- 标题
- 摘要
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- 实验方案
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Context-Aware Modelling for Augmented Reality Display Behaviour
摘要： Current surgical augmented reality (AR) systems typically employ an on-demand display behaviour, where the surgeon can toggle the AR on or off using a switch. The need to be able to turn the AR off is in part due to the obstructing nature of AR overlays, potentially hiding important information from the surgeon in order to provide see-through vision. This on-demand paradigm is inefficient as the surgeon is always in one of two sub-optimal states: either they do not benefit at all from the image guidance (AR off), or the field of view is partially obstructed (AR on). Additionally, frequent toggling between the two views during the operation can be disruptive for the surgeon. This paper presents a novel approach to automatically adapt the AR display view based on the context of the surgical scene. Using gaze tracking in conjunction with information from the surgical instruments and the registered anatomy, a multi-Gaussian process model can be trained to infer the desired AR display view at any point during the procedure. Furthermore, a new AR display view is introduced in this model, taking advantage of the context information to only display a partial view of the AR when relevant. To validate the presented approach, a detailed simulation of a neurosurgical tumour contour marking task is designed. A study conducted with 15 participants demonstrates the usefulness of the proposed approach, showing a statistically significant mean reduction of 48% in the average time necessary for the detection of simulated bleeding, as well as statistically significant improvements in total task time.
关键词： Learning and Adaptive Systems,Medical Robots and Systems
更新于2025-09-23 15:23:52
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Prototype Probe Determining Waveguidea??Gum Contact for a Robot Surgical System
摘要： A probe for cutting soft gum tissue combines a force sensor and a diode laser. In such operations, contact between the tip of the optical waveguide and the soft gum tissue must first be determined. That permits specification of the cutting trajectory in the robot control system. A probe with a diode laser and single-component force sensor is proposed. The errors regarding contact of the laser’s optical waveguide with the soft gum tissue are analyzed.
关键词： soft gum tissue,medical robots,diode laser,force sensor,dental surgery
更新于2025-09-23 15:21:01
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SCADE: Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators
摘要： In this article, we present a novel stochastic algorithm called simultaneous sensor calibration and deformation estimation (SCADE) to address the problem of modeling deformation behavior of a generic continuum manipulator (CM) in free and obstructed environments. In SCADE, using a novel mathematical formulation, we introduce a priori model-independent ?ltering algorithm to fuse the continuous and inaccurate measurements of an embedded sensor (e.g., magnetic or piezoelectric sensors) with an intermittent but accurate data of an external imaging system (e.g., optical trackers or cameras). The main motivation of this article is the crucial need of obtaining an accurate shape/position estimation of a CM utilized in a surgical intervention. In these robotic procedures, the CM is typically equipped with an embedded sensing unit (ESU) while an external imaging modality (e.g., ultrasound or a ?uoroscopy machine) is also available in the surgical site. To evaluate the ef?cacy of the SCADE algorithm, we performed two different sets of experiments in free and obstructed environments. In these experiments, we utilized a CM speci?cally designed for orthopedic interventions equipped with an inaccurate ?ber Bragg grating (FBG) ESU and an overhead camera. The experimental results demonstrated the successful performance of the SCADE algorithm in simultaneous estimation of unknown deformation behavior of the utilized unmodeled CM together with realizing the time-varying drift of the poor-calibrated FBG sensing unit. Moreover, the results showed the phenomenal out-performance of the SCADE algorithm in estimation of the CM’s tip position as compared to FBG-based position estimations.
关键词： Continuum manipulators (CMs),sensor fusion,?ber Bragg grating (FBG) sensor,medical robots and systems
更新于2025-09-11 14:15:04