Combining haptic and visual servoing for cardiothoracic surgery
Identifieur interne :
001031 ( PascalFrancis/Corpus );
précédent :
001030;
suivant :
001032
Combining haptic and visual servoing for cardiothoracic surgery
Auteurs : Christopher W. Kennedy ;
TIE HU ;
Jaydey P. DesaiSource :
-
Proceedings - IEEE International Conference on Robotics and Automation [ 1050-4729 ] ; 2002.
RBID : Pascal:04-0204745
Descripteurs français
- Pascal (Inist)
- Robotique,
Asservissement visuel,
Homme,
Pistage,
Rétroaction,
Temps réel,
Sensibilité tactile,
Chirurgie,
Endommagement,
Membrane,
Caoutchouc,
Traitement image stéréoscopique,
Vision stéréoscopique,
Formation image tridimensionnelle,
Dérivation.
English descriptors
- KwdEn :
- 3D imaging,
Bypass,
Damaging,
Feedback regulation,
Human,
Membrane,
Real time,
Robotics,
Rubber,
Stereo image processing,
Stereopsis,
Surgery,
Tactile sensitivity,
Tracking,
Visual servoing.
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.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
| A01 | 01 | 1 | | @0 1050-4729 |
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| A08 | 01 | 1 | ENG | @1 Combining haptic and visual servoing for cardiothoracic surgery |
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| A09 | 01 | 1 | ENG | @1 Robotics and automation : Washington DC, 11-15 May 2002 |
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| A11 | 01 | 1 | | @1 KENNEDY (Christopher W.) |
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| A11 | 02 | 1 | | @1 TIE HU |
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| A11 | 03 | 1 | | @1 DESAI (Jaydey P.) |
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| A14 | 01 | | | @1 Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University @2 Philadelphia, PA 19104 @3 USA @Z 1 aut. @Z 2 aut. @Z 3 aut. |
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| A18 | 01 | 1 | | @1 IEEE Robotics and Automatic Society @3 USA @9 patr. |
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| A20 | | | | @1 2106-2111 |
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| A21 | | | | @1 2002 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 0-7803-7272-7 |
|---|
| A43 | 01 | | | @1 INIST @2 Y 37947 @5 354000117766643320 |
|---|
| A44 | | | | @0 0000 @1 © 2004 INIST-CNRS. All rights reserved. |
|---|
| A45 | | | | @0 22 ref. |
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| A47 | 01 | 1 | | @0 04-0204745 |
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| A60 | | | | @1 P @2 C |
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| A61 | | | | @0 A |
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| A64 | 01 | 1 | | @0 Proceedings - IEEE International Conference on Robotics and Automation |
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| A66 | 01 | | | @0 USA |
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| C01 | 01 | | ENG | @0 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. |
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| C02 | 01 | X | | @0 001D02D11 |
|---|
| C03 | 01 | X | FRE | @0 Robotique @5 01 |
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| C03 | 01 | X | ENG | @0 Robotics @5 01 |
|---|
| C03 | 01 | X | SPA | @0 Robótica @5 01 |
|---|
| C03 | 02 | X | FRE | @0 Asservissement visuel @5 09 |
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| C03 | 02 | X | ENG | @0 Visual servoing @5 09 |
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| C03 | 02 | X | SPA | @0 Servomando visual @5 09 |
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| C03 | 03 | X | FRE | @0 Homme @5 10 |
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| C03 | 03 | X | ENG | @0 Human @5 10 |
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| C03 | 03 | X | SPA | @0 Hombre @5 10 |
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| C03 | 04 | X | FRE | @0 Pistage @5 11 |
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| C03 | 04 | X | ENG | @0 Tracking @5 11 |
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| C03 | 04 | X | SPA | @0 Rastreo @5 11 |
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| C03 | 05 | X | FRE | @0 Rétroaction @5 12 |
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| C03 | 05 | X | ENG | @0 Feedback regulation @5 12 |
|---|
| C03 | 05 | X | SPA | @0 Retroacción @5 12 |
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| C03 | 06 | X | FRE | @0 Temps réel @5 13 |
|---|
| C03 | 06 | X | ENG | @0 Real time @5 13 |
|---|
| C03 | 06 | X | SPA | @0 Tiempo real @5 13 |
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| C03 | 07 | X | FRE | @0 Sensibilité tactile @5 18 |
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| C03 | 07 | X | ENG | @0 Tactile sensitivity @5 18 |
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| C03 | 07 | X | SPA | @0 Sensibilidad tactil @5 18 |
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| C03 | 08 | X | FRE | @0 Chirurgie @5 19 |
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| C03 | 08 | X | ENG | @0 Surgery @5 19 |
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| C03 | 08 | X | SPA | @0 Cirugía @5 19 |
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| C03 | 09 | X | FRE | @0 Endommagement @5 20 |
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| C03 | 09 | X | ENG | @0 Damaging @5 20 |
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| C03 | 09 | X | SPA | @0 Deterioración @5 20 |
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| C03 | 10 | X | FRE | @0 Membrane @5 21 |
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| C03 | 10 | X | ENG | @0 Membrane @5 21 |
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| C03 | 10 | X | SPA | @0 Membrana @5 21 |
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| C03 | 11 | X | FRE | @0 Caoutchouc @5 22 |
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| C03 | 11 | X | ENG | @0 Rubber @5 22 |
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| C03 | 11 | X | SPA | @0 Caucho @5 22 |
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| C03 | 12 | 3 | FRE | @0 Traitement image stéréoscopique @5 23 |
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| C03 | 12 | 3 | ENG | @0 Stereo image processing @5 23 |
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| C03 | 13 | X | FRE | @0 Vision stéréoscopique @5 24 |
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| C03 | 13 | X | ENG | @0 Stereopsis @5 24 |
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| C03 | 13 | X | SPA | @0 Visión estereoscópica @5 24 |
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| C03 | 14 | X | FRE | @0 Formation image tridimensionnelle @5 25 |
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| C03 | 14 | X | ENG | @0 3D imaging @5 25 |
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| C03 | 14 | X | SPA | @0 Formación imagen tridimensional @5 25 |
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| C03 | 15 | X | FRE | @0 Dérivation @5 28 |
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| C03 | 15 | X | ENG | @0 Bypass @5 28 |
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| C03 | 15 | X | SPA | @0 Derivación @5 28 |
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| N21 | | | | @1 138 |
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| N82 | | | | @1 OTO |
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|
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| pR |
| A30 | 01 | 1 | ENG | @1 IEEE international conference on robotics and automation @3 Washington DC USA @4 2002-05-11 |
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Format Inist (serveur)
| NO : | PASCAL 04-0204745 INIST |
|---|
| ET : | Combining haptic and visual servoing for cardiothoracic surgery |
|---|
| AU : | KENNEDY (Christopher W.); TIE HU; DESAI (Jaydey P.) |
|---|
| AF : | Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University/Philadelphia, PA 19104/Etats-Unis (1 aut., 2 aut., 3 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
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| SO : | Proceedings - IEEE International Conference on Robotics and Automation; ISSN 1050-4729; Etats-Unis; Da. 2002; Pp. 2106-2111; Bibl. 22 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | 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. |
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| CC : | 001D02D11 |
|---|
| FD : | Robotique; Asservissement visuel; Homme; Pistage; Rétroaction; Temps réel; Sensibilité tactile; Chirurgie; Endommagement; Membrane; Caoutchouc; Traitement image stéréoscopique; Vision stéréoscopique; Formation image tridimensionnelle; Dérivation |
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| ED : | Robotics; Visual servoing; Human; Tracking; Feedback regulation; Real time; Tactile sensitivity; Surgery; Damaging; Membrane; Rubber; Stereo image processing; Stereopsis; 3D imaging; Bypass |
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| SD : | Robótica; Servomando visual; Hombre; Rastreo; Retroacción; Tiempo real; Sensibilidad tactil; Cirugía; Deterioración; Membrana; Caucho; Visión estereoscópica; Formación imagen tridimensional; Derivación |
|---|
| LO : | INIST-Y 37947.354000117766643320 |
|---|
| ID : | 04-0204745 |
|---|
Links to Exploration step
Pascal:04-0204745
Le document en format XML
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<imprint><date when="2002">2002</date>
</imprint><seriesStmt><title level="j" type="main">Proceedings - IEEE International Conference on Robotics and Automation</title>
<idno type="ISSN">1050-4729</idno>
</seriesStmt><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><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>
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</fA11><fA11 i1="02" i2="1"><s1>TIE HU</s1>
</fA11><fA11 i1="03" i2="1"><s1>DESAI (Jaydey P.)</s1>
</fA11><fA14 i1="01"><s1>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University</s1>
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<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
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</fA66><fC01 i1="01" l="ENG"><s0>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.</s0>
</fC01><fC02 i1="01" i2="X"><s0>001D02D11</s0>
</fC02><fC03 i1="01" i2="X" l="FRE"><s0>Robotique</s0>
<s5>01</s5>
</fC03><fC03 i1="01" i2="X" l="ENG"><s0>Robotics</s0>
<s5>01</s5>
</fC03><fC03 i1="01" i2="X" l="SPA"><s0>Robótica</s0>
<s5>01</s5>
</fC03><fC03 i1="02" i2="X" l="FRE"><s0>Asservissement visuel</s0>
<s5>09</s5>
</fC03><fC03 i1="02" i2="X" l="ENG"><s0>Visual servoing</s0>
<s5>09</s5>
</fC03><fC03 i1="02" i2="X" l="SPA"><s0>Servomando visual</s0>
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<s5>10</s5>
</fC03><fC03 i1="03" i2="X" l="ENG"><s0>Human</s0>
<s5>10</s5>
</fC03><fC03 i1="03" i2="X" l="SPA"><s0>Hombre</s0>
<s5>10</s5>
</fC03><fC03 i1="04" i2="X" l="FRE"><s0>Pistage</s0>
<s5>11</s5>
</fC03><fC03 i1="04" i2="X" l="ENG"><s0>Tracking</s0>
<s5>11</s5>
</fC03><fC03 i1="04" i2="X" l="SPA"><s0>Rastreo</s0>
<s5>11</s5>
</fC03><fC03 i1="05" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>12</s5>
</fC03><fC03 i1="05" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>12</s5>
</fC03><fC03 i1="05" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>12</s5>
</fC03><fC03 i1="06" i2="X" l="FRE"><s0>Temps réel</s0>
<s5>13</s5>
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<s5>13</s5>
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<s5>13</s5>
</fC03><fC03 i1="07" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>18</s5>
</fC03><fC03 i1="07" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>18</s5>
</fC03><fC03 i1="07" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>18</s5>
</fC03><fC03 i1="08" i2="X" l="FRE"><s0>Chirurgie</s0>
<s5>19</s5>
</fC03><fC03 i1="08" i2="X" l="ENG"><s0>Surgery</s0>
<s5>19</s5>
</fC03><fC03 i1="08" i2="X" l="SPA"><s0>Cirugía</s0>
<s5>19</s5>
</fC03><fC03 i1="09" i2="X" l="FRE"><s0>Endommagement</s0>
<s5>20</s5>
</fC03><fC03 i1="09" i2="X" l="ENG"><s0>Damaging</s0>
<s5>20</s5>
</fC03><fC03 i1="09" i2="X" l="SPA"><s0>Deterioración</s0>
<s5>20</s5>
</fC03><fC03 i1="10" i2="X" l="FRE"><s0>Membrane</s0>
<s5>21</s5>
</fC03><fC03 i1="10" i2="X" l="ENG"><s0>Membrane</s0>
<s5>21</s5>
</fC03><fC03 i1="10" i2="X" l="SPA"><s0>Membrana</s0>
<s5>21</s5>
</fC03><fC03 i1="11" i2="X" l="FRE"><s0>Caoutchouc</s0>
<s5>22</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Rubber</s0>
<s5>22</s5>
</fC03><fC03 i1="11" i2="X" l="SPA"><s0>Caucho</s0>
<s5>22</s5>
</fC03><fC03 i1="12" i2="3" l="FRE"><s0>Traitement image stéréoscopique</s0>
<s5>23</s5>
</fC03><fC03 i1="12" i2="3" l="ENG"><s0>Stereo image processing</s0>
<s5>23</s5>
</fC03><fC03 i1="13" i2="X" l="FRE"><s0>Vision stéréoscopique</s0>
<s5>24</s5>
</fC03><fC03 i1="13" i2="X" l="ENG"><s0>Stereopsis</s0>
<s5>24</s5>
</fC03><fC03 i1="13" i2="X" l="SPA"><s0>Visión estereoscópica</s0>
<s5>24</s5>
</fC03><fC03 i1="14" i2="X" l="FRE"><s0>Formation image tridimensionnelle</s0>
<s5>25</s5>
</fC03><fC03 i1="14" i2="X" l="ENG"><s0>3D imaging</s0>
<s5>25</s5>
</fC03><fC03 i1="14" i2="X" l="SPA"><s0>Formación imagen tridimensional</s0>
<s5>25</s5>
</fC03><fC03 i1="15" i2="X" l="FRE"><s0>Dérivation</s0>
<s5>28</s5>
</fC03><fC03 i1="15" i2="X" l="ENG"><s0>Bypass</s0>
<s5>28</s5>
</fC03><fC03 i1="15" i2="X" l="SPA"><s0>Derivación</s0>
<s5>28</s5>
</fC03><fN21><s1>138</s1>
</fN21><fN82><s1>OTO</s1>
</fN82><pR><fA30 i1="01" i2="1" l="ENG"><s1>IEEE international conference on robotics and automation</s1>
<s3>Washington DC USA</s3>
<s4>2002-05-11</s4>
</fA30><server><NO>PASCAL 04-0204745 INIST</NO>
<ET>Combining haptic and visual servoing for cardiothoracic surgery</ET>
<AU>KENNEDY (Christopher W.); TIE HU; DESAI (Jaydey P.)</AU>
<AF>Program for Robotics, Intelligent Sensing, and Mechatronics (PRISM) Laboratory, 3141 Chestnut Street, MEM Department, Room 2-115 Drexel University/Philadelphia, PA 19104/Etats-Unis (1 aut., 2 aut., 3 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>Proceedings - IEEE International Conference on Robotics and Automation; ISSN 1050-4729; Etats-Unis; Da. 2002; Pp. 2106-2111; Bibl. 22 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02D11</CC>
<FD>Robotique; Asservissement visuel; Homme; Pistage; Rétroaction; Temps réel; Sensibilité tactile; Chirurgie; Endommagement; Membrane; Caoutchouc; Traitement image stéréoscopique; Vision stéréoscopique; Formation image tridimensionnelle; Dérivation</FD>
<ED>Robotics; Visual servoing; Human; Tracking; Feedback regulation; Real time; Tactile sensitivity; Surgery; Damaging; Membrane; Rubber; Stereo image processing; Stereopsis; 3D imaging; Bypass</ED>
<SD>Robótica; Servomando visual; Hombre; Rastreo; Retroacción; Tiempo real; Sensibilidad tactil; Cirugía; Deterioración; Membrana; Caucho; Visión estereoscópica; Formación imagen tridimensional; Derivación</SD>
<LO>INIST-Y 37947.354000117766643320</LO>
<ID>04-0204745</ID>
</server>
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