High-Accuracy Volumetric Measurements of Soft Tissues using Robotic 3D Scanner

Chromý, Adam

doi:10.1016/j.ifacol.2015.07.054

Cited by 7 publications

(6 citation statements)

References 10 publications

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“…Additional details on the experiment can be found in source [ 12 ], and the current volumetric methods are compared between one another and with the RoScan in [ 39 ] and [ 38 , 40 ], respectively.…”

Section: Resultsmentioning

confidence: 99%

The RoScan Thermal 3D Body Scanning System: Medical Applicability and Benefits for Unobtrusive Sensing and Objective Diagnosis

Chromý

Žalud

2020

Sensors

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The RoScan is a novel, high-accuracy multispectral surface scanning system producing colored 3D models that include a thermal layer. (1) Background: at present, medicine still exhibits a lack of objective diagnostic methods. As many diseases involve thermal changes, thermography may appear to be a convenient technique for the given purpose; however, there are three limiting problems: exact localization, resolution vs. range, and impossibility of quantification. (2) Methods: the basic principles and benefits of the system are described. The procedures rely on a robotic manipulator with multiple sensors to create a multispectral 3D model. Importantly, the structure is robust, scene-independent, and features quantifiable measurement uncertainty; thus, all of the above problems of medical thermography are resolved. (3) Results: the benefits were demonstrated by several pilot case studies: medicament efficacy assessment in dermatology, objective recovery progress assessment in traumatology, applied force quantification in forensic sciences, exact localization of the cause of pain in physiotherapy, objective assessment of atopic dermatitis, and soft tissue volumetric measurements. (4) Conclusion: the RoScan addresses medical quantification, which embodies a frequent problem in several medical sectors, and can deliver new, objective information to improve the quality of healthcare and to eliminate false diagnoses.

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Section: Resultsmentioning

confidence: 99%

The RoScan Thermal 3D Body Scanning System: Medical Applicability and Benefits for Unobtrusive Sensing and Objective Diagnosis

Chromý

Žalud

2020

Sensors

Self Cite

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“…This "digital orthotist" process (as shown in Fig. 3) begins with a 3D scan of the subject's forearm and hand using the Creaform Go!SCAN 3D scanner [44], which features a volumetric accuracy [45] of 0.050 mm ± 0.150 mm/m [46] and uses proprietary software (VXmodel) [47] to create a watertight model by removing scan artifacts and super uous information (e.g., chest-related data), overlapping or coarse surfaces, and holes. Once created, the individual watertight model is then imported into Rhinoceros [48], a 3D…”

Section: Digital Orthotist Processmentioning

confidence: 99%

The NuroSleeve, A User-Centered 3D Printed Orthosis and Functional Electrical Stimulation System for Individuals with Upper Extremity Impairment

Khantan

Avery²,

Aung

et al. 2023

Preprint

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Background: Active upper extremity (UE) assistive devices have the potential to restore independent functional movement in individuals with UE impairment due to neuromuscular diseases or injury-induced chronic weakness. Academically fabricated UE assistive devices are not usually optimized for Activities of Daily Living (ADLs), whereas commercially available alternatives are prohibitively expensive. Both options are typically difficult to don and doff and are cumbersome for extensive daily use. To overcome these limitations, we have designed, developed, and clinically validated the NuroSleeve, an innovative user-centered UE orthosis. Methods: This study introduces the design, implementation, and clinical evaluation of the NuroSleeve, a user-centered, lightweight, affordable, easy to don and doff 3D-printed UE active orthosis for improving function and independence in individuals living with UE neuromuscular impairment. Our primary goals are to develop a customized active UE brace that individuals with UE impairment can use to perform ADLs and to evaluate the benefits of incorporating the device into occupational therapy sessions. The trial is designed as a prospective, open-label, single-cohort feasibility study of eight-week sessions combined with at-home use of the device and implements an iterative device design process where feedback from participants and therapists inform future design improvements. Results: All participants learned how to independently don, doff, and use the NuroSleeve in ADLs, both in clinical therapy and in their home environments. All participants showed improvements in their Canadian Occupational Performance Measure (COPM), which was the primary clinical trial outcome measure. Furthermore, the participants and therapists provided valuable feedback to guide further development. Conclusions: Our results from non-clinical testing and clinical evaluation demonstrate that the NuroSleeve has met performance and safety requirements and effectively improves independent voluntary function during ADLs. The study’s encouraging preliminary findings indicate that the NuroSleeve has met its technical and clinical objectives while improving on the limitations of the existing UE orthoses due to its personalized and flexible approach to hardware and firmware design. Trial Registration: ClinicalTrials.gov identifier: NCT04798378, https://clinicaltrials.gov/ct2/show/NCT04798378, date of registration: March 15, 2021.

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“…In recent years, the application of industrial robots in the industrial field has become increasingly widespread [6]. For instance, robots are not only used in traditional industrial sectors such as welding, assembly, and material handling, but in recent years, robots have also been used in emerging fields such as 3D printing [7][8][9] and 3D scanning [10]. This is primarily due to the variety of industrial robots and their high degree of freedom, allowing them to meet various application scenarios.…”

Section: Prior Artmentioning

confidence: 99%

“…3, it can be inferred that when ROI n,1 and ROI n,2 overlap, the three points P n,1 , P n,2 , and P n,c will satisfy Eq. (10). That is, the Y-direction values of P n,1 and P n,2 will be equal to P n,c , and P n,c will be directly located on the contour of the target trajectory.…”

Section: Comparative Experiments 2: Effect Of Contour Recognition On ...mentioning

confidence: 99%

Vision Based Trajectory Dynamic Compensation System of Industrial Robot

Zhao,

Murakami,

Yamakawa

2023

Preprint

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This study aims to enhance the flexibility of robots in the manufacturing process to meet the growing demand for flexible manufacturing systems by constructing a dynamic compensation system. The system enables the end effector of the robot to track the trajectory contour on the horizontal plane, even if there is a deviation between the teaching trajectory and the target trajectory contour. The proposed system employs an innovative mechanism design and algorithm that enables dynamic compensation of the robot's absolute position in the XY-plane, even when the end effector is obstructed. The system uses an XY-stage and two industrial cameras, with each axis being separately controlled. To detect and compensate for errors in the end effector and target trajectory, the two cameras are aligned with the X- and Y-direction linear stage, respectively. The cameras are fixed with respect to the linear stage, and the end effector is placed on the stage work surface. Unlike traditional stereo cameras, the cameras in this system do not require calibration for their positional relationship. To verify the system's effectiveness, this study set a group of teaching and target trajectory contours with a maximum deviation of over than 8mm. Under the compensation of the system, the maximum error between the end effector and the target trajectory contour was 22.8 pixels (1.34mm), with an average absolute error of 5.4 pixels (0.32mm). Compared to the maximum error of 8.45mm before compensation, the error has been reduced by 84%.

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High-Accuracy Volumetric Measurements of Soft Tissues using Robotic 3D Scanner

Cited by 7 publications

References 10 publications

The RoScan Thermal 3D Body Scanning System: Medical Applicability and Benefits for Unobtrusive Sensing and Objective Diagnosis

The RoScan Thermal 3D Body Scanning System: Medical Applicability and Benefits for Unobtrusive Sensing and Objective Diagnosis

The NuroSleeve, A User-Centered 3D Printed Orthosis and Functional Electrical Stimulation System for Individuals with Upper Extremity Impairment

Vision Based Trajectory Dynamic Compensation System of Industrial Robot

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