LiDAR sensors as they are common on most autonomous cars. We present a framework for large-scale mapping of urban areas considering loop closures. Our method creates a meshed representation of an urban area from recordings over a distance of 3.7km with a high level of detail on consumer graphics hardware in several minutes. The whole process is fully automated and does not need any user interference. We quantitatively evaluate our results from a real world application. Also, we investigate the effects of the sensor model that we assume on reconstruction quality by using synthetic data.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"39 1","pages":"6261-6267"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82884048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy. 肿瘤放射治疗中头部稳定软机器人的机理与模型。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9197007

Olalekan Ogunmolu, Xinmin Liu, Nicholas Gans, Rodney D Wiersma

引用次数: 1

Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties 不确定条件下相机和激光雷达内、外统一标定

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9197496

Julius Kummerle, Tilman Kuhner

引用次数: 22

Contact Stability Analysis of Magnetically-Actuated Robotic Catheter Under Surface Motion. 磁动机器人导管在表面运动下的接触稳定性分析

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9196951

Ran Hao, Tipakorn Greigarn, M Cenk Çavuşoğlu

引用次数: 0

Design and Analysis of a Synergy-Inspired Three-Fingered Hand 协同启发的三指手的设计与分析

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 DOI: 10.1109/ICRA40945.2020.9196901

Chen Wenrui, Xia Zhilan, Lu Jingwen, Zhao Zilong, W. Yao-nan

引用次数: 4

High-Resolution Optical Fiber Shape Sensing of Continuum Robots: A Comparative Study. 连续体机器人高分辨率光纤形状传感的比较研究。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9197454

Frederic Monet, Shahriar Sefati, Pierre Lorre, Arthur Poiffaut, Samuel Kadoury, Mehran Armand, Iulian Iordachita, Raman Kashyap

{"title":"High-Resolution Optical Fiber Shape Sensing of Continuum Robots: A Comparative Study.","authors":"Frederic Monet, Shahriar Sefati, Pierre Lorre, Arthur Poiffaut, Samuel Kadoury, Mehran Armand, Iulian Iordachita, Raman Kashyap","doi":"10.1109/icra40945.2020.9197454","DOIUrl":"https://doi.org/10.1109/icra40945.2020.9197454","url":null,"abstract":"Flexible medical instruments, such as Continuum Dexterous Manipulators (CDM), constitute an important class of tools for minimally invasive surgery. Accurate CDM shape reconstruction during surgery is of great importance, yet a challenging task. Fiber Bragg grating (FBG) sensors have demonstrated great potential in shape sensing and consequently tip position estimation of CDMs. However, due to the limited number of sensing locations, these sensors can only accurately recover basic shapes, and become unreliable in the presence of obstacles or many inflection points such as s-bends. Optical Frequency Domain Reflectometry (OFDR), on the other hand, can achieve much higher spatial resolution, and can therefore accurately reconstruct more complex shapes. Additionally, Random Optical Gratings by Ultraviolet laser Exposure (ROGUEs) can be written in the fibers to increase signal to noise ratio of the sensors. In this comparison study, the tip position error is used as a metric to compare both FBG and OFDR shape reconstructions for a 35 mm long CDM developed for orthopedic surgeries, using a pair of stereo cameras as ground truth. Three sets of experiments were conducted to measure the accuracy of each technique in various surgical scenarios. The tip position error for the OFDR (and FBG) technique was found to be 0.32 (0.83) mm in free-bending environment, 0.41 (0.80) mm when interacting with obstacles, and 0.45 (2.27) mm in s-bending. Moreover, the maximum tip position error remains sub-millimeter for the OFDR reconstruction, while it reaches 3.40 mm for FBG reconstruction. These results propose a cost-effective, robust and more accurate alternative to FBG sensors for reconstructing complex CDM shapes.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2020 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra40945.2020.9197454","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39335086","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 22