Motion compensation in minimally invasive robotic surgery:
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
2002
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| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | München, Techn. Univ., Diss., 2003 |
| Physical Description: | IX, 137 S. Ill., graph. Darst. |
Staff View
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Record in the Search Index
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CONTENTS
1 INTRODUCTION 1
1.1 MINIMALLY INVASIVE SURGERY. 2
1.2 MINIMALLY INVASIVE* ROBOTIC SURGERY. 4
1.3 MINIMALLY INVASIVE* ROBOTIC CARDIAC SURGERY. 5
1.4 THESIS ORGANISATIEM.7. 0
2 MINIMALLY INVASIVE ROBOTIC SURGERY SYSTEMS 9
2.1 M1RS SYSTEMS AT RESE*AREH INSTITUTE'S. 10
2.2 COMMERCIALLY AVAILABLE* MIRS SYSTEMS. 12
2.3 THE* DLR MIRS SEE*NARIO. 13
2.3.1 SLAVE* SYSTEMI . 14
2.3.2 MASTER SYSTEMI . 20
2.3.3 CEMMNMIE'ATION. 21
2.4 CONCLUSIONS. 24
3 CONTROL IN MINIMALLY INVASIVE SURGERY 25
3.1 FUNEIAMEMTALS OF CARTE*SIAN CEMT REEL. 25
3.1.1 ENTRY PEEINT ESTIMATIEM. 20
3.1.2 INVERSE KINEIIIATIES. 28
3.2 VELEK'ITY CONTROL. 31
3.2.1 OBSERVER. 31
3.2.2 VE'LOCITY CONTROL LOOP. 34
3.2.3 EXPERIMENTS. 34
3.2.4 SUMMARY.*. 40
3.3 FUNDAMENTALS OF POSITION CENTRED. 40
3.3.1 CARTESIAN TIME-RESPONSE . 41
3.3.2 SELF-ADJUSTING CONTROLLER. 44
3.3.3 EXPERIMENTAL RE*SULTS. 46
3.3.4 SUMMARY. 48
3.4 POSITION CONTROL. 49
3.4.1 POSITION CONTROL LEIOP. 49
3.4.2 EXPERIMENTS. 50
3.4.3 SUMMARY. 51
L
BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/967532981
CONTEXTS
3.5 FORCE CONTROL.
3.5.1 FORCE CONTROL LOOP
3.5.2 EXPERIMENTS . . . .
3.5.3 SUMMARY.
3.G CONCLUSIONS.
52
52
51
4 TRACKING IN MIRCS 59
4.1 RELATED WORK. 60
4.2 TRACKING MODEL. 61
4.2.1 AFFINE MOTION MODEL. 61
4.2.2 FURTHER ASPECTS. 62
4.3 DETECTION OF SPECULAR REFLECTIONS. 63
4.3.1 THRESHOLDING . 64
4.3.2 DILATION. 65
4.4 ELIMINATION OF SPECULAR REFLECTIONS. 66
4.1.1 DETECTION OF STRUCTURE ORIENTATION . 67
4.4.2 STRUCTURE TENSOR DRIVEN RECONSTRUCTION. 67
4.4.3 MASKING SPECULAR REFLECTIONS. 68
4.5 TRACKING RESULTS . 69
4.5.1 MEASURES . 69
4.5.2 TRACKING ENVIRONMENT . 70
4.5.3 EVALUATION OF ILLUMINATION MODELS. 72
4.5.4 EVALUATION OF RECONSTRUCTION . 72
4.5.5 MASKING OF SPECULAR REFLECT IONS. 73
4.5.6 EVALUATION OF AFFINE TRACKING MODEL. 75
4.5.7 VISUAL INSPECTION. 77
4.5.8 DETECTION OF PERIODICITY . 78
4.6 QUALITY OF LANDMARKS . 79
4.6.1 CONFIDENCE MEASURES. 80
4.6.2 EXPERIMENTAL RESULTS. 83
4.7 3D INVESTIGATIONS. 86
4.8 CONCLUSIONS. 86
5 ROBUST MOTION ESTIMATION IN MIRCS 89
5.1 RELATED WORK. 90
5.2 LOCAL PREDICTION. 90
5.2.1 ALGORITHM. 91
5.2.2 ECG PREDICTION. 95
5.2.3 RPS PREDICTION. 99
5.2.4 HST PREDICTION.100
5.2.5 CONCLUSION.104
5.3 GLOBAL PREDICTION OF HSTS.106
5.3.1 ALGORITHM.106
CONTENTS
III
5.3.2 EXPERIMENTS.
110
5.4 ECG AND RPS BASED PREDICTION.113
5.4.1 CORRELATION OF DATA.113
5.4.2 TIME SERIES EMBEDDING .117
5.5 ROBUST MOTION ESTIMATION.120
5.G CONCLUSIONS.124
6 CONCLUSION AND PERSPECTIVES
127 |
| any_adam_object | 1 |
| author | Ortmaier, Tobias 1974- |
| author_GND | (DE-588)124653936 |
| author_facet | Ortmaier, Tobias 1974- |
| author_role | aut |
| author_sort | Ortmaier, Tobias 1974- |
| author_variant | t o to |
| building | Verbundindex |
| bvnumber | BV017206166 |
| classification_tum | MSR 985d MED 373d MSR 718d |
| ctrlnum | (OCoLC)217162755 (DE-599)BVBBV017206166 |
| discipline | Medizintechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik Medizin |
| format | Book |
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| id | DE-604.BV017206166 |
| illustrated | Illustrated |
| indexdate | 2024-11-22T17:37:24Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-010369593 |
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| physical | IX, 137 S. Ill., graph. Darst. |
| publishDate | 2002 |
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| spelling | Ortmaier, Tobias 1974- Verfasser (DE-588)124653936 aut Motion compensation in minimally invasive robotic surgery Tobias Johannes Ortmaier 2002 IX, 137 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2003 Bewegungskompensation (DE-588)4318038-3 gnd rswk-swf Regelungssystem (DE-588)4134712-2 gnd rswk-swf Computerassistierte Chirurgie (DE-588)4691244-7 gnd rswk-swf Minimal-invasive Chirurgie (DE-588)4327907-7 gnd rswk-swf Roboter (DE-588)4050208-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Minimal-invasive Chirurgie (DE-588)4327907-7 s Roboter (DE-588)4050208-9 s Bewegungskompensation (DE-588)4318038-3 s DE-604 Computerassistierte Chirurgie (DE-588)4691244-7 s Regelungssystem (DE-588)4134712-2 s DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010369593&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Ortmaier, Tobias 1974- Motion compensation in minimally invasive robotic surgery Bewegungskompensation (DE-588)4318038-3 gnd Regelungssystem (DE-588)4134712-2 gnd Computerassistierte Chirurgie (DE-588)4691244-7 gnd Minimal-invasive Chirurgie (DE-588)4327907-7 gnd Roboter (DE-588)4050208-9 gnd |
| subject_GND | (DE-588)4318038-3 (DE-588)4134712-2 (DE-588)4691244-7 (DE-588)4327907-7 (DE-588)4050208-9 (DE-588)4113937-9 |
| title | Motion compensation in minimally invasive robotic surgery |
| title_auth | Motion compensation in minimally invasive robotic surgery |
| title_exact_search | Motion compensation in minimally invasive robotic surgery |
| title_full | Motion compensation in minimally invasive robotic surgery Tobias Johannes Ortmaier |
| title_fullStr | Motion compensation in minimally invasive robotic surgery Tobias Johannes Ortmaier |
| title_full_unstemmed | Motion compensation in minimally invasive robotic surgery Tobias Johannes Ortmaier |
| title_short | Motion compensation in minimally invasive robotic surgery |
| title_sort | motion compensation in minimally invasive robotic surgery |
| topic | Bewegungskompensation (DE-588)4318038-3 gnd Regelungssystem (DE-588)4134712-2 gnd Computerassistierte Chirurgie (DE-588)4691244-7 gnd Minimal-invasive Chirurgie (DE-588)4327907-7 gnd Roboter (DE-588)4050208-9 gnd |
| topic_facet | Bewegungskompensation Regelungssystem Computerassistierte Chirurgie Minimal-invasive Chirurgie Roboter Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010369593&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT ortmaiertobias motioncompensationinminimallyinvasiveroboticsurgery |