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In computer-assisted beating heart surgeries, accurate tracking of the heart's motion is of huge importance and there is a continuous need to eliminate any source of error that might disturb the tracking process. One source of error is the specular reflection that appears on the glossy surface of the heart. In this paper, we propose a robust solution for the detection and removal of specular highlights...
In this paper, we propose a new approach to domestic action recognition based on a set of features which describe the relation between poses and movements of both hands. These features represent a set of basic actions in a kitchen in terms of the mimics of the hand movements, without needing information of the objects present in the scene. They address specifically the intra-class dissimilarity problem,...
This paper addresses the issue of lack of force feedback in robotic-assisted minimally invasive surgeries. Force is an important measure for surgeons in order to prevent intra-operative complications and tissue damage. Thus, an innovative neuro-vision based force estimation approach is proposed. Tissue surface displacement is first measured via minimization of an energy functional. A neuro approach...
Robotic-assisted minimally invasive surgery has demonstrated its benefits in comparison with traditional procedures. However, one of the major drawbacks of current robotic system approaches is the lack of force feedback. Apart from space restrictions, the main problems of using force sensors are their high cost and the biocompatibility. In this work a proposal based on Vision Based Force Measurement...
This paper presents an application of a classification method to adaptively and dynamically modify the therapy and real-time displays of a virtual reality system in accordance with the specific state of each patient using his/her physiological reactions. First, a theoretical background about several machine learning techniques for classification is presented. Then, nine machine learning techniques...
Motion compensation constitutes a challenging issue in minimally invasive beating heart surgery. Since the zone to be repaired has a dynamic behaviour, precision and surgeon's dexterity decrease. In order to solve this problem, various proposals have been presented using ℓ2-norm. However, as they present some limitations in terms of robustness and efficiency, motion compensation is still considered...
Robot-assisted rehabilitation therapies usually focus on physical aspects rather than on cognitive factors. However, cognitive aspects such as attention, motivation, and engagement play a critical role in motor learning and thus influence the long-term success of rehabilitation programs. This paper studies motor-related EEG activity during the execution of robot-assisted passive movements of the upper...
Teleoperation, by adequately adapting computer interfaces, can benefit from the knowledge on human factors and psychomotor models in order to improve the effectiveness and efficiency in the execution of a task. While scaling is one of the performances frequently used in teleoperation tasks that require high precision, such as surgery, this article presents a scaling method that considers the system...
The main goal of this work is to propose a haptics guideline in human-robot systems focused on the relationship between the human and robot task, the use of a physical interface and the object to manipulate. With this aim, this guideline presents two main parts: a set of heuristic indicators and a qualitative evaluation. In order to assess its ergonomic validation, an application over a well known...
Objective Shoulder arthroplasty with a humeral head prosthesis is used to treat complex proximal humeral fractures, and the outcome depends on the placement and integrity of sutures. The object of this research is to determine the forces supported by sutural filaments that bind the tuberosities to the prosthesis in proximal humeral fractures. Knowledge of these forces facilitates comparison of different...
In order to enable robots to work in close contact with humans or in environments with unknown obstacles, new reactive control strategies based on sensitive bumper skins are proposed. The aim of this work is to provide a robot with contact and force control based strategies that make it dependable, safe and with foreseeable behaviours. The sensory skin is composed of rigid-bumpers provided with deformation...
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