Browsing by Author "Zinchenko, Kateryna"

Now showing 1 - 5 of 5

A Novel Flag-Language Remote Control Design for a Laparoscopic Camera Holder Using Image Processing
(2015)
Zinchenko, Kateryna
;
Huang, Wayne Shin-Wei
;
Liu, Kai-Che
;
Song, Kai-Tai
;
電控工程研究所
Minimally invasive surgeries( MIS) possess obvious advantages for patients but require more specially trained personnel than common, open procedure. With modern advances in robotics, it becomes possible to ease these requirements by introducing robotized assistants into operation. However, for robot-assisted solo MIS, it is crucial to have appropriate methods for robot control. This work presents a design of flag language as a novel human-to-robot communication method based on image processing of the endoscope video during real-time intervention. The proposed system comprises autonomous positioning of endoscope holder combined with recognition of surgeon intention by analyzing surgical instrument postures. The proposed algorithm has been evaluated using experimental setup as well as video clips from laparoscopic operation. Experimental results show that the flag posture can be detected satisfactorily with speed of 12 frames per second, as well as system robustness under moderate lighting and noise conditions.
A Study on Motion Control of a Robotic Endoscope Holder Using Speech Recognition
(2016)
Zinchenko, Kateryna
;
Wu, Chien-Yu
;
Song, Kai-Tai
;
資訊工程學系
;
電控工程研究所
This paper presents a design of speech recognition interface for a robotic endoscope holder for abdominal Minimally Invasive Surgery(MIS). A set of seven voice commands are used to control 3 degree of freedom(DOF) robotic arm with remote center of motion(RCM). Speech recognition algorithm was implemented on Ubuntu OS using Pocket Sphinx and achieved 90% success rate. Command signal was delivered to the robotic holder using serial port communication through RS232 cable. Experimental results show that the proposed control strategy has navigation precision up to 2.5mm or 7.7\'degrees in horizontal direction, 1.8mm or 3.150 degrees in vertical direction and 9 mm precision during insertion task with camera tip located at distance of 5 cm after RCM point. Average latency between two consecutive commands was 3.34s.
A Study on Speech Recognition Control for a Surgical Robot
(2017-04-01)
Zinchenko, Kateryna
;
Wu, Chien-Yu
;
Song, Kai-Tai
;
交大名義發表
;
電控工程研究所
Speech recognition is common in electronic appliances and personal services, but its use for industrial and medical purposes is rare because of the presence of motion ambiguity. For minimally invasive surgical robotic assistants, this ambiguity arises because the robotic motion is not calibrated to the camera images. This paper presents a design for a speech recognition interface for an HIWIN robotic endoscope holder. A new intentional speech control is proposed to control movement over long distances. To decrease ambiguity, a method is proposed for voice-to-motion calibration that compares the degree of change in the endoscope image for a voice command. A speech recognition algorithm is implemented on Ubuntu OS, using CMU Sphinx. The control signal is sent to the robot controller using serial-port communication through a RS232 cable. The experimental results show that the proposed intentional speech control strategy has a navigation precision of up to 3.1 degrees of angular displacement for the endoscope. The overall system processing time, including robotic motion, is 3.22 s for similar to 1.8-s speech duration. The reference image navigation range is from 2.5 mm for similar to 0.5- s speech duration up to 6 mm for similar to 1.8-s speech duration, using a setup with camera tip that is located at a distance of 5 cm from the remote center of motion point.
Scheduling and Control of a Cloud Robot for Reception and Guidance
(2017-01-01)
Song, Kai-Tai
;
Chiu, Yu-Heng
;
Song, Shao-Huan
;
Zinchenko, Kateryna
;
電控工程研究所
This paper presents a design for robot task scheduling and human guidance for health checkup application in a hospital. For a health-checkup robot in a hospital, an IC card reader mounted on the robot is used to retrieve user's personal information from the cloud server. After data retrieval, a visiting list in the hospital is automatically scheduled for each patient. Next, the robot guides each user according to the scheduled list. The scheduling is completed by adopting the non-preemptive Priority Scheduling approach. To assure safe human guidance and navigation, the robot uses data from two laser scanners: one is used for robot localization, and the other is used to detect user's leg for guidance. The robot uses Cartographer for localization and mapping. The guidance controller constantly adjusts motion commands depending on the user's position, meanwhile guides the user to the planned destination. The motion commands are executed by robot motion controller. The proposed design has been successfully verified using a prototype mobile robot in the lab environment.
Virtual Reality Control of a Robotic Camera Holder for Minimally Invasive Surgery
(2017-01-01)
Zinchenko, Kateryna
;
Komarov, Oleksii
;
Song, Kai-Tai
;
生物科技學系
;
電控工程研究所
This paper presents a virtual reality(VR) control system for a robotic endoscope holder for minimally invasive surgery (MIS). The system features a three degree of freedom(DOF) robotic endoscope holder, virtual reality head mounted display and a control system that allows robot to follow headset movement. The headset display is aligned with endoscope camera view thus creating a full presence effect for a surgeon. The video from endoscope is streamed to the virtual reality head mounted display after image processing in a computer. During surgery, the proposed control system generates commands to the robot based on the headset's positioning data. After the desired camera motion direction is estimated, the robotic endoscope holder receives motion commands through serial interface. The proposed virtual reality robot control system is implemented in Unity. The system has been tested in the laboratory environment through a set of motion tests and achieved a response latency of 2s. The proposed system is able to restore the surgeon's perceptual capability of the operation space that is highly restricted in MIS and provide highly intuitive endoscope robot control.