Stereo vision based robot navigation system using modulated potential field for implant surgery

Koyo Yu, Seiji Uozumi, Kouhei Ohnishi, Shin Usuda, Hiromasa Kawana, Taneaki Nakagawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Image navigation systems and robotics are leading technologies to improve the accuracy of dental surgery. In this paper, stereo vision based navigation system is implemented to the three degrees of freedom implant surgery assistant robot. The aim of this research is to achieve cooperative guide system for teaching the information of 'where to start cutting'. To achieve this aim, modulated potential field based on Lennard-Jones potential field is proposed for realizing following three requested performances. (1) Surgeon can freely operate the manipulator when it far from the destination. (2) The manipulator will apply adjusting force to converge correctly when approaching to the destination. (3) The manipulator will apply adjusting force for collision avoidance when passing the destination. This paper uses stereo camera to detect the destination. The validity of the proposed method is confirmed through experiment using three degrees of freedom parallel link manipulator.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages493-498
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 2015 Jun 16
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 2015 Mar 172015 Mar 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period15/3/1715/3/19

Keywords

  • drilling system
  • image processing
  • motion control
  • stereo camera
  • surgery assistant robot

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

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  • Cite this

    Yu, K., Uozumi, S., Ohnishi, K., Usuda, S., Kawana, H., & Nakagawa, T. (2015). Stereo vision based robot navigation system using modulated potential field for implant surgery. In Proceedings of the IEEE International Conference on Industrial Technology (June ed., Vol. 2015-June, pp. 493-498). [7125147] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2015.7125147