Robot Manipulation and Guidance Using Magnetic Motion Capture Sensor and a Rule-Based Controller

Journal of Robotics and Mechatronics

Volumn 20, Issue 1, 2008, Pages 151-158

  Tercero Villagran, Carlos R ^a,b   Ikeda, Seiichi ^a   Fukuda, Toshio ^a   Sekiyama, Kosuke ^a   Okada, Yuta ^a   Uchiyama, Tomomi ^a   Negoro, Makoto ^c   Takahashi, Ikuo ^d  

^a NAGOYA UNIVERSITY   (Japan)

^b Del Valle de Guatemala University   (Guatemala)

^c FUJITA HEALTH UNIVERSITY   (Japan)

^d ANJO KOSEI HOSPITAL   (Japan)

Author keywords

magnetic trackers; path planning; path reconstruction; robot guidance; robot manipulation

Indexed keywords

CALIBRATION; CAMERAS; CONTROLLERS; MAGNETIC SENSORS; MOTION PLANNING; ROBOT PROGRAMMING; SILICONES; TABLE LOOKUP;

MAGNETIC TRACKERS; MOTION CAPTURE; PATH RECONSTRUCTION; REFERENCE POINTS; ROBOT GUIDANCE; ROBOT MANIPULATION; ROBOTIC CAMERAS; ROBOTS CONTROL; RULE BASED; SPATIAL COORDINATES;

CATHETERS;

EID: 77950959436     PISSN: 09153942     EISSN: 18838049     Source Type: Journal    
DOI: 10.20965/jrm.2008.p0151     Document Type: Article

References (14)

1. G. A. Krombach, A. Mahnken, J. Tacke, G. Staatz, S. Haller, C. C. A. Nolte-Ernsting, J. Meyer, P. Haage, and R. W. G´’unther “US-guided nephrostomy with the aid of a magnetic field-based navigation device in the porcine pelvicaliceal system,” J. Vascular Interventional Radiology, Vol.12, pp. 623-628, 2001.
2. A. Chung, P. Edwards, F. Deligianni, and G. Yang, “Freehand Cocalibration of Optical and Electromagnetic Trackers for Navigated Bronchoscopy,” The Second Int.Workshop on Medical Imaging and Augmented Reality (MIAR 2004), Beijing, China, 2004.
3. K. Nakada, M. Nakamoto, Y. Sato, K. Konishi, M. Hashizume, and S. Tamura, “A rapid method for magnetic tracker calibration using a magneto-optic hybrid tracker,” MICCAI 2003, Lecture Notes in Computer Science (2879), Springer-Verlag, pp. 285-293, 2003.
4. M. Livingstone and A. State, “Magnetic tracker for improved augmented reality registration,” PESCENCE: Teleoperators and Virtual Environments, Vol.6, No.5, pp. 532-546, 1997.
5. M. Ikits, J. Brederson, C. Hansen, and J. Hollerbach, “An improved calibration framework for electromagnetic tracking devices,” Proc. of the IEEE Virtual Reality, pp. 63-70, 2000.
6. V. Kindratenko and W. Sherman, “Neural Network Based calibration of electromagnetic tracking systems,” Virtual Reality, Vol.9, pp. 78-78, 2006.
7. V. Kindratenko and A. Bennett, “A survey of electromagnetic position tracker calibration techniques,” Virtual Environments 2000, Proc. of the Eurographics Workshop, Springer Computer Science Series, Springer-Verlag, Berlin, Germany, Vol.5, No3, pp. 169-182, 2000.
8. S. Ikeda, F. Arai, T. Fukuda, M. Negoro, and K. Irie, “An in vitro patient-specific biological model of the cerebral artery reproduced with a membranous configuration for simulating endovascular intervention,” Journal of Robotics and Mechatronics, Vol.17, No.3, pp. 327-33, 2005.
9. P. Turski, M. Steighorst, C. Strother, A. Crummy, R. Leiberman, and C. Mistretta, “Digital Subtraction Angiography “Road Map”,” Technical Notes, AJR139, pp. 1233-1234, 1982.
10. F. Arai, R. Fujimura, T. Fukuda, and M. Negoro, “New catheter driving method using linear stepping mechanism for intravascular neurosurgery,” Proc. of the IEEE ICRA, pp. 2944-2949, Washington, DC, USA, 2002.
11. C. Tercero et al., “Autonomous Catheter Insertion System using Magnetic Motion Capture Sensor for endovascular surgery,” Int. Journal of Medical Robotics and Computer Assisted Surgery, Vol.3, pp. 52-58, 2007.
12. M. Tanimoto, F. Arai, T. Fukuda, H. Iwata, K. Itoigawa, Y. Gotoh, M. Hashimoto, and M. Negoro, “Study on Micro Force Sensor for Minimum Invasive Surgery,” Transactions of the Japan Society of Mechanical Engineers, Vol.64 No.620-C, pp. 150-155.
13. S. Ikeda, F. Arai, F. Fukuda, M. Negoro, K. Irie, and N. Takahashi, “An In-Vitro Patient-Tailored Model of Human Cerebral Artery for Simulating Endovascular Surgery Intervention,” MICCAI 2005, Lecture Notes in Computer Science (3749), Springer-Verlag, pp. 925-932, 2005.
14. C. Tercero, T. Uchiyama, T. Fukuda, S. Ikeda, and Y. Ono, “Realtime vessel 3D modeling for navigation in laparoscopic surgery,” Proc. of the 14th Congress of the Japanese Society of Computer Assisted Surgery, pp. 75-76, Chiba, Japan, Nov. 19-21, 2005.