文献类型： 会议论文
第一作者： Yuxin Jin
作者： Yuxin Jin 1 ; Franco Pinan Basualdo 1 ; Antonio Marino 2 ; Yongfeng Mei 3 ; Paolo Robuffo Giordano 4 ; Claudio Pacchierotti 4 ; Sarthak Misra 5 ;
作者机构： 1.Department of Biomechanical Engineering, Surgical Robotics Laboratory, University of Twente, Enschede, AE, The Netherlands
2.Université de Rennes, CNRS, Inria, IRISA - Rennes, France
3.Department of Materials Science & State Key Laboratory of Molecular Engineering of Polymers, Fudan University, Shanghai, P. R. China|International Institute of Intelligent Nanorobots and Nanosystems, Fudan University, Shanghai, P. R. China|Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Fudan University, Shanghai, P. R. China
4.CNRS, Université de Rennes, Inria, IRISA-Rennes, France
5.Department of Biomechanical Engineering, Surgical Robotics Laboratory, University of Twente, Enschede, AE, The Netherlands|Department of Biomaterials and Biomedical Technology Engineering, Surgical Robotics Laboratory, University of Groningen and University Medical Centre Groningen, Groningen, GZ, The Netherlands
关键词： Three-dimensional displays;Target tracking;Heuristic algorithms;Prediction algorithms;Feature extraction;Control systems;Robots
会议名称： International Conference on Manipulation, Automation and Robotics at Small Scales
主办单位：
页码： 1-6
摘要： Micro-surgical robotic systems are gaining prominence in minimally invasive surgery within the medical field. However, accurately tracking the position of the moving agents at the micro-scale remains a significant challenge, particularly for multi-agent systems operating in cluttered and unknown environments. Traditional image analysis methods can falter when confronted with issues such as mutual and obstacle occlusion, especially in dynamic and unstructured scenarios. In order to address this issue, this study introduces a graph-based multi-agent 3D tracking algorithm for a micro-agent control system. This algorithm integrates image information with the control inputs used to navigate the micro agents. We combine the power of Convolutional Neural Networks and Graph Neural Networks to effectively extract features from image sources, and combine them with historical data and control inputs. The primary novelty of this algorithm is its ability to make predictions when the target is occluded in the 2D detection results. The proposed system achieved a tracking error of 0.15 mm, outperforming standard model-based tracking techniques.
分类号： tp2
- 相关文献
[1]Long Image Time Series for Crop Extraction Based on the Automatically Generated Samples Algorithm. Nan Jia,Yinshuai Li,Andrés Vi?a,Jie Cheng,Yue Dou,Qian Song,Liuyue He,Jianguo Liu. 2023
[2]Breast Cancer Diagnosis Using Texture and Shape Features in MRI. Alicia M. Maceira,David Moratal,Jose Manuel Santabárbara,Pilar Castellote-Huguet,Silvia Ruiz-Espa?a,Cristián Galán-Auge. 2023
[3]The Actualities and Prospects of Ultrasound-based Pattern Recognition in Crop Feature Extraction. Yu, Shanshan,Wu, Chongyou,Wang, Suzhen,Hu, Minjuan. 2011
[4]Feature Extraction and Classification of Animal Blood Spectra with Support Vector Machine. Lu Peng-fei,Fan Ya,Zhou Lin-hua,Gao Bin,Qian Jun,Liu Lin-na,Zhao Si-yan,Kong Zhi-feng. 2017
[5]STUDY ON CROP IMAGE FEATURE EXTRACTION OF VEHICLE-BASED ESTIMATION SYSTEM ON LARGE SCALE CROP ACREAGE. Wang, Su-Xia,Song, Zheng-He,Zhu, Zhong-Xiang,Mao, En-Rong,Yang, Bang-Jie,Zhang, Rui. 2007
[6]Human Body Motion Tracking for Rehabilitation. Moraru Andrei,Eva-H. Dulf,Lehel Dénes-Fazakas,Levente Kovacs. 2024
[7]A Combining Method for Generating Land Surface Temperature with High Spatiotemporal Resolution. Yitao Li,Hua Wu,Zhao-Liang Li,Caixia Gao. 2022
[8]Evaluation of Spatiotemporal Fusion Models in Land Surface Temperature Using Polar-Orbiting and Geostationary Satellite Data. Yitao Li,Hua Wu,Zhao-Liang Li,Sibo Duan,Li Ni. 2020
[9]Effect of Hyperparameters of Reinforcement Learning in Blood Glucose Control. Máté Siket,László Szilágyi,Gy?rgy Eigner,Levente Kovács,Dénes-Fazakas Lehel. 2023
[10]Review of Reinforcement Learning-Based Control Algorithms in Artificial Pancreas Systems for Diabetes Mellitus Management. Lehel Dénes-Fazakas,Gy?z? Dénes Fazakas,Gy?rgy Eigner,Levente Kovács,László Szilágyi. 2024
[11]Online Hyper-evolution of Controllers in Multirobot Systems. Fernando Silva,Luís Correia,Anders Lyhne Christensen. 2016
[12]A Bregman Majorization-Minimization Framework for Pet Image Reconstruction. Claire Rossignol,Florent Sureau,Emilie Chouzenoux,Claude Comtat,Jean-Christophe Pesquet. 2022
[13]Assessment of Agricultural High-Tech Based on AHP with Expert Weights. Wang Cui,Liu Shihong,Liu Wei,Song Linpeng. 2019
[14]Pairing Predictive Simulations and Human Experiments in Ankle Exoskeleton Walking. Alexander Weiss,Anthony Chen,Daniel B. Janischowky,Isabella Shih,Gillian C. Phillips,Jessica C. Selinger,Anne D. Koelewijn. 2024
[15]Nature Inspired Optimization Algorithms in Fractional Order Controller Design. Eva-H. Dulf,Alexandru George Berciu,Lehel Dénes-Fazakas,Levente Kovacs. 2024
[16]Centimeter-Scale Submarine Robot for Monitoring Coral Reef Ecosystem. Zongze Li,Yi Zhang,Shujing He,Xiyu Zhu,Tanyong Wei,Chengzhi Hu. 2024
[17]Effects of Acetylcholine Release Spatial Distribution on the Frequency of Atrial Reentrant Circuits: a Computational Study. Chiara Celotto,Carlos Sánchez,Mostafa Abdollahpur,Frida Sandberg,Jose F Rodriguez,Pablo Laguna,Esther Pueyo. 2022
[18]VolRAFT: Volumetric Optical Flow Network for Digital Volume Correlation of Synchrotron Radiation-based Micro-CT Images of Bone-Implant Interfaces. Tak Ming Wong,Julian Moosmann,Berit Zeller-Plumhoff. 2024
[19]On The Local Geometry of the Pet Reconstruction Problem. Ramy Merabet,Florent Sureau,Alain Trouvé. 2024
[20]Automated Measurement of Pericoronary Adipose Tissue Attenuation and Volume in Ct Angiography. Andrew M. Nguyen,Tejas Sudharshan Mathai,Liangchen Liu,Jianfei Liu,Ronald M. Summers. 2024
作者其他论文 更多>>
-
Multi-Sensing System Based on Fiber Bragg Grating Technology in Variable Stiffness Catheter for Temperature and Force Measurements
作者：Francesca De Tommasi;Michiel Richter;Livio D’Alvia;Massimiliano Carassiti;Eduardo Palermo;Zaccaria Del Prete;Emiliano Schena;Sarthak Misra;Venkatasubramanian Kalpathy Venkiteswaran
关键词：Temperature measurement;Temperature sensors;Force measurement;Force;Switched mode power supplies;Tactile sensors;Fiber gratings
-
Fin-Wave-Inspired Wireless Small-Scale Soft Robot for Adaptive Amphibious Locomotion Under Single-Mode Magnetic Field
作者：Chen Wang;Sarthak Misra;Venkatasubramanian Kalpathy Venkiteswaran
关键词：Legged locomotion;Wireless communication;Surface waves;Magnetization;Magnetic liquids;Soft robotics;Solids
