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Vision Based Surgical Tool Tracking with Robot Kinematics Prior.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Vision Based Surgical Tool Tracking with Robot Kinematics Prior./
Author:	Su, Yun-Hsuan.
Description:	1 online resource (63 pages)
Notes:	Source: Masters Abstracts International, Volume: 57-01.
Contained By:	Masters Abstracts International57-01(E).
Subject:	Engineering. -
Online resource:	click for full text (PQDT)
ISBN:	9780355357554

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

Vision Based Surgical Tool Tracking with Robot Kinematics Prior. - 1 online resource (63 pages)

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

Thesis (Master's)

Includes bibliographical references

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.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780355357554Subjects--Topical Terms:

561152
Engineering.
Index Terms--Genre/Form:

554714
Electronic books.

Vision Based Surgical Tool Tracking with Robot Kinematics Prior.
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245 1 0 $a Vision Based Surgical Tool Tracking with Robot Kinematics Prior.
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500 $a Source: Masters Abstracts International, Volume: 57-01.
500 $a Includes supplementary digital materials.
500 $a Adviser: Blake Hannaford.
502 $a Thesis (Master's) $c University of Washington $d 2017.
504 $a Includes bibliographical references
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.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Engineering. $3 561152
650 4 $a Electrical engineering. $3 596380
650 4 $a Robotics. $3 561941
650 4 $a Surgery. $3 644132
655 7 $a Electronic books. $2 local $3 554714
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773 0 $t Masters Abstracts International $g 57-01(E).
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10619361 $z click for full text (PQDT)