Monocular Vision-Based Retinal Membrane Peeling With a Handheld Robot

Han, Yuqiao; Routray, Arpita; Adeghate, Jennifer; MacLachlan, Robert A.; Martel, Joseph N.; Riviere, Cameron N.

doi:10.1115/1.4051686

Cited by 7 publications

(3 citation statements)

References 15 publications

(27 reference statements)

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“…Determine the initial position control distance and steering angle, and judge the robot's current position [23]. Absolute positioning control is carried out by improving the artificial potential field, and multi-dimensional positioning [24]is carried out by using GPS, identification devices, etc. Implement collaborative control operations, as shown in Table 1 below:…”

Section: Improve Artificial Potential Field Processing To Realize Fuz...mentioning

confidence: 99%

Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

Li,

Chen,

Jia

2023

International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023)

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The current fuzzy control nodes for mobile obstacle avoidance of patrol robots are mostly set to the single-layer form, and the control speed is slow, leading to the increase of fuzzy control time consumption. Therefore, the design and verification analysis of the fuzzy control method for mobile obstacle avoidance of patrol robots in substations based on laser radar are proposed. According to the actual control requirements and standard changes, it is necessary to determine the basic control indicators of the patrol robot first, increase the control speed of the robot in a multi-level manner, deploy multi-level 3D fuzzy control nodes, establish a grid multi-level control matrix, and build a fuzzy control model for the moving obstacle avoidance of the laser radar patrol robot on this basis. Fuzzy control is realized by improved artificial potential field processing. The final test results show that: through the verification of four test areas in the substation, the final fuzzy control time of the patrol robot is well controlled below 1.5s, indicating that the practical application effect of this robot control method is better, the speed and range of control are further expanded, and the handling of robot obstacle avoidance and displacement tasks is more diversified and flexible. It has stronger pertinence and practical application value.

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Section: Improve Artificial Potential Field Processing To Realize Fuz...mentioning

confidence: 99%

Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

Li,

Chen,

Jia

2023

International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023)

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“…With the location information of the target fruit, the picking robot can perform the supposed work [5,6]. As one of the machine vision methods for target distance assessment, monocular distance measurement has been applied in all sorts of fields, such as industrial robots [7], medical treatment [8], vehicle control [9], and fruit picking [10,11]. Compared to binocular vision and laser vision, it was more convenient and simpler and had great further development potential [12,13].…”

Section: Introductionmentioning

confidence: 99%

A Distance Measurement Approach for Large Fruit Picking with Single Camera

et al. 2023

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Target ranging is the premise for manipulators to complete agronomic operations such as picking and field management; however, complex environmental backgrounds and changing crop shapes increase the difficulty of obtaining target distance information based on binocular vision or depth cameras. In this work, a method for ranging large-sized fruit based on monocular vision was proposed to provide a low-cost and low-computation alternative solution for the fruit thinning or picking robot. The regression relationships between the changes in the number of pixels occupied by the target area and the changes in the imaging distance were calculated based on the images of square-shaped checkerboards and circular-shaped checkerboards with 100 cm2, 121 cm2, 144 cm2, 169 cm2, 196 cm2, 225 cm2, 256 cm2, 289 cm2, and 324 cm2 as the area, respectively. The 918 checkerboard images were collected by the camera within the range from 0.25 m to 1.5 m, with 0.025 m as the length of each moving step, and analyzed in MATLAB to establish the ranging models. A total of 2448 images of four oval watermelons, four pyriform pomelos, and four oblate pomelos, as the representatives of large fruit with different shapes, were used to evaluate and optimize the performance of the models. The images of the front were the input, while the imaging distances were the output. The results showed that the absolute error would be less than 0.06 m for both models and would linearly increase with a decrease in the distance. The relative error could be controlled at 5%. The results proved the proposed monocular method could be a solution for the ranging of large fruit targets.

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“…Any clinically deployed robotic system for eye surgery will have to cope with patient motion. Active compensation (i.e., closed-loop control) can involve sensing the force between the surgical instrument and the eye 7 , using visual-servoing techniques 8 , or moving the headrest to counteract patient movement 9 . Others have pursued passive approaches to motion compensation, which are not mutually exclusive with active approaches.…”

Section: Introductionmentioning

confidence: 99%

Eye-mounting goggles to bridge the gap between benchtop experiments and in vivo robotic eye surgery

Posselli,

Bernstein,

Abbott

2023

Sci Rep

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A variety of robot-assisted surgical systems have been proposed to improve the precision of eye surgery. Evaluation of these systems has typically relied on benchtop experiments with artificial or enucleated eyes. However, this does not properly account for the types of head motion that are common among patients undergoing eye surgery, which a clinical robotic system will encounter. In vivo experiments are clinically realistic, but they are risky and thus require the robotic system to be at a sufficiently mature state of development. In this paper, we describe a low-cost device that enables an artificial or enucleated eye to be mounted to standard swim goggles worn by a human volunteer to enable more realistic evaluation of eye-surgery robots after benchtop studies and prior to in vivo studies. The mounted eye can rotate about its center, with a rotational stiffness matching that of an anesthetized patient’s eye. We describe surgeon feedback and technical analyses to verify that various aspects of the design are sufficient for simulating a patient’s eye during surgery.

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Monocular Vision-Based Retinal Membrane Peeling With a Handheld Robot

Cited by 7 publications

References 15 publications

Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

A Distance Measurement Approach for Large Fruit Picking with Single Camera

Eye-mounting goggles to bridge the gap between benchtop experiments and in vivo robotic eye surgery

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