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It is significant to have accurate localization of surgical instruments in navigated minimally invasive surgery. Moreover, instrument tracking modules are essential for cognitive surgical robotic systems. Commercial optical trackers have been developed with sub-millimeter accuracy, but typically work only at single spectrum — either visible spectrum or infrared spectrum, which limits the sensing and...
A variety of camera calibration methods are available from the so-far known literature. But most of them aim at camera with conventional lens, the so-called pinhole camera model. Few attentions have been paid to camera with small field-of-view (FOV) and depth-of-field (DOF) telecentric lens. Therefore an effective calibration method is highly necessary. In this paper a new method is proposed to accurately...
Accurate force/torque (F/T) information is essentially important for a robot manipulator to regulate the contact forces and torques exerted on its tool (end-effector). For a manipulator with mounted F/T sensor, the tool and the F/T sensor are connected to the manipulator via some components, of which many parameters such as mounting errors and component's weight are unknown. As a result, the forces...
Current laparoscopic surgeries suffer from inconvenient, limited visualization due to the small incisions. It normally needs an assistant to hold and readjust a laparoscope to view the surgical set when performing procedures. This assistant can be either a human or a robotic laparoscope holder. However, at the current state, both of them only passively follow the control commands from the surgeon...
Multi-view point clouds registration method based on the 2D and 3D fusion information is proposed. First the joint calibration of the CCD camera and 3D laser radar system is conducted to fuse the image information and range information. Then, matching feature points in the images are obtained with the SIFT algorithm. Based on the joint calibration results and the images feature matching points, the...
This paper proposes a stereo calibration method using mirrored images that contain a camera and measurement objects. In stereo methods, the measurement accuracy can be seriously affected by rotational errors in the calibration between cameras. Our method performs the calibration by using the geometrical relationship between a reference point on the camera and the reference point in its mirrored image...
In this paper a medical robot based on a 3-RPS parallel platform is presented for providing correct screw path in transpedicular fixation surgery. For improving the accuracy of the robot, a calibration approach for 3-RPS with CMM (Coordinate Measuring Instrument) data is developed. Sensitivity analysis of the error source had been done with Monte-Carlo techniques. The results show that the length...
Unmanned Aerial Vehicles (UAVs) have been widely used in intelligence gathering, psychological operations, laser designation, range-finding, and communication. In this paper, the design of a fixed-wing UAV is presented. A target detection and localization method is proposed for the developed UAV. The hardware construction, along with the selection of necessary components, is introduced. In order to...
As a new pattern of navigation approach with the characteristics of high robustness, autonomous characteristics and anti-interference ability, polarization navigation attracts the attention of the experts to perform further researches. A relatively stable skylight polarization pattern exists in a certain time period at a specific place, which acts as the precondition for the completion of the polarization...
A common problem among elderly people is the loss of motor ability. Rehabilitation exercises can help these people recover strength and maintain a good level of mobility. However, high costs and the need for special equipment make professional rehabilitation impractical for regular use in daily life, precluding elderly the possibility to perform focalized training at home. The idea of telerehabilitation...
This paper presents surface area calculation using point cloud from Kinect. The point cloud from Kinect is erroneous due to characteristics of this low cost device. Applying marching cube directly from such this point cloud, the resulting triangular mesh has multiple layers; despite the fact that their original surface has only one layer. In this paper, we bypass marching cube, which is ineffective...
Recently, the robotics community has widely used color-depth (RGB-D) sensors for various applications, such as collision avoidance, navigation and robotic path planning. To effectively utilize the benefit of depth and color modalities, it is important to know the relative pose between these sensors. In this paper we proposed a theoretical and practical approach to estimate the rigid body transformation...
The SAI method is a simple and flexible calibration method for robot calibration using twist parameters. The theodolite is usually used in the calibration process, which is expensive and inconvenient to be utilized. This paper aims to investigate how to take advantage of visual measuring system for robot calibration effectively. The main idea of the SAI method is to measure the coordinates of robot...
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