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Vision Based Surgical Tool Tracking ...

Su, Yun-Hsuan,

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Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior // Yun-Hsuan Su.
Author:	Su, Yun-Hsuan,
Description:	1 electronic resource (204 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 82-04, Section: B.
Contained By:	Dissertations Abstracts International82-04B.
Subject:	Robotics. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=27741699
ISBN:	9798672171456

Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior /
Su, Yun-Hsuan,

Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior /Yun-Hsuan Su. - 1 electronic resource (204 pages)

Source: Dissertations Abstracts International, Volume: 82-04, Section: B.

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.

English

ISBN: 9798672171456Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

3D Deformation Analysis

Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior /
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100 1 $a Su, Yun-Hsuan, $e author. $3 3765648
245 1 0 $a Vision Based Surgical Tool Tracking and Force Estimation with Robot Kinematics Prior / $c Yun-Hsuan Su.
264 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2020
300 $a 1 electronic resource (204 pages)
336 $a text $b txt $2 rdacontent
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500 $a Source: Dissertations Abstracts International, Volume: 82-04, Section: B.
500 $a Includes supplementary digital materials.
500 $a Advisors: Hannaford, Blake Committee members: Hwang, Jenq-Neng; Burden, Samuel.
502 $b Ph.D. $c University of Washington $d 2020.
520 $a 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.
546 $a English
590 $a School code: 0250
650 4 $a Robotics. $3 519753
650 4 $a Computer engineering. $3 621879
650 4 $a Medical imaging. $3 3172799
653 $a 3D Deformation Analysis
653 $a Force Feedback
653 $a Haptics
653 $a Image Guidance
653 $a Medical Robotics
653 $a Surgical Robotics
690 $a 0771
690 $a 0464
690 $a 0574
710 2 $a University of Washington. $b Electrical and Computer Engineering. $e degree granting institution. $3 3765649
720 1 $a Hannaford, Blake $e degree supervisor.
773 0 $t Dissertations Abstracts International $g 82-04B.
790 $a 0250
791 $a Ph.D.
792 $a 2020
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=27741699