Combining haptic and visual servoing for cardiothoracic surgery
Identifieur interne : 007966 ( Main/Merge ); précédent : 007965; suivant : 007967Combining haptic and visual servoing for cardiothoracic surgery
Auteurs : Christopher W. Kennedy [États-Unis] ; TIE HU [États-Unis] ; Jaydey P. Desai [États-Unis]Source :
- Proceedings - IEEE International Conference on Robotics and Automation [ 1050-4729 ] ; 2002.
Descripteurs français
- Pascal (Inist)
- Wicri :
English descriptors
- KwdEn :
Abstract
Cardiovascular disease is one of the leading causes of death in the United States and also a major disease worldwide with over 700,000 coronary artery bypass graft (CABG) procedures performed annually all around the world, of which 350,000 are performed in the United States. The use of mechanical stabilizers in the CABG procedures can cause irreversible local damage by traumatizing the underlying microcirculation. The primary goal of this research is to develop effective haptic and visual servoing methods, with the eventual goal of eliminating the need for mechanical stabilizers in a CABG procedure by presenting a stationary operative site to the surgeon performing the procedure using haptic and visual feedback. We present in this paper the results from our initial work in the area of tracking a deformable membrane using vision and providing haptic feedback to the user based on the vision information and the material properties of the membrane. In our first experiment, we track the deformation of a rubber membrane in real-time through stereo vision while providing haptic feedback to the user interacting with the reconstructed membrane through the PHANToM haptic device. In the second experiment, we verify the ability of our vision system to track a point on a surface undergoing a complex 3D motion.
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 001031
- to stream PascalFrancis, to step Curation: 000478
- to stream PascalFrancis, to step Checkpoint: 001026
Links to Exploration step
Pascal:04-0204745Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Combining haptic and visual servoing for cardiothoracic surgery</title><author><name sortKey="Kennedy, Christopher W" sort="Kennedy, Christopher W" uniqKey="Kennedy C" first="Christopher W." last="Kennedy">Christopher W. Kennedy</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author><author><name sortKey="Tie Hu" sort="Tie Hu" uniqKey="Tie Hu" last="Tie Hu">TIE HU</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author><author><name sortKey="Desai, Jaydey P" sort="Desai, Jaydey P" uniqKey="Desai J" first="Jaydey P." last="Desai">Jaydey P. Desai</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">04-0204745</idno><date when="2002">2002</date><idno type="stanalyst">PASCAL 04-0204745 INIST</idno><idno type="RBID">Pascal:04-0204745</idno><idno type="wicri:Area/PascalFrancis/Corpus">001031</idno><idno type="wicri:Area/PascalFrancis/Curation">000478</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">001026</idno><idno type="wicri:doubleKey">1050-4729:2002:Kennedy C:combining:haptic:and</idno><idno type="wicri:Area/Main/Merge">007966</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Combining haptic and visual servoing for cardiothoracic surgery</title><author><name sortKey="Kennedy, Christopher W" sort="Kennedy, Christopher W" uniqKey="Kennedy C" first="Christopher W." last="Kennedy">Christopher W. Kennedy</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author><author><name sortKey="Tie Hu" sort="Tie Hu" uniqKey="Tie Hu" last="Tie Hu">TIE HU</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author><author><name sortKey="Desai, Jaydey P" sort="Desai, Jaydey P" uniqKey="Desai J" first="Jaydey P." last="Desai">Jaydey P. Desai</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1><s2>Philadelphia, PA 19104</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName></affiliation></author></analytic><series><title level="j" type="main">Proceedings - IEEE International Conference on Robotics and Automation</title><idno type="ISSN">1050-4729</idno><imprint><date when="2002">2002</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Proceedings - IEEE International Conference on Robotics and Automation</title><idno type="ISSN">1050-4729</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>3D imaging</term><term>Bypass</term><term>Damaging</term><term>Feedback regulation</term><term>Human</term><term>Membrane</term><term>Real time</term><term>Robotics</term><term>Rubber</term><term>Stereo image processing</term><term>Stereopsis</term><term>Surgery</term><term>Tactile sensitivity</term><term>Tracking</term><term>Visual servoing</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Asservissement visuel</term><term>Homme</term><term>Pistage</term><term>Rétroaction</term><term>Temps réel</term><term>Sensibilité tactile</term><term>Chirurgie</term><term>Endommagement</term><term>Membrane</term><term>Caoutchouc</term><term>Traitement image stéréoscopique</term><term>Vision stéréoscopique</term><term>Formation image tridimensionnelle</term><term>Dérivation</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Homme</term><term>Chirurgie</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Cardiovascular disease is one of the leading causes of death in the United States and also a major disease worldwide with over 700,000 coronary artery bypass graft (CABG) procedures performed annually all around the world, of which 350,000 are performed in the United States. The use of mechanical stabilizers in the CABG procedures can cause irreversible local damage by traumatizing the underlying microcirculation. The primary goal of this research is to develop effective haptic and visual servoing methods, with the eventual goal of eliminating the need for mechanical stabilizers in a CABG procedure by presenting a stationary operative site to the surgeon performing the procedure using haptic and visual feedback. We present in this paper the results from our initial work in the area of tracking a deformable membrane using vision and providing haptic feedback to the user based on the vision information and the material properties of the membrane. In our first experiment, we track the deformation of a rubber membrane in real-time through stereo vision while providing haptic feedback to the user interacting with the reconstructed membrane through the PHANToM haptic device. In the second experiment, we verify the ability of our vision system to track a point on a surface undergoing a complex 3D motion.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Pennsylvanie</li></region></list><tree><country name="États-Unis"><region name="Pennsylvanie"><name sortKey="Kennedy, Christopher W" sort="Kennedy, Christopher W" uniqKey="Kennedy C" first="Christopher W." last="Kennedy">Christopher W. Kennedy</name></region><name sortKey="Desai, Jaydey P" sort="Desai, Jaydey P" uniqKey="Desai J" first="Jaydey P." last="Desai">Jaydey P. Desai</name><name sortKey="Tie Hu" sort="Tie Hu" uniqKey="Tie Hu" last="Tie Hu">TIE HU</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 007966 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 007966 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Merge
|type= RBID
|clé= Pascal:04-0204745
|texte= Combining haptic and visual servoing for cardiothoracic surgery
}}
| This area was generated with Dilib version V0.6.23. |  |