Ulcer is one of the most common symptoms many serious diseases in human digestive tract. Especially for ulcers small bowel where other procedures cannot adequately visualize, wireless capsule endoscopy (WCE) increasingly being used diagnosis and clinical management. Because WCE generates large amount images from whole process inspection, computer-aided detection ulcer considered an indispensable relief to clinicians. In this paper, a two-staged fully automated system proposed detect images....

Multirobot comanipulation shows great potential in surpassing the limitations of single-robot manipulation complicated tasks such as robotic surgeries. However, a dynamic multirobot setup unstructured environments poses uncertainties robot configurations. Therefore, coordination relationships between end-effectors and other devices, cameras (hand–eye calibration) tools (tool–flange calibration), well among base frames (robot–robot have to be determined timely enable accurate cooperation for...

In this paper, we propose a gait recognition method for service robots to conduct human following tasks. A walking sequence segmentation is designed extract the consecutive cycles from an arbitrary sequence. Based on results, novel hybrid feature proposed capture static, dynamic, and trajectory features each segmented key supplementary cycles. dataset of 25 subjects collected evaluate in three different paths with various directions. Experimental results show that achieves satisfactory...

Magnetic localization methods have been widely studied to provide accurate position and orientation information of intra-body objects, such as wireless capsule endoscopes. However, these cannot work well in dynamic scenarios when using a wearable sensor array due the geomagnetic field. In this article, we propose novel approach for tracking capsules mobile setup based on differential signals from adjacent magnetic sensors. Compared previous passive framework, proposed algorithm can eliminate...

<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Objective:</i> Wireless capsule endoscopy has been well used for gastrointestinal (GI) tract diagnosis. However, it can only obtain images and cannot take samples of GI tissues. In this study, we designed a magnetically-actuated biopsy (MABC) robot xmlns:xlink="http://www.w3.org/1999/xlink">Methods:</i> The proposed achieve locomotion functions under the control external electromagnetic...

Magnetic tracking technology is emerging to provide an occlusion-free scheme for the estimation of full pose various instruments. This brings substantial benefits intra-corporeal applications, such as flexible robots or wireless endoscopic devices, and thus helpful further computer-assisted diagnosis, interventions, surgeries. Towards efficient magnetic tracking, we propose a localization orientation system in this paper. By modeling cylindrical magnet, models have been compared analyzed....

This paper presents a sensor fusion-based surgical instrument tracking system which uses multiple monocular modules. The is an optical system, has been widely utilized in the image-guide surgery because of its high accuracy and precision. However, line-of-sight occlusion problem remains unresolved current systems frustrates surgeons during operation. To address this challenge, we propose based on rationale to enable track instruments inside site from different views. Three fusion algorithms...

This paper introduces a robust generalized point cloud (PC) registration method that utilizes not only the positional but also orientation information associated with each point. The proposed solves rigid PC problem in probabilistic manner, which casts into maximum likelihood (ML) framework. A hybrid mixture model (HMM) is utilized to represent one PC. In HMM, von-Mises-Fisher (FMM) adopted orientational uncertainty, while Gaussian (GMM) used uncertainty. An expectation-maximization (EM)...

Magnetic soft robots have attracted widespread attention for their untethered, remotely operated, and compliant deformation characteristics. Earlier work has demonstrated magnetic origami robots' diverse locomotion capabilities. This letter will focus on the motion generation open-loop control of an untethered flexible robot with a stretch-twist coupling spring (OS) skeleton only using uniform field control. We investigate associated mechanism corresponding signals (MSR). The MSR can perform...

Tasks that are too hard for single robot can be easily carried out by multiple robots in a cooperative manner. If some/all have mobile bases, the cooperation is subjected to great uncertainties both robotic system and environment. Therefore, relationships among all base frames (robot-robot calibration) between end-effectors other devices such as cameras tools (hand-eye tool-flange calibrations) calculated enable cooperate. To address these challenges, this paper, we propose simultaneous...

This paper introduces a robust point cloud registration method which utilizes not only positional but also the orientation information at each point. The proposed takes probabilistic approach forms problem as hybrid mixture model, in Von-Mises-Fisher model (FMM) is adopted to part and gaussian (GMM) used represent position part. When two clouds are optimally registered, correspondence maximum of posterior probability overall model. Expectation-Maximization (EM) algorithm has been solve...

Optical means of instrument tracking has been widely used in image-guided interventions and considered the de facto standard for rigid bodies with a direct line-of-sight. However, occlusion problem which remains unresolved current systems frustrates surgeons during operation. To address this challenge, we propose surgical system based on multiple reconfigurable monocular modules. The main approach is to enable dynamically reconfigure modules when occurs partially within workspace. In paper,...

Aligning different views or representations of anatomy is an essential task in both medical imaging computing (MIC) and computer-assisted interventions' (CAIs') communities. Motivated by simultaneously registering multiple point sets (PSs) further improving the algorithm's robustness to outliers noise, this paper, we propose a novel probabilistic approach jointly register generalized PSs. A PS includes high-dimensional points consisting positional vectors orientational information (or normal...

Embedded with an internal permanent magnet (IPM), a magnetically actuated capsule (MAC) robot can be controlled inside gastrointestinal (GI) tract by external (EPM) outside of human body. Locomotion control MAC achieved based on precise pose feedback that is usually carried out magnetic tracking. However, the coupling and fields will deteriorate accuracy. To solve this problem, we propose novel optical-magnetic fusion tracking framework in article, which applied to track real time. The...

This article proposes a novel targeted-location drug delivery system for lower gastrointestinal (GI) tract (such as the small intestine) capsule robots. The proposed takes "2-in-1" approach that enables both magnetically actuated anchoring and release by using only one internal magnet. integrated design consists of decoupling module, an module. module is equipped with two mechanisms at ends, which can, respectively, provide one-way rotation functions. functions can be decoupled controlled....

Registering two point sets (PSs) is an essential problem in medical robotics and computer-assisted surgery (CAS). As one typical example, orthopedic (CAOS), the preoperative scan has to be aligned with intraoperative accurately. In this article, we first formally formulate generalized PS registration a probabilistic manner. Especially, not only positional but also orientational information incorporated into registration. Notably, error assumed obey multivariate Gaussian distribution...

This paper presents a novel continuum robot sheath for use in single-port minimally invasive procedures such as neuroendoscopy which the is designed to deliver multiple robotic arms. Actuation of achieved by using precurved superelastic tubes lining working channels used arm delivery. These perform similar role push/pull tendons, but can accomplish shape change via rotation. A kinematic model Cosserat rod theory derived based on modeling system set eccentrically aligned constrained along...

Optical tracking system (OTS) is an important part of surgical navigation and has been commonly employed in clinical practice due to high accuracy precision. However, current OTS bulky, which reduces the flexibility for procedures. To address this drawback, we propose a wearable instrument based on multi-modular sensor fusion approach. The proposed consists multispectrum red–green–blue-depth (RGB-D) accompanying target. It significantly increases agility device while obtaining accuracy. We...

Surgical robots with variable stiffness can provide more stable configurations during minimally-invasive surgery.This letter presents a new design of modular lockable mechanism which be used to change the tendon-driven surgical robots. Locking and unlocking are simply actuated by pulling one tendon, each has several fixed locking angles on joint. Consisting this mechanism, robot larger workspace stiffness. The shape maintained mechanisms rather than continuous external input. Both kinematic...

Alignment of two point clouds is an essential problem in medical robotics and computer-assisted surgery. In this paper, we first formally formulate the generalized cloud registration a probabilistic manner. Specifically, not only positional but also orientational information are incorporated into registration. Notably, error assumed to obey multivariate Gaussian distribution accommodate anisotropic cases. Expectation conditional maximization framework utilized solve problem. E-step,...

Magnetically-actuated robotic catheter (MARC) has shown great potential in minimally-invasive surgery because they can be steered remotely and wirelessly. However, when driven by external permanent magnets (EPM), the MARC is subject to nonlinearly-coupled gravitational, magnetic, elastic forces, simultaneously. Furthermore, magnetic field force moment exerted on IPM are coupled with its pose. These factors make it difficult calculate shape of controlled EPM, thus posing a threat patients....