Data fusion for catheter tracking using Kalman filtering: applications in robot-assisted catheter insertion

2011 ◽  
Author(s):  
Mahdi Azizian ◽  
Rajni Patel
Keyword(s):  
Data Fusion ◽  
Kalman Filtering ◽  
Catheter Insertion ◽  
Robot Assisted ◽  
Catheter Tracking

Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery

2021 ◽  
pp. 014233122098435
Author(s):  
Wen Qi ◽  
Hang Su ◽  
Ke Fan ◽  
Ziyang Chen ◽  
Jiehao Li ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Data Fusion ◽  
Invasive Surgery ◽  
Robot Control ◽  
Surgical Robot ◽  
Robot Assisted ◽  
Multimodal Data ◽  
Multimodal Data Fusion ◽  
Fusion Framework

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification in a dynamic situation, we propose a multimodal data fusion framework to provide multiple information for accuracy enhancement. Firstly, a multi-sensors based hardware structure is designed to capture varied data from various devices, including depth camera and smartphone. Furthermore, in different surgical tasks, the robot control mechanism can shift automatically. The experimental results evaluate the efficiency of developing the multimodal framework for RAMIS by comparing it with a single sensor system. Implementing the KUKA LWR4+ in a surgical robot environment indicates that the surgical robot systems can work with medical staff in the future.

Neuromate® robot-assisted ventricular catheter insertion

2021 ◽  
pp. 1-4
Author(s):  
Harischandra Lalgudi Srinvasan ◽  
Ahmed Raslan ◽  
Kantharuby Tambirajoo ◽  
Richard Selway ◽  
Keyoumars Ashkan ◽  
...  
Keyword(s):  
Catheter Insertion ◽  
Ventricular Catheter ◽  
Robot Assisted

INS/GPS Navigation Data Fusion Using Fuzzy Adaptive Kalman Filtering

2000 ◽  
Vol 33 (27) ◽  
pp. 423-428 ◽  
Author(s):  
J.Z. Sasiadek ◽  
Q. Wang ◽  
M.B. Zaremba
Keyword(s):  
Data Fusion ◽  
Kalman Filtering ◽  
Navigation Data ◽  
Gps Navigation ◽  
Fuzzy Adaptive
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