Computer vision and robotics in perioperative process / Yi Xu, Huan Tan, Ying Mao, Lynn-Ann DeRose.

Format:

Book

Author/Creator:

Xu, Yi (Computer vision scientist)

Contributor:

Tan, Huan, 1981-

Mao, Ying (Of Dreamworld USA)

World Scientific (Firm)

Louis B. Flexner Medical Book Fund.

Series:

Computer vision series ; v. 5.

Computer vision series ; volume 5

Language:

English

Subjects (All):

Artificial intelligence--Medical applications.

Artificial intelligence.

Robotics in medicine.

Computer vision in medicine.

Surgical nursing.

Physical Description:

1 online resource.

Place of Publication:

Singapore : World Scientific Publishing Co. Pte. Ltd, 2018.

System Details:

text file

Contents:

Intro; Contents; Preface; Acknowledgments; List of Figures; List of Tables; 1. Automating the Perioperative Process; 1.1 Background; 1.2 Current Perioperative Process; 1.3 Our Goal; 1.3.1 Increased Safety; 1.3.2 Improved Throughput; 1.3.3 Enhanced Care Quality; 1.4 Our Approach; 1.4.1 Move Dirty Instrument to Sorting Table

Step 1; 1.4.2 Sort the Instruments

Step 2; 1.4.3 Move Sorted Instruments to Cleaner

Step 3; 1.4.4 Wash and Disinfect Instruments

Step 4 & 5; 1.4.5 Move Cleaned Instruments to Kit Building Table

Step 6; 1.4.6 Build Surgical Kits

Step 7

1.4.7 Sterilization

Step 81.5 Organization of the Rest of the Book; 2. Human-Supervisory Distributed Robotic System Architecture; 2.1 Introduction; 2.2 Related Work; 2.3 Multi-Agent Software Architecture; 2.3.1 Overall Robotic System Architecture; 2.3.1.1 Management System; 2.3.1.2 Functional Agent System; 2.3.1.3 Supervisory System; 2.3.2 Individual Robotic System Architecture; 2.3.2.1 Communication; 2.3.2.2 Database; 2.3.2.3 Task Controller; 2.3.2.4 Sensors; 2.3.2.5 Actuators; 2.3.2.6 Vision Processing; 2.3.2.7 Motion/Force Controller; 2.3.2.8 First-Order Response

2.4 Example of Implementation2.4.1 Implemented Overall System Architecture; 2.4.1.1 Management System; 2.4.1.2 Agent System; 2.4.1.3 Supervisory System; 2.4.2 Implemented Individual Robotic Architectures; 2.4.2.1 Mobile Robot Architecture; 2.4.2.2 Robotic Manipulator Architecture; 2.5 Experimental Setup; 2.6 Summary and Future Work; 3. TrayBot: Transporting Surgical Tools in Hospitals; 3.1 Introduction; 3.2 Related Work; 3.3 Hardware Component Design; 3.4 Integrated System Design; 3.4.1 System Overview; 3.4.2 Task Planning; 3.4.3 Navigation and Localization

3.4.4 Vision-based Manipulator Control3.4.4.1 Search for the Tray; 3.4.4.2 Determine the Manipulation Point; 3.4.4.3 Grasp the Tray; 3.5 Experimental Setup and Results; 3.5.1 Success Rate; 3.5.2 Angle Tolerance of the Gripper; 3.6 Conclusion and Future Work; 4. Vision-based Instrument Singulation; 4.1 Introduction; 4.2 Related Work; 4.3 Vision-based Surgical Instrument Singulation; 4.3.1 Surgical Instrument Identification; 4.3.2 Localization and Pose Estimation; 4.3.3 Occlusion Reasoning; 4.3.3.1 Find the Intersections; 4.3.3.2 Infer the Occlusions; 4.3.3.3 N-Instruments Intersection

4.3.3.4 Determine Picking Order4.3.4 Optimal Picking Location; 4.4 Experiments; 4.5 Conclusion and Discussion; 5. Instrument Sorting Robots; 5.1 Introduction; 5.2 Related Work; 5.3 Our Compliant End Effector Design; 5.4 Dirty Side Sorter; 5.4.1 System Architecture; 5.4.1.1 Deliberative Task Controller; 5.4.1.2 Motion Control; 5.4.1.3 Reactive Control; 5.4.1.4 Perception-Planning-Action; 5.4.2 Major System Components; 5.4.2.1 Database; 5.4.2.2 Task Controller; 5.4.2.3 Vision Processing; 5.4.2.4 Electromagnetic Gripper; 5.4.2.5 First-Order Response; 5.5 Clean Side Kit-Builder; 5.6 Experiments

Notes:

Includes bibliographical references and index.

Electronic reproduction. Singapore Available via World Wide Web.

Local Notes:

Acquired for the Penn Libraries with assistance from the Louis B. Flexner Medical Book Fund.

Other Format:

Print version:

ISBN:

9789813233287

9813233281

Publisher Number:

99976783574

Access Restriction:

Restricted for use by site license.