Kalman filters have received much attention with the increasing demands for robotic automation. This paper briefly surveys the recent developments for robot vision. Among many factors that affect the performance of a robotic system, Kalman filters have made great contributions to vision perception. Kalman filters solve uncertainties in robot localization, navigation, following, tracking, motion control, estimation and prediction, visual servoing and manipulation, and structure reconstruction from a sequence of images. In the 50th anniversary, we have noticed that more than 20 kinds of Kalman filters have been developed so far. These include extended Kalman filters and unscented Kalman filters. In the last 30 years, about 800 publications have reported the capability of these filters in solving robot vision problems. Such problems encompass a rather wide application area, such as object modeling, robot control, target tracking, surveillance, search, recognition, and assembly, as well as robotic manipulation, localization, mapping, navigation, and exploration. These reports are summarized in this review to enable easy referral to suitable methods for practical solutions. Representative contributions and future research trends are also addressed in an abstract level.

Kalman Filter for Robot Vision: A Survey

The use of laparoscopic and robotic procedures has increased in general surgery. Minimally invasive robotic surgery has made tremendous progress in a relatively short period of time, realizing improvements for both the patient and surgeon. This has led to an increase in the use and development of robotic devices and platforms for general surgery. The purpose of this review is to explore current and emerging surgical robotic technologies in a growing and dynamic environment of research and development. This review explores medical and surgical robotic endoscopic surgery and peripheral technologies currently available or in development. The devices discussed here are specific to general surgery, including laparoscopy, colonoscopy, esophagogastroduodenoscopy, and thoracoscopy. Benefits and limitations of each technology were identified and applicable future directions were described. A number of FDA-approved devices and platforms for robotic surgery were reviewed, including the da Vinci Surgical System, Sensei X Robotic Catheter System, FreeHand 1.2, invendoscopy E200 system, Flex® Robotic System, Senhance, ARES, the Single-Port Instrument Delivery Extended Research (SPIDER), and the NeoGuide Colonoscope. Additionally, platforms were reviewed which have not yet obtained FDA approval including MiroSurge, ViaCath System, SPORT™ Surgical System, SurgiBot, Versius Robotic System, Master and Slave Transluminal Endoscopic Robot, Verb Surgical, Miniature In Vivo Robot, and the Einstein Surgical Robot. The use and demand for robotic medical and surgical platforms is increasing and new technologies are continually being developed. New technologies are increasingly implemented to improve on the capabilities of previously established systems. Future studies are needed to further evaluate the strengths and weaknesses of each robotic surgical device and platform in the operating suite.

Review of emerging surgical robotic technology

Over the past two decades, synergistic innovations in imaging technology have resulted in a revolution in which a range of biomedical applications are now benefiting from fluorescence imaging. Specifically, advances in fluorophore chemistry and imaging hardware, and the identification of targetable biomarkers have now positioned intraoperative fluorescence as a highly specific real-time detection modality for surgeons in oncology. In particular, the deeper tissue penetration and limited autofluorescence of near-infrared (NIR) fluorescence imaging improves the translational potential of this modality over visible-light fluorescence imaging. Rapid developments in fluorophores with improved characteristics, detection instrumentation, and targeting strategies led to the clinical testing in the early 2010s of the first targeted NIR fluorophores for intraoperative cancer detection. The foundations for the advances that underline this technology continue to be nurtured by the multidisciplinary collaboration of chemists, biologists, engineers, and clinicians. In this Review, we highlight the latest developments in NIR fluorophores, cancer-targeting strategies, and detection instrumentation for intraoperative cancer detection, and consider the unique challenges associated with their effective application in clinical settings.

/pdf/beyond-the-margins-real-time-detection-of-cancer-using-3lel13xqh8.pdf

Beyond the margins: real-time detection of cancer using targeted fluorophores.

Background
Autonomous control of surgical robotic platforms may offer enhancements such as higher precision, intelligent manoeuvres, tissue-damage avoidance, etc. Autonomous robotic systems in surgery are largely at the experimental level. However, they have also reached clinical application.

Methods
A literature review pertaining to commercial medical systems which incorporate autonomous and semi-autonomous features, as well as experimental work involving automation of various surgical procedures, is presented. Results are drawn from major databases, excluding papers not experimentally implemented on real robots.

Results
Our search yielded several experimental and clinical applications, describing progress in autonomous surgical manoeuvres, ultrasound guidance, optical coherence tomography guidance, cochlear implantation, motion compensation, orthopaedic, neurological and radiosurgery robots.

Conclusion
Autonomous and semi-autonomous systems are beginning to emerge in various interventions, automating important steps of the operation. These systems are expected to become standard modality and revolutionize the face of surgery. Copyright © 2011 John Wiley & Sons, Ltd.

Evolution of autonomous and semi-autonomous robotic surgical systems: a review of the literature

Research on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems. Dedicated systems are designed for a single surgical task or technique, whereas versatile systems are designed to be expandable and useful in multiple surgical applications. Versatile systems are often based on industrial robots, though, and because of this, are hardly suitable for close contact with humans. To achieve a high degree of versatility the Miro robotic surgery platform (MRSP) consists of versatile components, dedicated front–ends towards surgery and configurable interfaces for the surgeon. This paper presents MiroSurge, a configuration of the MRSP that allows for bimanual endoscopic telesurgery with force feedback. While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.

https://elib.dlr.de/76868/1/IJCARS_2009_JournalPaper_Hagn_CameraReady.pdf

DLR MiroSurge: a versatile system for research in endoscopic telesurgery.

The method involves optically detecting the movement of an input device (14a,14b) by a camera (16), and calculating movement command for the telemanipulation robot (10). The telemanipulation robot is moved corresponding to the movement command. A local recursive marker identification is carried out, in which a marker (A) visible in the image is assigned to the marker visible on the image recorded at an earlier time point by the same camera. A global marker identification is carried out, in which the marker is clearly identified globally non-recursive in the image of the camera. The global recursive identification is carried out when the marker is identified locally recursive in two images and is identified globally non-recursive in one of the images, or is identified globally recursive by a clear control pattern in multiple images. The marker is identified as global recursive for all images, in which the marker is identified locally recursive.

Method for controlling a remote handling robot

The invention relates to a method for controlling a telemanipulation robot are recorded optically in the movements of an input device having at least three active marker. Based on these movements of Telemanipulation robot is controlled. It is carried out a local recursive marker identification by a tracking of the history of the movement of the identifiable marker is performed. Furthermore, a global non-recursive marker identification is carried out, a marker is activated in such a way that it can be distinguished in a single image from all other markers. Alternatively or additionally, a marker can be identified by a unique activation pattern in several successive images global recursively. It is carried out a global recursive identification when a marker has been identified locally recursively in at least two images and in at least one of these images is a global non-recursive and / or recursively identified globally by a unique activation pattern in multiple images. This marker applies to all images in which he was locally identified recursively identified as global recursively. According to the invention the activation of the marker is carried out dynamically in each image, is in fact decided by dynamically depending on the performed movements of the input device which markers are activated in the manner in which the current picture.

A method for controlling a robot telemanipulation

The movements of surgical instrument in or on the body of the patient are detected by a camera whose position and/or orientation are changeable and displayed to a user on a display device (20). The robot arm is controlled based on an input which is input by a user (22) on an input device (24). The input of the input device is transformed into in the coordinate system of the robot arm. The coordinate system of the robot arm is locally around an operating point within a tolerance range Cartesian or non-Cartesian coordinate system. An independent claim is included for telesurgery robot.

Method for controlling telesurgery robot involves transforming input of input device into in coordinate system of robot arm which is locally around operating point within tolerance range Cartesian/non-Cartesian coordinate system

Die Erfindung betrifft ein Verfahren zum Steuern eines Telemanipulationsroboters (10), wobei eine durch eine Person hervorgerufene Bewegung einer Eingabevorrichtung durch mindestens eine Kamera erfasst wird. Hierbei weist die Eingabevorrichtung mindestens drei aktive Marker auf. Es wird eine lokale rekursive Markeridentifikation durchgefuhrt, indem in mindestens einem Bild der hierauf sichtbare Marker A einem Marker A zugeordnet wird, der auf einem Bild sichtbar ist, das zu einem fruheren Zeitpunkt von derselben Kamera aufgenommen wurde. Es wird eine globale Markeridentifikation durchgefuhrt. Wenn ein Marker A in mindestens zwei Bildern lokal rekursiv identifiziert wurde und in mindestens einem dieser Bilder global nicht rekursiv identifiziert wurde, wird eine globale rekursive Identifikation durchgefuhrt. Der Marker A gilt dann fur alle Bilder, in denen er lokal rekursiv identifiziert wurde als global rekursiv identifiziert.

Andreas Tobergte

Papers

Method for controlling a remote handling robot

A method for controlling a robot telemanipulation

Method for controlling telesurgery robot involves transforming input of input device into in coordinate system of robot arm which is locally around operating point within tolerance range Cartesian/non-Cartesian coordinate system

Verfahren zum Steuern eines Telemanipulationsroboters