Motion compensation in minimally invasive robotic surgery:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Düsseldorf
VDI-Verl.
2003
|
| Ausgabe: | Als Ms. gedr. |
| Schriftenreihe: | Fortschrittberichte VDI
Reihe 17, Biotechnik ; 234 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | VIII, 137 S. Ill., graph. Darst. : 21 cm |
| ISBN: | 3183234173 |
Internformat
MARC
| LEADER | 00000nam a2200000 cb4500 | ||
|---|---|---|---|
| 001 | BV017515039 | ||
| 003 | DE-604 | ||
| 005 | 20030924 | ||
| 007 | t | ||
| 008 | 030916s2003 gw ad|| m||| 00||| eng d | ||
| 016 | 7 | |a 968642039 |2 DE-101 | |
| 020 | |a 3183234173 |9 3-18-323417-3 | ||
| 035 | |a (OCoLC)55807669 | ||
| 035 | |a (DE-599)BVBBV017515039 | ||
| 040 | |a DE-604 |b ger |e rakddb | ||
| 041 | 0 | |a eng | |
| 044 | |a gw |c DE | ||
| 049 | |a DE-91G |a DE-634 |a DE-83 | ||
| 100 | 1 | |a Ortmaier, Tobias |d 1974- |e Verfasser |0 (DE-588)124653936 |4 aut | |
| 245 | 1 | 0 | |a Motion compensation in minimally invasive robotic surgery |c Tobias Ortmaier |
| 250 | |a Als Ms. gedr. | ||
| 264 | 1 | |a Düsseldorf |b VDI-Verl. |c 2003 | |
| 300 | |a VIII, 137 S. |b Ill., graph. Darst. : 21 cm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Fortschrittberichte VDI : Reihe 17, Biotechnik |v 234 | |
| 502 | |a Zugl.: München, Techn. Univ., Diss., 2003 | ||
| 650 | 0 | 7 | |a Bewegungskompensation |0 (DE-588)4318038-3 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Regelungssystem |0 (DE-588)4134712-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Computerassistierte Chirurgie |0 (DE-588)4691244-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Minimal-invasive Chirurgie |0 (DE-588)4327907-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Roboter |0 (DE-588)4050208-9 |2 gnd |9 rswk-swf |
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Computerassistierte Chirurgie |0 (DE-588)4691244-7 |D s |
| 689 | 0 | 1 | |a Roboter |0 (DE-588)4050208-9 |D s |
| 689 | 0 | 2 | |a Regelungssystem |0 (DE-588)4134712-2 |D s |
| 689 | 0 | 3 | |a Bewegungskompensation |0 (DE-588)4318038-3 |D s |
| 689 | 0 | |5 DE-604 | |
| 689 | 1 | 0 | |a Minimal-invasive Chirurgie |0 (DE-588)4327907-7 |D s |
| 689 | 1 | 1 | |a Roboter |0 (DE-588)4050208-9 |D s |
| 689 | 1 | 2 | |a Bewegungskompensation |0 (DE-588)4318038-3 |D s |
| 689 | 1 | |8 1\p |5 DE-604 | |
| 830 | 0 | |a Fortschrittberichte VDI |v Reihe 17, Biotechnik ; 234 |w (DE-604)BV000903783 |9 234 | |
| 856 | 4 | 2 | |m DNB Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010547995&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 883 | 1 | |8 1\p |a cgwrk |d 20201028 |q DE-101 |u https://d-nb.info/provenance/plan#cgwrk | |
| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-010547995 | |
Datensatz im Suchindex
| _version_ | 1808225705259958272 |
|---|---|
| adam_text |
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
ORGANISATION
.
6
2
MINIMALLY
INVASIVE
ROBOTIC
SURGERY
SYSTEMS
9
2.1
MIRS
SYSTEMS
AT
RESEARCH
INSTITUTES
.
10
2.2
COMMERCIALLY
AVAILABLE
MIRS
SYSTEMS
.
12
2.3
THE
DLR
MIRS
SCENARIO
.
13
2.3.1
SLAVE
SYSTEM
.
14
2.3.2
MASTER
SYSTEM
.
20
2.3.3
COMMUNICATION
.
21
2.4
CONCLUSIONS
.
23
3
CONTROL
IN
MINIMALLY
INVASIVE
SURGERY
26
3.1
FUNDAMENTALS
OF
CARTESIAN
CONTROL
.
26
3.1.1
ENTRY
POINT
ESTIMATION
.
27
3.1.2
INVERSE
KINEMATICS
.
29
3.2
VELOCITY
CONTROL
.
32
3.2.1
OBSERVER
.
32
3.2.2
VELOCITY
CONTROL
LOOP
.
35
3.2.3
EXPERIMENTS
.
35
3.2.4
SUMMARY
.
41
3.3
FUNDAMENTALS
OF
POSITION
CONTROL
.
41
3.3.1
CARTESIAN
TIME-RESPONSE
.
42
3.3.2
SELF-ADJUSTING
CONTROLLER
.
45
3.3.3
EXPERIMENTAL
RESULTS
.
47
3.3.4
SUMMARY
.
49
3.4
POSITION
CONTROL
.
50
3.4.1
POSITION
CONTROL
LOOP
.
50
3.4.2
EXPERIMENTS
.
51
3.4.3
SUMMARY
.
52
3.5
FORCE
CONTROL
.
53
3.5.1
FORCE
CONTROL
LOOP
.
53
3.5.2
EXPERIMENTS
.
55
3.5.3
SUMMARY
.
56
3.6
CONCLUSIONS
.
56
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
4.4.1
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
REFLECTIONS
.
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
.
96
5.2.3
RPS
PREDICTION
.
100
5.2.4
HST
PREDICTION
.
101
5.2.5
CONCLUSION
.
106
5.3
GLOBAL
PREDICTION
OF
HSTS
.
107
5.3.1
ALGORITHM
.
107
VI
5.3.2
EXPERIMENTS
.
ILL
5.4
ECG
AND
RPS
BASED
PREDICTION
.
114
5.4.1
CORRELATION
OF
DATA
.
114
5.4.2
TIME
SERIES
EMBEDDING
.
117
5.5
ROBUST
MOTION
ESTIMATION
.
119
5.6
CONCLUSIONS
.
125
6
CONCLUSION
AND
PERSPECTIVES
126
BIBLIOGRAPHY
131
VII |
| 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 | BV017515039 |
| ctrlnum | (OCoLC)55807669 (DE-599)BVBBV017515039 |
| edition | Als Ms. gedr. |
| format | Thesis Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>00000nam a2200000 cb4500</leader><controlfield tag="001">BV017515039</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20030924</controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">030916s2003 gw ad|| m||| 00||| eng d</controlfield><datafield tag="016" ind1="7" ind2=" "><subfield code="a">968642039</subfield><subfield code="2">DE-101</subfield></datafield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">3183234173</subfield><subfield code="9">3-18-323417-3</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)55807669</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV017515039</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakddb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="044" ind1=" " ind2=" "><subfield code="a">gw</subfield><subfield code="c">DE</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-91G</subfield><subfield code="a">DE-634</subfield><subfield code="a">DE-83</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Ortmaier, Tobias</subfield><subfield code="d">1974-</subfield><subfield code="e">Verfasser</subfield><subfield code="0">(DE-588)124653936</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Motion compensation in minimally invasive robotic surgery</subfield><subfield code="c">Tobias Ortmaier</subfield></datafield><datafield tag="250" ind1=" " ind2=" "><subfield code="a">Als Ms. gedr.</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Düsseldorf</subfield><subfield code="b">VDI-Verl.</subfield><subfield code="c">2003</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">VIII, 137 S.</subfield><subfield code="b">Ill., graph. Darst. : 21 cm</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="1" ind2=" "><subfield code="a">Fortschrittberichte VDI : Reihe 17, Biotechnik</subfield><subfield code="v">234</subfield></datafield><datafield tag="502" ind1=" " ind2=" "><subfield code="a">Zugl.: München, Techn. Univ., Diss., 2003</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Bewegungskompensation</subfield><subfield code="0">(DE-588)4318038-3</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Regelungssystem</subfield><subfield code="0">(DE-588)4134712-2</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Computerassistierte Chirurgie</subfield><subfield code="0">(DE-588)4691244-7</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Minimal-invasive Chirurgie</subfield><subfield code="0">(DE-588)4327907-7</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Roboter</subfield><subfield code="0">(DE-588)4050208-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="655" ind1=" " ind2="7"><subfield code="0">(DE-588)4113937-9</subfield><subfield code="a">Hochschulschrift</subfield><subfield code="2">gnd-content</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Computerassistierte Chirurgie</subfield><subfield code="0">(DE-588)4691244-7</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Roboter</subfield><subfield code="0">(DE-588)4050208-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Regelungssystem</subfield><subfield code="0">(DE-588)4134712-2</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="3"><subfield code="a">Bewegungskompensation</subfield><subfield code="0">(DE-588)4318038-3</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="689" ind1="1" ind2="0"><subfield code="a">Minimal-invasive Chirurgie</subfield><subfield code="0">(DE-588)4327907-7</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2="1"><subfield code="a">Roboter</subfield><subfield code="0">(DE-588)4050208-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2="2"><subfield code="a">Bewegungskompensation</subfield><subfield code="0">(DE-588)4318038-3</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="1" ind2=" "><subfield code="8">1\p</subfield><subfield code="5">DE-604</subfield></datafield><datafield tag="830" ind1=" " ind2="0"><subfield code="a">Fortschrittberichte VDI</subfield><subfield code="v">Reihe 17, Biotechnik ; 234</subfield><subfield code="w">(DE-604)BV000903783</subfield><subfield code="9">234</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">DNB Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010547995&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="883" ind1="1" ind2=" "><subfield code="8">1\p</subfield><subfield code="a">cgwrk</subfield><subfield code="d">20201028</subfield><subfield code="q">DE-101</subfield><subfield code="u">https://d-nb.info/provenance/plan#cgwrk</subfield></datafield><datafield tag="943" ind1="1" ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-010547995</subfield></datafield></record></collection> |
| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV017515039 |
| illustrated | Illustrated |
| indexdate | 2024-08-24T00:13:31Z |
| institution | BVB |
| isbn | 3183234173 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-010547995 |
| oclc_num | 55807669 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-634 DE-83 |
| owner_facet | DE-91G DE-BY-TUM DE-634 DE-83 |
| physical | VIII, 137 S. Ill., graph. Darst. : 21 cm |
| publishDate | 2003 |
| publishDateSearch | 2003 |
| publishDateSort | 2003 |
| publisher | VDI-Verl. |
| record_format | marc |
| series | Fortschrittberichte VDI |
| series2 | Fortschrittberichte VDI : Reihe 17, Biotechnik |
| spelling | Ortmaier, Tobias 1974- Verfasser (DE-588)124653936 aut Motion compensation in minimally invasive robotic surgery Tobias Ortmaier Als Ms. gedr. Düsseldorf VDI-Verl. 2003 VIII, 137 S. Ill., graph. Darst. : 21 cm txt rdacontent n rdamedia nc rdacarrier Fortschrittberichte VDI : Reihe 17, Biotechnik 234 Zugl.: 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 Computerassistierte Chirurgie (DE-588)4691244-7 s Roboter (DE-588)4050208-9 s Regelungssystem (DE-588)4134712-2 s Bewegungskompensation (DE-588)4318038-3 s DE-604 Minimal-invasive Chirurgie (DE-588)4327907-7 s 1\p DE-604 Fortschrittberichte VDI Reihe 17, Biotechnik ; 234 (DE-604)BV000903783 234 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010547995&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Ortmaier, Tobias 1974- Motion compensation in minimally invasive robotic surgery Fortschrittberichte VDI 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 Ortmaier |
| title_fullStr | Motion compensation in minimally invasive robotic surgery Tobias Ortmaier |
| title_full_unstemmed | Motion compensation in minimally invasive robotic surgery Tobias 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=010547995&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000903783 |
| work_keys_str_mv | AT ortmaiertobias motioncompensationinminimallyinvasiveroboticsurgery |