PittsburghV1, Main, Merge, bibRecord, 00AD54

Active Guidance of a Handheld Micromanipulator using Visual Servoing.

Identifieur interne : 00AD54 ( Main/Merge ); précédent : 00AD53; suivant : 00AD55

Active Guidance of a Handheld Micromanipulator using Visual Servoing.

Auteurs : Brian C. Becker [États-Unis] ; Sandrine Voros [États-Unis] ; Robert A. Maclachlan [États-Unis] ; Gregory D. Hager [États-Unis] ; Cameron N. Riviere [États-Unis]

Source :

RBID : Hal:hal-00846048

Abstract

In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo techniques, aiding the operator by providing three behaviors: snap-to, motion-scaling, and standoff-regulation. A stereo camera setup viewing the workspace under high magnification tracks the tip of the micromanipulator and the desired target object being manipulated. Individual behaviors activate in task-specific situations when the micromanipulator tip is in the vicinity of the target. We show that the snap-to behavior can reach and maintain a position at a target with an accuracy of 17.5 ± 0.4μm Root Mean Squared Error (RMSE) distance between the tip and target. Scaling the operator's motions and preventing unwanted contact with non-target objects also provides a larger margin of safety.

Url:

https://hal.archives-ouvertes.fr/hal-00846048

DOI: 10.1109/ROBOT.2009.5152632

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 000064
to stream Hal, to step Curation: 000064
to stream Hal, to step Checkpoint: 000514

Links to Exploration step

Hal:hal-00846048

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Active Guidance of a Handheld Micromanipulator using Visual Servoing.</title>
<author><name sortKey="Becker, Brian C" sort="Becker, Brian C" uniqKey="Becker B" first="Brian C." last="Becker">Brian C. Becker</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50083" status="VALID">          <orgName>The Robotics Institute</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Avenue Pittsburgh PA 15213-3890</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.ri.cmu.edu/</ref>
          </desc>
          <listRelation>            <relation active="#struct-67135" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-67135" type="direct"><org type="institution" xml:id="struct-67135" status="VALID">          <orgName>Carnegie Mellon University [Pittsburgh]</orgName>
          <orgName type="acronym">CMU</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Ave,  Pittsburgh, PA 15213</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.cmu.edu/</ref>
          </desc>
        </org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Voros, Sandrine" sort="Voros, Sandrine" uniqKey="Voros S" first="Sandrine" last="Voros">Sandrine Voros</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-227683" status="INCOMING">          <orgName>Laboratory for Computational Sensing and Robotics</orgName>
          <desc>            <address>              <country key="US"></country>
            </address>
          </desc>
          <listRelation>            <relation active="#struct-7668" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-7668" type="direct"><org type="institution" xml:id="struct-7668" status="VALID"><orgName>Johns Hopkins University</orgName>
<orgName type="acronym">JHU</orgName>
<desc><address><addrLine>Baltimore, Maryland 410-516-8000</addrLine>
<country key="US"></country>
</address>
<ref type="url">http://www.jhu.edu/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Maclachlan, Robert A" sort="Maclachlan, Robert A" uniqKey="Maclachlan R" first="Robert A." last="Maclachlan">Robert A. Maclachlan</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50083" status="VALID">          <orgName>The Robotics Institute</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Avenue Pittsburgh PA 15213-3890</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.ri.cmu.edu/</ref>
          </desc>
          <listRelation>            <relation active="#struct-67135" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-67135" type="direct"><org type="institution" xml:id="struct-67135" status="VALID">          <orgName>Carnegie Mellon University [Pittsburgh]</orgName>
          <orgName type="acronym">CMU</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Ave,  Pittsburgh, PA 15213</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.cmu.edu/</ref>
          </desc>
        </org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Hager, Gregory D" sort="Hager, Gregory D" uniqKey="Hager G" first="Gregory D." last="Hager">Gregory D. Hager</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-227683" status="INCOMING">          <orgName>Laboratory for Computational Sensing and Robotics</orgName>
          <desc>            <address>              <country key="US"></country>
            </address>
          </desc>
          <listRelation>            <relation active="#struct-7668" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-7668" type="direct"><org type="institution" xml:id="struct-7668" status="VALID"><orgName>Johns Hopkins University</orgName>
<orgName type="acronym">JHU</orgName>
<desc><address><addrLine>Baltimore, Maryland 410-516-8000</addrLine>
<country key="US"></country>
</address>
<ref type="url">http://www.jhu.edu/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Riviere, Cameron N" sort="Riviere, Cameron N" uniqKey="Riviere C" first="Cameron N." last="Riviere">Cameron N. Riviere</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50083" status="VALID">          <orgName>The Robotics Institute</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Avenue Pittsburgh PA 15213-3890</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.ri.cmu.edu/</ref>
          </desc>
          <listRelation>            <relation active="#struct-67135" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-67135" type="direct"><org type="institution" xml:id="struct-67135" status="VALID">          <orgName>Carnegie Mellon University [Pittsburgh]</orgName>
          <orgName type="acronym">CMU</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Ave,  Pittsburgh, PA 15213</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.cmu.edu/</ref>
          </desc>
        </org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">HAL</idno>
<idno type="RBID">Hal:hal-00846048</idno>
<idno type="halId">hal-00846048</idno>
<idno type="halUri">https://hal.archives-ouvertes.fr/hal-00846048</idno>
<idno type="url">https://hal.archives-ouvertes.fr/hal-00846048</idno>
<idno type="doi">10.1109/ROBOT.2009.5152632</idno>
<date when="2009-05-12">2009-05-12</date>
<idno type="wicri:Area/Hal/Corpus">000064</idno>
<idno type="wicri:Area/Hal/Curation">000064</idno>
<idno type="wicri:Area/Hal/Checkpoint">000514</idno>
<idno type="wicri:explorRef" wicri:stream="Hal" wicri:step="Checkpoint">000514</idno>
<idno type="wicri:Area/Main/Merge">00AD54</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Active Guidance of a Handheld Micromanipulator using Visual Servoing.</title>
<author><name sortKey="Becker, Brian C" sort="Becker, Brian C" uniqKey="Becker B" first="Brian C." last="Becker">Brian C. Becker</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50083" status="VALID">          <orgName>The Robotics Institute</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Avenue Pittsburgh PA 15213-3890</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.ri.cmu.edu/</ref>
          </desc>
          <listRelation>            <relation active="#struct-67135" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-67135" type="direct"><org type="institution" xml:id="struct-67135" status="VALID">          <orgName>Carnegie Mellon University [Pittsburgh]</orgName>
          <orgName type="acronym">CMU</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Ave,  Pittsburgh, PA 15213</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.cmu.edu/</ref>
          </desc>
        </org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Voros, Sandrine" sort="Voros, Sandrine" uniqKey="Voros S" first="Sandrine" last="Voros">Sandrine Voros</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-227683" status="INCOMING">          <orgName>Laboratory for Computational Sensing and Robotics</orgName>
          <desc>            <address>              <country key="US"></country>
            </address>
          </desc>
          <listRelation>            <relation active="#struct-7668" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-7668" type="direct"><org type="institution" xml:id="struct-7668" status="VALID"><orgName>Johns Hopkins University</orgName>
<orgName type="acronym">JHU</orgName>
<desc><address><addrLine>Baltimore, Maryland 410-516-8000</addrLine>
<country key="US"></country>
</address>
<ref type="url">http://www.jhu.edu/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Maclachlan, Robert A" sort="Maclachlan, Robert A" uniqKey="Maclachlan R" first="Robert A." last="Maclachlan">Robert A. Maclachlan</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50083" status="VALID">          <orgName>The Robotics Institute</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Avenue Pittsburgh PA 15213-3890</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.ri.cmu.edu/</ref>
          </desc>
          <listRelation>            <relation active="#struct-67135" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-67135" type="direct"><org type="institution" xml:id="struct-67135" status="VALID">          <orgName>Carnegie Mellon University [Pittsburgh]</orgName>
          <orgName type="acronym">CMU</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Ave,  Pittsburgh, PA 15213</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.cmu.edu/</ref>
          </desc>
        </org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Hager, Gregory D" sort="Hager, Gregory D" uniqKey="Hager G" first="Gregory D." last="Hager">Gregory D. Hager</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-227683" status="INCOMING">          <orgName>Laboratory for Computational Sensing and Robotics</orgName>
          <desc>            <address>              <country key="US"></country>
            </address>
          </desc>
          <listRelation>            <relation active="#struct-7668" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-7668" type="direct"><org type="institution" xml:id="struct-7668" status="VALID"><orgName>Johns Hopkins University</orgName>
<orgName type="acronym">JHU</orgName>
<desc><address><addrLine>Baltimore, Maryland 410-516-8000</addrLine>
<country key="US"></country>
</address>
<ref type="url">http://www.jhu.edu/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
<author><name sortKey="Riviere, Cameron N" sort="Riviere, Cameron N" uniqKey="Riviere C" first="Cameron N." last="Riviere">Cameron N. Riviere</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50083" status="VALID">          <orgName>The Robotics Institute</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Avenue Pittsburgh PA 15213-3890</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.ri.cmu.edu/</ref>
          </desc>
          <listRelation>            <relation active="#struct-67135" type="direct"></relation>
          </listRelation>
        <tutelles><tutelle active="#struct-67135" type="direct"><org type="institution" xml:id="struct-67135" status="VALID">          <orgName>Carnegie Mellon University [Pittsburgh]</orgName>
          <orgName type="acronym">CMU</orgName>
          <desc>            <address>              <addrLine>5000 Forbes Ave,  Pittsburgh, PA 15213</addrLine>
              <country key="US"></country>
            </address>
            <ref type="url">http://www.cmu.edu/</ref>
          </desc>
        </org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>États-Unis</country>
</affiliation>
</author>
</analytic>
<idno type="DOI">10.1109/ROBOT.2009.5152632</idno>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo techniques, aiding the operator by providing three behaviors: snap-to, motion-scaling, and standoff-regulation. A stereo camera setup viewing the workspace under high magnification tracks the tip of the micromanipulator and the desired target object being manipulated. Individual behaviors activate in task-specific situations when the micromanipulator tip is in the vicinity of the target. We show that the snap-to behavior can reach and maintain a position at a target with an accuracy of 17.5 ± 0.4μm Root Mean Squared Error (RMSE) distance between the tip and target. Scaling the operator's motions and preventing unwanted contact with non-target objects also provides a larger margin of safety.</div>
</front>
</TEI>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Wicri/Amérique/explor/PittsburghV1/Data/Main/Merge

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 00AD54 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 00AD54 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Wicri/Amérique
   |area=    PittsburghV1
   |flux=    Main
   |étape=   Merge
   |type=    RBID
   |clé=     Hal:hal-00846048
   |texte=   Active Guidance of a Handheld Micromanipulator using Visual Servoing.
}}

This area was generated with Dilib version V0.6.38.
Data generation: Fri Jun 18 17:37:45 2021. Site generation: Fri Jun 18 18:15:47 2021

	Serveur d'exploration sur Pittsburgh
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur Pittsburgh

Active Guidance of a Handheld Micromanipulator using Visual Servoing.

Active Guidance of a Handheld Micromanipulator using Visual Servoing.

Source :

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri