Based on a robotic telesurgery system whose function is to liberate doctor from X-ray radiation, a robotic tele-drill system is constructed. The system is in client/server structure. Client part includes main control ...Based on a robotic telesurgery system whose function is to liberate doctor from X-ray radiation, a robotic tele-drill system is constructed. The system is in client/server structure. Client part includes main control interface, video-audio interface and predictive display interface. Server part includes robot control server and video, audio server. For applying to teleoperation, a virtual reality environment of the system developed by using Java, Java 3D, Pro/E, etc. is established. The geometry and kinematics model of serial robot MOTOMAN sv3x, parallel robot, C-type arm and X-ray machine, surgery bed and its work environment are fulfilled in it. Simulation engine and its simulation syntax are finished, which made the environment controllable. This environment is used as predictive display interface in the telerobotics in order to tackling the problem in visualization feedback as ambiguous or time delay. Experiments that verified feasibility of the system have been done.展开更多
A 3D augmented reality navigation system using stereoscopic images is developed for teleoperated robot systems. The accurate matching between the simulated model and the video image of the actual robot can be realized...A 3D augmented reality navigation system using stereoscopic images is developed for teleoperated robot systems. The accurate matching between the simulated model and the video image of the actual robot can be realized, which helps the operator to accomplish the remote control task correctly and reliably. The system introduces the disparity map translation transformation method to take parallax images for stereoscopic displays, providing the operator an immersive 3D experience. Meanwhile, a fast and accurate registration method of dynamic stereo video is proposed, and effective integration of a virtual robot and the real stereo scene can be achieved. Preliminary experiments show that operation error of the system is maintained at less than 2.2 mm and the average error is 0.854 7, 0.909 3 and 0.697 2 mm at x, y, z direction respectively. Lots of experiments such as pressing the button, pulling the drawer and so on are also conducted to evaluate the performance of the system. The feasibility studies show that the depth information of structure can be rapidly and recognized in remote environment site. The augmented reality of the image overlay system could increase the operating accuracy and reduce the procedure time as a result of intuitive 3D viewing.展开更多
文摘Based on a robotic telesurgery system whose function is to liberate doctor from X-ray radiation, a robotic tele-drill system is constructed. The system is in client/server structure. Client part includes main control interface, video-audio interface and predictive display interface. Server part includes robot control server and video, audio server. For applying to teleoperation, a virtual reality environment of the system developed by using Java, Java 3D, Pro/E, etc. is established. The geometry and kinematics model of serial robot MOTOMAN sv3x, parallel robot, C-type arm and X-ray machine, surgery bed and its work environment are fulfilled in it. Simulation engine and its simulation syntax are finished, which made the environment controllable. This environment is used as predictive display interface in the telerobotics in order to tackling the problem in visualization feedback as ambiguous or time delay. Experiments that verified feasibility of the system have been done.
基金supported by the Fundamental Research Funds for the Central Universities (2009RC0603)the Hi-Tech Research and Development Program of China (2009AA7034550)the National Natural Science Foundation of China (60803103)
文摘A 3D augmented reality navigation system using stereoscopic images is developed for teleoperated robot systems. The accurate matching between the simulated model and the video image of the actual robot can be realized, which helps the operator to accomplish the remote control task correctly and reliably. The system introduces the disparity map translation transformation method to take parallax images for stereoscopic displays, providing the operator an immersive 3D experience. Meanwhile, a fast and accurate registration method of dynamic stereo video is proposed, and effective integration of a virtual robot and the real stereo scene can be achieved. Preliminary experiments show that operation error of the system is maintained at less than 2.2 mm and the average error is 0.854 7, 0.909 3 and 0.697 2 mm at x, y, z direction respectively. Lots of experiments such as pressing the button, pulling the drawer and so on are also conducted to evaluate the performance of the system. The feasibility studies show that the depth information of structure can be rapidly and recognized in remote environment site. The augmented reality of the image overlay system could increase the operating accuracy and reduce the procedure time as a result of intuitive 3D viewing.
