TY - GEN
T1 - Real-Time Collision Avoidance of a Redundant Dual-Arm Robot Based on Distance Function Method
AU - Zeng, Yuwen
AU - Xiao, Nan
AU - Guo, Shuxiang
AU - Zhao, Yan
AU - Wang, Yuxin
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - Nowadays the morbidity and mortality of cardiovascular and cerebrovascular diseases are increasing year by year. Vascular interventional surgery has been considered as the most widely treatment to these diseases and it is developing rapidly for its minimally invasive procedure, safety and short recovery time. However, due to the low signal-to-noise ratio (SNR) and pipe-like structures in the human body, the resolution of fluoroscopic sequences can be too low for surgeons to recognize the catheter in some cases, which impose restrictions on the performance and efficiency of this surgery in clinic. Therefore, enhancing and tracking the catheter in the endovascular interventions have become a crucial part. This paper proposes a morphologic method based on multiscale filter and direction-oriented method, which can enhance and detect the catheter from sequences in real-time. And finally this method takes 0.064s per frame with an accuracy of 89.39%, which can meet the requirements of clinic operations.
AB - Nowadays the morbidity and mortality of cardiovascular and cerebrovascular diseases are increasing year by year. Vascular interventional surgery has been considered as the most widely treatment to these diseases and it is developing rapidly for its minimally invasive procedure, safety and short recovery time. However, due to the low signal-to-noise ratio (SNR) and pipe-like structures in the human body, the resolution of fluoroscopic sequences can be too low for surgeons to recognize the catheter in some cases, which impose restrictions on the performance and efficiency of this surgery in clinic. Therefore, enhancing and tracking the catheter in the endovascular interventions have become a crucial part. This paper proposes a morphologic method based on multiscale filter and direction-oriented method, which can enhance and detect the catheter from sequences in real-time. And finally this method takes 0.064s per frame with an accuracy of 89.39%, which can meet the requirements of clinic operations.
KW - Direction-oriented
KW - Morphology
KW - Multi-scale enhancement
KW - Vascular interventional surgery
UR - http://www.scopus.com/inward/record.url?scp=85056332979&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2018.8484618
DO - 10.1109/ICMA.2018.8484618
M3 - Conference contribution
AN - SCOPUS:85056332979
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 620
EP - 625
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Y2 - 5 August 2018 through 8 August 2018
ER -
