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Semi-autonomous navigation for robot assisted tele-echography using generalized shape models and co-registered RGB-D cameras | IEEE Conference Publication | IEEE Xplore

Semi-autonomous navigation for robot assisted tele-echography using generalized shape models and co-registered RGB-D cameras


Abstract:

This paper proposes a semi-autonomous navigated master-slave system, for robot assisted remote echography for early trauma assessment. Two RGB-D sensors are used to captu...Show More

Abstract:

This paper proposes a semi-autonomous navigated master-slave system, for robot assisted remote echography for early trauma assessment. Two RGB-D sensors are used to capture real-time 3D information of the scene at the slave side where the patient is located. A 3D statistical shape model is built and used to generate a customized patient model based on the point cloud generated by the RGB-D sensors. The customized patient model can be updated and adaptively fitted to the patient. The model is also used to generate a trajectory to navigate a KUKA robotic arm and safely conduct the ultrasound examination. Extensive validation of the proposed system shows promising results in terms of accuracy and robustness.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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