فهرست مطالب
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
1. Introduction
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
2. Methods
2.1. Problem statement and assumptions
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
2. Methods
2.2. Mathematical formulation of the proposed control framework
2.3. Definition of bounding boxes representing the CS and SS
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.1. Robotic platform
3.2. U-DT phantom with embedded critical tissue
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.3. Software architecture
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.4. Endoscope visual framework
3.4.1. Data collection and labeling for the CNN architecture
3.4.2. CNN architecture for autonomous CS detection
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.5. CS boundaries definition and feature point tracking computer vision algorithms
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.6. Deformable tissue control framework
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
4. Evaluation Experiments and Results
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
4. Evaluation Experiments and Results
4.1. AC-PBIP experiment with the desired point located inside the SS
4.2. AC-PBIP experiment with the desired point located inside the CS
5. Discussion
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
6. Conclusion
Acknowledgments
References
1. Introduction
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
2. Methods
2.1. Problem statement and assumptions
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
2. Methods
2.2. Mathematical formulation of the proposed control framework
2.3. Definition of bounding boxes representing the CS and SS
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.1. Robotic platform
3.2. U-DT phantom with embedded critical tissue
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.3. Software architecture
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.4. Endoscope visual framework
3.4.1. Data collection and labeling for the CNN architecture
3.4.2. CNN architecture for autonomous CS detection
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.5. CS boundaries definition and feature point tracking computer vision algorithms
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
3. Robotic System Architecture
3.6. Deformable tissue control framework
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
4. Evaluation Experiments and Results
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
4. Evaluation Experiments and Results
4.1. AC-PBIP experiment with the desired point located inside the SS
4.2. AC-PBIP experiment with the desired point located inside the CS
5. Discussion
A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space
6. Conclusion
Acknowledgments
References
