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Vision Based Surgical Tool Tracking ...

Su, Yun-Hsuan.

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Vision Based Surgical Tool Tracking with Robot Kinematics Prior.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Vision Based Surgical Tool Tracking with Robot Kinematics Prior./
作者:	Su, Yun-Hsuan.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2017,
面頁冊數:	63 p.
附註:	Source: Masters Abstracts International, Volume: 57-01.
Contained By:	Masters Abstracts International57-01(E).
標題:	Engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10619361
ISBN:	9780355357554

Vision Based Surgical Tool Tracking with Robot Kinematics Prior.
Su, Yun-Hsuan.

Vision Based Surgical Tool Tracking with Robot Kinematics Prior. - Ann Arbor : ProQuest Dissertations & Theses, 2017 - 63 p.

Source: Masters Abstracts International, Volume: 57-01.

Thesis (Master's)--University of Washington, 2017.

Robot assisted minimally invasive surgery combines the skill and techniques of highly-trained surgeons with the robustness and precision of machines. Through a teleoperation scheme, surgeons can execute high-level surgical tasks by commanding instruments controlled by precise robotic devices. Several advantages arise. To name a few: (1) achieved precision is beyond that of human dexterity alone (2) a greater number of kinematic degrees of freedom are possible at the surgical tool tip (3) surgeons are able to operate remotely, i.e. agnostic of patient location given a suitable communication line. Despite the numerous advantages over traditional key-hole or laparoscopic surgery, the lack of realistic and real-time force feedback is a major drawback---discerning tool-tissue interactions can be unintuitive and can ultimately result in unintentional tissue damage. Directly sensing forces at the tool-tissue interface is theoretically possible using tool tip mounted force sensors, but this approach is not amenable to required sterilization procedures. Thus, a vision based force estimation method is proposed to infer the applied force based on real-time analysis of tissue deformation.

ISBN: 9780355357554Subjects--Topical Terms:

586835
Engineering.

Vision Based Surgical Tool Tracking with Robot Kinematics Prior.
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