TY - GEN
T1 - Vision servoing aspects of the TFS system
AU - Nycz, Andrzej
AU - Young, Matthew A.
AU - Hamel, William R.
PY - 2011
Y1 - 2011
N2 - The introduction of robotics in medical applications is expanding. Procedures that were conducted manually by surgeons are now being executed often with the use of robotics. Decreased fatigue, improved precision, control and new possibilities are just a few of the advantages of the new approach. Robotic devices also have applications in diagnostics. In 2004 the University of Tennessee began developing the Tracking Fluoroscope System (TFS) based on the feedback received from orthopedic surgeons and total joint replacement designers. It is a mobile, untethered, omnidirectional, and highly automated fluoroscopic device. The standard fluoroscopic device is a stationary C-arm that does not allow for the complexities of natural human walking. Hence, many aspects of the post or pre-surgery diagnostics cannot be addressed. The TFS is developed to be able to perform in vivo natural untethered fluoroscopic examinations of knees, hips and ankles in natural motion. This paper focuses on the visual servoing aspect of musculoskeletal joint tracking, in this case knee joints, related necessary procedures and the required system integration. It presents the vision system framework and imaging techniques used autonomously and real-time tracking of knee joints. Experimental results with a naturally walking person and a human-like artificial knee simulator are presented.
AB - The introduction of robotics in medical applications is expanding. Procedures that were conducted manually by surgeons are now being executed often with the use of robotics. Decreased fatigue, improved precision, control and new possibilities are just a few of the advantages of the new approach. Robotic devices also have applications in diagnostics. In 2004 the University of Tennessee began developing the Tracking Fluoroscope System (TFS) based on the feedback received from orthopedic surgeons and total joint replacement designers. It is a mobile, untethered, omnidirectional, and highly automated fluoroscopic device. The standard fluoroscopic device is a stationary C-arm that does not allow for the complexities of natural human walking. Hence, many aspects of the post or pre-surgery diagnostics cannot be addressed. The TFS is developed to be able to perform in vivo natural untethered fluoroscopic examinations of knees, hips and ankles in natural motion. This paper focuses on the visual servoing aspect of musculoskeletal joint tracking, in this case knee joints, related necessary procedures and the required system integration. It presents the vision system framework and imaging techniques used autonomously and real-time tracking of knee joints. Experimental results with a naturally walking person and a human-like artificial knee simulator are presented.
KW - Bio-robot
KW - Fluoroscopy
KW - Visual servoing
UR - https://www.scopus.com/pages/publications/84855729446
M3 - Conference contribution
AN - SCOPUS:84855729446
SN - 9781618392008
T3 - 3rd Int. Joint Topical Meeting on Emergency Preparedness and Response and Robotics and Remote Systems 2011, EPRRSD, and 13th Robotics and Remote Systems for Hazardous Environments
SP - 857
EP - 868
BT - 3rd Int. Joint Topical Meeting on Emerg. Preparedness and Response and Robotics and Remote Syst. 2011, EPRRSD, 13th Robotics and Remote Syst. for Hazardous Environ. and 11th Emerg. Prep. and Response
T2 - 3rd Int. Joint Topical Meeting on Emergency Preparedness and Response and Robotics and Remote Systems 2011, EPRRSD, 13th Robotics and Remote Systems for Hazardous Environments and 11th Emergency Preparedness and Response
Y2 - 7 August 2011 through 10 August 2011
ER -