Proceedings of ... International Conference on Advanced Robotics. International Conference on Advanced Robotics最新文献

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ROS, Android and cloud robotics: How to make a powerful low cost robot ROS, Android和云机器人:如何制造强大的低成本机器人

Proceedings of ... International Conference on Advanced Robotics. International Conference on Advanced Robotics Pub Date : 2015-07-27 DOI: 10.1109/ICAR.2015.7251449

J. P. A. Barbosa, Fabio do P. de C. Lima, Leonardo dos S. Coutinho, J. Leite, J. B. Machado, Carlos Henrique Valério de Moraes, G. S. Bastos

{"title":"ROS, Android and cloud robotics: How to make a powerful low cost robot","authors":"J. P. A. Barbosa, Fabio do P. de C. Lima, Leonardo dos S. Coutinho, J. Leite, J. B. Machado, Carlos Henrique Valério de Moraes, G. S. Bastos","doi":"10.1109/ICAR.2015.7251449","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251449","url":null,"abstract":"With the constant development in the robotics field, many solutions require a high hardware complexity to be executed resulting in an expensive robotic system. Furthermore, these solutions are usually closed box implementations that are hard to be reproduced. Hence, this project proposes a system structure to reduce these difficulties in robotics development. This system consists of a low cost robot with an embedded Android phone in a ROS environment. For testing this implementation, two Android phones, a laptop and a robot with an Arduino microcontroller have been used. The results of the study demonstrated several advantages of using this system, such as incorporating processing and sensing from the smartphone on the robot, having external heavy processing in a Server outside the robot and being able to connect the robot to the cloud. Therefore, using a popular Android device running a Rosjava application can be very useful in robotics applications and development, mainly due to the possibilities provided by this simple system.","PeriodicalId":91596,"journal":{"name":"Proceedings of ... International Conference on Advanced Robotics. International Conference on Advanced Robotics","volume":"32 1","pages":"158-163"},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84808826","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: 17

System Integration and Preliminary In-Vivo Experiments of a Robot for Ultrasound Guidance and Monitoring during Radiotherapy. 放疗超声引导监测机器人的系统集成与体内初步实验。

Proceedings of ... International Conference on Advanced Robotics. International Conference on Advanced Robotics Pub Date : 2015-07-01 DOI: 10.1109/ICAR.2015.7251433

H Tutkun Şen, Muyinatu A Lediju Bell, Yin Zhang, Kai Ding, John Wong, Iulian Iordachita, Peter Kazanzides

{"title":"System Integration and Preliminary In-Vivo Experiments of a Robot for Ultrasound Guidance and Monitoring during Radiotherapy.","authors":"H Tutkun Şen, Muyinatu A Lediju Bell, Yin Zhang, Kai Ding, John Wong, Iulian Iordachita, Peter Kazanzides","doi":"10.1109/ICAR.2015.7251433","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251433","url":null,"abstract":"We are developing a cooperatively-controlled robot system in which a clinician and robot share control of a 3D ultrasound (US) probe. The goals of the system are to provide guidance for patient setup and real-time target monitoring during fractionated radiotherapy. Currently, there is limited use of realtime US image feedback during radiotherapy for lower abdominal organs and it has not yet been clinically applied for upper abdominal organs. One challenge is that placing an US probe on the patient produces tissue deformation around the target organ, leading to displacement of the target. Our solution is to perform treatment planning on the deformed organ and then to reproduce this deformation during radiotherapy. We therefore introduce a robot system to hold the US probe on the patient. In order to create a consistent deformation, the system records the robot position, contact force, and reference US image during simulation and then introduces virtual constraints (soft virtual fixtures) to guide the clinician to correctly place the probe during the fractionated treatments. Because the robot is under-actuated (5 motorized and 6 passive degrees-of-freedom), the guidance also involves a graphical user interface (adjustment GUI) to achieve the desired probe orientation. This paper presents the integrated system, a proposed clinical workflow, the results of an initial in-vivo canine study with a 3-DOF robot, and the results of phantom experiments with an improved 5-DOF robotic system. The results suggest that the guidance may enable the clinician to more consistently and accurately place the US probe.","PeriodicalId":91596,"journal":{"name":"Proceedings of ... International Conference on Advanced Robotics. International Conference on Advanced Robotics","volume":"2015 ","pages":"53-59"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICAR.2015.7251433","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34333515","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: 18

Development of an MRI-Compatible Needle Driver for In-Bore Prostate Biopsy. 用于前列腺穿刺活检的mri兼容针驱动器的开发。

Proceedings of ... International Conference on Advanced Robotics. International Conference on Advanced Robotics Pub Date : 2015-07-01 Epub Date: 2015-09-10 DOI: 10.1109/ICAR.2015.7251445

Meng Li, Berk Gonenc, Kiyoung Kim, Weijian Shang, Iulian Iordachita

{"title":"Development of an MRI-Compatible Needle Driver for In-Bore Prostate Biopsy.","authors":"Meng Li, Berk Gonenc, Kiyoung Kim, Weijian Shang, Iulian Iordachita","doi":"10.1109/ICAR.2015.7251445","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251445","url":null,"abstract":"Minimally invasive percutaneous approaches routinely employ insertion of needles into soft tissue for diagnostic or therapeutic purposes. Lack of targeting accuracy while inserting needles can significantly mitigate the effectiveness of these methods. Robot-assisted needle steering under magnetic resonance imaging (MRI) guidance is a viable option for reaching the target accurately. In this paper, we report the development of an MRI-compatible needle driver for in-bore prostate biopsy. The device easily mounts onto and works together with our previously developed MRI-compatible prostate interventional robot. It is the first robotic device using a standard biopsy gun, which is easily replaceable/detachable in case of multi-sampling biopsy applications. The mechanism enables rotation, translation, and triggering of the biopsy gun to steer the bevel needle through the tissue and to take samples accurately from the target loci. Using the rotational and translational capabilities, the same system can also assist brachytherapy needle placement. Preliminary experiments have shown that the design meets the requirements set by the clinical workflow. System feasibility was verified by multiple users inserting 2 different types of needles under visual feedback into a phantom made of soft plastic. The average targeting errors were 0.92 mm for 18 gauge biopsy and 1.65 mm for 20 gauge brachytherapy needle.","PeriodicalId":91596,"journal":{"name":"Proceedings of ... International Conference on Advanced Robotics. International Conference on Advanced Robotics","volume":"2015 ","pages":"130-136"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICAR.2015.7251445","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35658350","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: 13