Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第6页

System Design and Development of a Robotic Device for Automated Venipuncture and Diagnostic Blood Cell Analysis. 用于自动静脉穿刺和诊断血细胞分析的机器人装置的系统设计与开发。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2016-10-01 Epub Date: 2016-12-01 DOI: 10.1109/IROS.2016.7759102

Max L Balter, Alvin I Chen, Alex Fromholtz, Alex Gorshkov, Tim J Maguire, Martin L Yarmush

{"title":"System Design and Development of a Robotic Device for Automated Venipuncture and Diagnostic Blood Cell Analysis.","authors":"Max L Balter, Alvin I Chen, Alex Fromholtz, Alex Gorshkov, Tim J Maguire, Martin L Yarmush","doi":"10.1109/IROS.2016.7759102","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759102","url":null,"abstract":"Diagnostic blood testing is the most prevalent medical procedure performed in the world and forms the cornerstone of modern health care delivery. Yet blood tests are still predominantly carried out in centralized labs using large-volume samples acquired by manual venipuncture, and no end-to-end solution from blood draw to sample analysis exists today. Our group is developing a platform device that merges robotic phlebotomy with automated diagnostics to rapidly deliver patient information at the site of the blood draw. The system couples an image-guided venipuncture robot, designed to address the challenges of routine venous access, with a centrifuge-based blood analyzer to obtain quantitative measurements of hematology. In this paper, we first present the system design and architecture of the integrated device. We then perform a series of in vitro experiments to evaluate the cannulation accuracy of the system on blood vessel phantoms. Next, we assess the effects of vessel diameter, needle gauge, flow rate, and viscosity on the rate of sample collection. Finally, we demonstrate proof-of-concept of a white cell assay on the blood analyzer using in vitro human samples spiked with fluorescently labeled microbeads.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2016 ","pages":"514-520"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/IROS.2016.7759102","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34765858","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: 15

Toward On-line Parameter Estimation of Concentric Tube Robots Using a Mechanics-based Kinematic Model. 基于力学的同心管机器人运动学模型在线参数估计

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2016-10-01 Epub Date: 2016-12-01 DOI: 10.1109/IROS.2016.7759374

Cheongjae Jang, Junhyoung Ha, Pierre E Dupont, Frank Chongwoo Park

引用次数: 7

Preliminary Experiments with a Unified Controller for a Powered Knee-Ankle Prosthetic Leg Across Walking Speeds. 动力膝踝假肢跨行走速度统一控制器的初步实验。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2016-10-01 Epub Date: 2016-12-01 DOI: 10.1109/IROS.2016.7759798

David Quintero, Dario J Villarreal, Robert D Gregg

{"title":"Preliminary Experiments with a Unified Controller for a Powered Knee-Ankle Prosthetic Leg Across Walking Speeds.","authors":"David Quintero, Dario J Villarreal, Robert D Gregg","doi":"10.1109/IROS.2016.7759798","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759798","url":null,"abstract":"This paper presents the experimental validation of a novel control strategy that unifies the entire gait cycle of a powered knee-ankle prosthetic leg without the need to switch between controllers for different periods of gait. Current control methods divide the gait cycle into several sequential periods each with independent controllers, resulting in many patient-specific control parameters and switching rules that must be tuned for a specific walking speed. The single controller presented is speed-invariant with a minimal number of control parameters to be tuned. A single, periodic virtual constraint is derived that exactly characterizes the desired actuated joint motion as a function of a mechanical phase variable across walking cycles. A single sensor was used to compute a phase variable related to the residual thigh angle's phase plane, which was recently shown to robustly represent the phase of non-steady human gait. This phase variable allows the prosthesis to synchronize naturally with the human user for intuitive, biomimetic behavior. A custom powered knee-ankle prosthesis was designed and built to implement the control strategy and validate its performance. A human subject experiment was conducted across multiple walking speeds (1 to 3 miles/hour) in a continuous sequence with the single phase-based controller, demonstrating its adaptability to the user's intended speed.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2016 ","pages":"5427-5433"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/IROS.2016.7759798","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34898414","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: 62

Needle-Tissue Interaction Force State Estimation for Robotic Surgical Suturing. 机器人手术缝合中针-组织相互作用力状态估计。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2016-10-01 DOI: 10.1109/IROS.2016.7759539

Russell C Jackson, Viraj Desai, Jean P Castillo, M Cenk Çavuşoğlu

引用次数: 14

Active Sensing for Continuous State and Action Spaces via Task-Action Entropy Minimization. 基于任务-动作熵最小化的连续状态和动作空间主动感知。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2016-10-01 Epub Date: 2016-12-01 DOI: 10.1109/IROS.2016.7759688

Tipakorn Greigarn, M Cenk Çavuşoğlu

引用次数: 1

Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots. 同心管机器人的自适应非参数运动学建模

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2016-10-01 Epub Date: 2016-12-01 DOI: 10.1109/IROS.2016.7759636

Georgios Fagogenis, Christos Bergeles, Pierre E Dupont

{"title":"Adaptive Nonparametric Kinematic Modeling of Concentric Tube Robots.","authors":"Georgios Fagogenis, Christos Bergeles, Pierre E Dupont","doi":"10.1109/IROS.2016.7759636","DOIUrl":"10.1109/IROS.2016.7759636","url":null,"abstract":"Concentric tube robots comprise telescopic precurved elastic tubes. The robot's tip and shape are controlled via relative tube motions, i.e. tube rotations and translations. Non-linear interactions between the tubes, e.g. friction and torsion, as well as uncertainty in the physical properties of the tubes themselves, e.g. the Young's modulus, curvature, or stiffness, hinder accurate kinematic modelling. In this paper, we present a machine-learning-based methodology for kinematic modelling of concentric tube robots and in situ model adaptation. Our approach is based on Locally Weighted Projection Regression (LWPR). The model comprises an ensemble of linear models, each of which locally approximates the original complex kinematic relation. LWPR can accommodate for model deviations by adjusting the respective local models at run-time, resulting in an adaptive kinematics framework. We evaluated our approach on data gathered from a three-tube robot, and report high accuracy across the robot's configuration space.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2016 ","pages":"4324-4329"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5510657/pdf/nihms873674.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35176100","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: 0

Making Robots Mill Bone More Like Human Surgeons: Using Bone Density and Anatomic Information to Mill Safely and Efficiently. 让机器人磨骨更像人类外科医生：利用骨密度和解剖信息，安全高效地磨骨。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2016-10-01 Epub Date: 2016-12-01 DOI: 10.1109/IROS.2016.7759292

Neal P Dillon, Loris Fichera, Patrick S Wellborn, Robert F Labadie, Robert J Webster

{"title":"Making Robots Mill Bone More Like Human Surgeons: Using Bone Density and Anatomic Information to Mill Safely and Efficiently.","authors":"Neal P Dillon, Loris Fichera, Patrick S Wellborn, Robert F Labadie, Robert J Webster","doi":"10.1109/IROS.2016.7759292","DOIUrl":"10.1109/IROS.2016.7759292","url":null,"abstract":"Surgeons and robots typically use different approaches for bone milling. Surgeons adjust their speed and tool incidence angle constantly, which enables them to efficiently mill porous bone. Surgeons also adjust milling parameters such as speed and depth of cut throughout the procedure based on proximity to sensitive structures like nerves and blood vessels. In this paper we use image-based bone density estimates and segmentations of vital anatomy to make a robot mill more like a surgeon and less like an industrial computer numeric controlled (CNC) milling machine. We produce patient-specific plans optimizing velocity and incidence angles for spherical cutting burrs. These plans are particularly useful in bones of variable density and porosity like the human temporal bone. They result in fast milling in non-critical areas, reducing overall procedure time, and lower forces near vital anatomy. We experimentally demonstrate the algorithm on temporal bone phantoms and show that it reduces mean forces near vital anatomy by 63% and peak forces by 50% in comparison to a CNC-type path, without adding time to the procedure.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2016 ","pages":"1837-1843"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5558793/pdf/nihms891216.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35284478","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: 0

Nonholonomic Closed-loop Velocity Control of a Soft-tethered Magnetic Capsule Endoscope. 软系留磁胶囊内窥镜的非完整闭环速度控制。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2016-10-01 Epub Date: 2016-12-01 DOI: 10.1109/IROS.2016.7759192

Addisu Z Taddese, Piotr R Slawinski, Keith L Obstein, Pietro Valdastri

{"title":"Nonholonomic Closed-loop Velocity Control of a Soft-tethered Magnetic Capsule Endoscope.","authors":"Addisu Z Taddese, Piotr R Slawinski, Keith L Obstein, Pietro Valdastri","doi":"10.1109/IROS.2016.7759192","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759192","url":null,"abstract":"In this paper, we demonstrate velocity-level closed-loop control of a tethered magnetic capsule endoscope that is actuated via serial manipulator with a permanent magnet at its end-effector. Closed-loop control (2 degrees-of-freedom in position, and 2 in orientation) is made possible with the use of a real-time magnetic localization algorithm that utilizes the actuating magnetic field and thus does not require additional hardware. Velocity control is implemented to create smooth motion that is clinically necessary for colorectal cancer diagnostics. Our control algorithm generates a spline that passes through a set of input points that roughly defines the shape of the desired trajectory. The velocity controller acts in the tangential direction to the path, while a secondary position controller enforces a nonholonomic constraint on capsule motion. A soft nonholonomic constraint is naturally imposed by the lumen while we enforce a strict constraint for both more accurate estimation of tether disturbance and hypothesized intuitiveness for a clinician's teleoperation. An integrating disturbance force estimation control term is introduced to predict the disturbance of the tether. This paper presents the theoretical formulations and experimental validation of our methodology. Results show the system's ability to achieve a repeatable velocity step response with low steady-state error as well as ability of the tethered capsule to maneuver around a bend.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2016 ","pages":"1139-1144"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/IROS.2016.7759192","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34832806","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: 19

Effects of Micro-Vibratory Modulation during Robot-Assisted Membrane Peeling. 微振动调制对机器人辅助膜剥离的影响。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2015-09-01 DOI: 10.1109/IROS.2015.7353912

Berk Gonenc, Peter Gehlbach, Russell H Taylor, Iulian Iordachita

{"title":"Effects of Micro-Vibratory Modulation during Robot-Assisted Membrane Peeling.","authors":"Berk Gonenc, Peter Gehlbach, Russell H Taylor, Iulian Iordachita","doi":"10.1109/IROS.2015.7353912","DOIUrl":"https://doi.org/10.1109/IROS.2015.7353912","url":null,"abstract":"In retinal microsurgery, membrane peeling is a standard procedure requiring the delamination of a thin fibrous membrane adherent to the retina surface by applying very small forces. Robotic devices with combined force-sensing instruments have significant potential to assist this procedure by facilitating membrane delamination through induced micro-vibrations. However, defining the optimal frequency and amplitude for generating such vibrations, and updating these parameters during the procedure is not trivial. Automatic adjustment of these parameters via an adaptive control scheme is possible only if the individual parameter effects on delamination behavior are known. This study presents an experimental exploration of how micro-vibration amplitude and frequency affect membrane peeling forces alone. Combining a micromanipulator and a force-sensing micro-forceps, several peeling experiments were done on artificial phantoms (bandages) and inner shell membrane of raw chicken eggs. In the tested range of micro-vibration frequencies (10-50 Hz) the average delamination force was minimized mostly at 30 Hz for the bandages and at 50 Hz for the egg membranes. Increasing the micro-vibration amplitude from 50 μm up to 150 μm provided further reduction in average force, thus facilitated membrane delamination.","PeriodicalId":74523,"journal":{"name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"2015 ","pages":"3811-3816"},"PeriodicalIF":0.0,"publicationDate":"2015-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/IROS.2015.7353912","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34429861","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

Real-time Adaptive Kinematic Model Estimation of Concentric Tube Robots. 同心管机器人的实时自适应运动学模型估计。

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2015-09-01 DOI: 10.1109/IROS.2015.7353823

Chunwoo Kim, Seok Chang Ryu, Pierre E Dupont

引用次数: 0