Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control

2016 ◽  
Vol 28 (6) ◽  
pp. 911-920 ◽  
Author(s):  
Kohei Sugiyama ◽  
◽  
Takayuki Matsuno ◽  
Tetsushi Kamegawa ◽  
Takao Hiraki ◽  
...  
Keyword(s):  
Joint Control ◽  
Accuracy Evaluation ◽  
Medical Procedure ◽  
Position Accuracy ◽  
Fluoroscopic Image ◽  
Surgical Assistance ◽  
Tip Position ◽  
User Friendly ◽  
Text Location ◽  
Strong Radiation

[abstFig src='/00280006/15.jpg' width='300' text='Location of devices in the experiment' ] In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fluoroscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

scholarly journals Lane Endpoint Detection and Position Accuracy Evaluation for Sensor Fusion-Based Vehicle Localization on Highways

Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4389 ◽  
Author(s):  
Eun Jang ◽  
Jae Suhr ◽  
Ho Jung
Keyword(s):  
High Speed ◽  
Autonomous Driving ◽  
Lane Detection ◽  
Accuracy Evaluation ◽  
Endpoint Detection ◽  
Driver Assistance Systems ◽  
Vehicle Localization ◽  
Position Accuracy ◽  
Essential Components ◽  
Mobile Mapping System

Landmark-based vehicle localization is a key component of both autonomous driving and advanced driver assistance systems (ADAS). Previously used landmarks in highways such as lane markings lack information on longitudinal positions. To address this problem, lane endpoints can be used as landmarks. This paper proposes two essential components when using lane endpoints as landmarks: lane endpoint detection and its accuracy evaluation. First, it proposes a method to efficiently detect lane endpoints using a monocular forward-looking camera, which is the most widely installed perception sensor. Lane endpoints are detected with a small amount of computation based on the following steps: lane detection, lane endpoint candidate generation, and lane endpoint candidate verification. Second, it proposes a method to reliably measure the position accuracy of the lane endpoints detected from images taken while the camera is moving at high speed. A camera is installed with a mobile mapping system (MMS) in a vehicle, and the position accuracy of the lane endpoints detected by the camera is measured by comparing their positions with ground truths obtained by the MMS. In the experiment, the proposed methods were evaluated and compared with previous methods based on a dataset acquired while driving on 80 km of highway in both daytime and nighttime.

scholarly journals Smart Bio-Impedance-Based Sensor for Guiding Standard Needle Insertion

Sensors ◽  
2022 ◽  
Vol 22 (2) ◽  
pp. 665
Author(s):  
Ivan Kudashov ◽  
Sergey Shchukin ◽  
Mugeb Al-harosh ◽  
Andrew Shcherbachev
Keyword(s):  
Electrical Impedance ◽  
Experimental Studies ◽  
Needle Insertion ◽  
Electrode System ◽  
Medical Procedure ◽  
Peripheral Vascular ◽  
Non Invasive ◽  
Invasive Medical Procedure ◽  
Time Parameters ◽  
Tip Position

A venipuncture is the most common non-invasive medical procedure, and is frequently used with patients; however, a high probability of post-injection complications accompanies intravenous injection. The most common complication is a hematoma, which is associated with puncture of the uppermost and lowermost walls. To simplify and reduce complications of the venipuncture procedure, and as well as automation of this process, a device that can provide information of the needle tip position into patient’s tissues needs to be developed. This paper presents a peripheral vascular puncture control system based on electrical impedance measurements. A special electrode system was designed to achieve the maximum sensitivity for puncture identification using a traditional needle, which is usually used in clinical practice. An experimental study on subjects showed that the electrical impedance signal changed significantly once the standard needle entered the blood vessel. On basis of theoretical and experimental studies, a decision rule of puncture identification based on the analysis of amplitude-time parameters of experimental signals was proposed. The proposed method was tested on 15 test and 9 control samples, with the results showing that 97% accuracy was obtained.

Comprehensive TCEP Assessment of Methods for Calculating MUAV Navigation Position Accuracy Based on Visual Measurement

2013 ◽  
Vol 765-767 ◽  
pp. 2224-2228 ◽  
Author(s):  
Yan Yong Wang ◽  
Gong Liu Yang ◽  
Xing Rong Jia ◽  
Yong Miao Wang
Keyword(s):  
Navigation System ◽  
Evaluation Method ◽  
Accuracy Assessment ◽  
Visual Navigation ◽  
Accuracy Evaluation ◽  
Single Trial ◽  
Positioning Accuracy ◽  
Visual Measurement ◽  
Position Accuracy ◽  
Relationship Of

in order to satisfy the positioning accuracy identification requirement of MUAV navigation system, the characteristics of visual navigation were analyzed, the existing navigation system accuracy assessment methods were summarized and the conversion relationship of each index were deduced. According to the Ethridge statistical algorithm for calculating circular error probability (CEP), navigation and positioning accuracy assessment scheme were designed. Finally, the time-CEP(TCEP) accuracy evaluation method based on visual measurement was put forward, which were verified by simulation using four group actual INS data .The results show that: the scheme is feasible, convenient and practical; the method can relatively comprehensive evaluate the positioning accuracy of navigation system and can make full use of the single trial data.

scholarly journals 3D Trajectory Control of Flexible Manipulator

2020 ◽  
Author(s):  
Minoru Sasaki ◽  
Daiki Maeno ◽  
Jackline Asango ◽  
Wweru Njeri ◽  
Kojiro Matsushita ◽  
...  
Keyword(s):  
Vibration Control ◽  
Inverse Kinematics ◽  
Trajectory Control ◽  
Flexible Manipulator ◽  
Joint Angles ◽  
Position Accuracy ◽  
Simultaneous Control ◽  
Controller Performance ◽  
Tip Position ◽  
The Ideal

This paper describes the development of a controller that enables trajectory control and vibration control. The controller performance was verified the using a 3D 2-link, flexible manipulator. On trajectory control using inverse kinematics, it was confirmed that the deflection due to its own weight deteriorated the track following performance. The vibration component of the resonance frequency of the flexible manipulator was generated, and the tip position accuracy is deteriorated. Using the results of control experiments based on the inverse kinematics, the system is identified and then created an inverse system for simultaneous control of trajectory control and vibration control. The target trajectories were the three joint angles. Finally, it was demonstrated through experiments on actual manipulator, that the system could sufficiently follow the ideal trajectory and suppress link vibrations.

scholarly journals Position accuracy evaluation of the modernized Polish DGPS

2009 ◽  
Vol 16 (4) ◽  
pp. 57-61 ◽  
Author(s):  
Marek Dziewicki ◽  
Cezary Specht
Keyword(s):  
New Technology ◽  
Reference Station ◽  
Accuracy Evaluation ◽  
Performance Tests ◽  
Absolute Accuracy ◽  
Reference Equipment ◽  
Position Accuracy ◽  
Measuring Campaign ◽  
Equipment Performance

Position accuracy evaluation of the modernized Polish DGPS Polish Maritime DGPS system has been modernized to meet the requirements set out in IMO resolution for a future GNSS, but also to preserve backward signal compatibility of user equipment. Having finalized installation of the new technology L1, L2 reference equipment performance tests were performed. This paper presents results of the long-term signal measuring campaign of the DGPS reference station Rozewie, which was performed in July 2009. Final results allowed to verify repeatable and absolute accuracy of the system after the modernization. Obtained statistics were compared to past measurements performed in 2005 when previous system infrastructure was in operation.

Position accuracy evaluation of multi-column e-beam exposure system

2011 ◽  
Author(s):  
Masahiro Takizawa ◽  
Hideaki Komami ◽  
Masaki Kurokawa ◽  
Akio Yamada
Keyword(s):  
Accuracy Evaluation ◽  
Exposure System ◽  
Position Accuracy

Robot Accuracy Qualification: A Stochastic Differential Kinematic Monte Carlo Error Combination Approach

1988 ◽  
Author(s):  
A. J. Sturm ◽  
M.-Y. Lee
Keyword(s):  
Computer Simulation ◽  
Monte Carlo ◽  
Spatial Position ◽  
National Standard ◽  
Accuracy Evaluation ◽  
Spatial Accuracy ◽  
Monte Carlo Computer Simulation ◽  
Position Accuracy ◽  
Error Components ◽  
Robot Accuracy

Abstract This paper presents a stochastic model and a Monte Carlo computer simulation algorithm to combine all measurable non-linear kinematic and misalignment error components to predict the overall tooltip quasi-static robot spatial position accuracy for a gantry robot. These errors include joint position accuracies, joint misalignments, joint zero position offsets, axis directional straightness, squareness errors and kinematic coupling errors. All of these errors can be independently measured using a laser interferometer and/or other precision measuring instruments. The interation between robot joints and coupling between these error components are very complex making the determination of the overall robot spatial position accuracy difficult. In this paper a Monte Carlo computer simulation program for predicting overall robot spatial position accuracy based on a stochastic error model was developed. Finally, simulation results are compared with direct spatial accuracy test results using a computerized Theodolite system. This robot spatial accuracy qualification methodology has been accepted and recommended by RIA as part of American National Standard for robot accuracy evaluation.

The Added Value of Graphical Input and Display for Electron Lens Design

1990 ◽  
Vol 48 (1) ◽  
pp. 190-191
Author(s):  
B. Lencova ◽  
G. Wisselink
Keyword(s):  
Flux Density ◽  
Numerical Data ◽  
Added Value ◽  
Lens Design ◽  
Step Size ◽  
Magnetic Lens ◽  
Flux Lines ◽  
Fine Mesh ◽  
Electron Lens ◽  
User Friendly

Recent progress in computer technology enables the calculation of lens fields and focal properties on commonly available computers such as IBM ATs. If we add to this the use of graphics, we greatly increase the applicability of design programs for electron lenses. Most programs for field computation are based on the finite element method (FEM). They are written in Fortran 77, so that they are easily transferred from PCs to larger machines.The design process has recently been made significantly more user friendly by adding input programs written in Turbo Pascal, which allows a flexible implementation of computer graphics. The input programs have not only menu driven input and modification of numerical data, but also graphics editing of the data. The input programs create files which are subsequently read by the Fortran programs. From the main menu of our magnetic lens design program, further options are chosen by using function keys or numbers. Some options (lens initialization and setting, fine mesh, current densities, etc.) open other menus where computation parameters can be set or numerical data can be entered with the help of a simple line editor. The "draw lens" option enables graphical editing of the mesh - see fig. I. The geometry of the electron lens is specified in terms of coordinates and indices of a coarse quadrilateral mesh. In this mesh, the fine mesh with smoothly changing step size is calculated by an automeshing procedure. The options shown in fig. 1 allow modification of the number of coarse mesh lines, change of coordinates of mesh points or lines, and specification of lens parts. Interactive and graphical modification of the fine mesh can be called from the fine mesh menu. Finally, the lens computation can be called. Our FEM program allows up to 8000 mesh points on an AT computer. Another menu allows the display of computed results stored in output files and graphical display of axial flux density, flux density in magnetic parts, and the flux lines in magnetic lenses - see fig. 2. A series of several lens excitations with user specified or default magnetization curves can be calculated and displayed in one session.

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