000			04983cam a22005057i 4500
999			_c35236 _d35236
003			CUTN
005			20210706145037.0
008			180731t20182018njua b 001 0 eng d
020			_a9789813233270 (hardcover)
020			_a9813233273 (hardcover)
041			_aEnglish
042			_alccopycat
082	0	4	_a610.285 _223
100	1		_aXu, Yi,
245	1	0	_aComputer vision and robotics in perioperative process _cYi Xu, Huan Tan, Ying Mao, Lynn-Ann DeRose.
300			_axvii, 99 pages : _billustrations (some color) ; _c25 cm.
505			_tContents List of Figures List of Tables 1. Automating the Perioperative Process 1.1 Background 1.2 Current Perioperative Process 1.3 Our Goa 1.3.1 Increased Safety 1.3.2 Improved Throughput 1.3.3 Enhanced Care Quality 1.4 Our Approach 1.4.1 Move Dirty Instrument to Sorting Table - Step 1 1.4.2 Sort the Instruments - Step 2 1.4.3 Move Sorted Instruments to Cleaner - Step 3 1.4.4 Wash and Disinfect Instruments - Step 4 & 5 1.4.5 Move Cleaned Instruments to Kit Building Table - Step 6 1.4.6 Build Surgical Kits - Step 7 1.4.7 Sterilization - Step 8 1.5 Organization of the Rest of the Book 2. Human-Supervisory Distributed Robotic System Architecture 2.1 Introduction 2.2 Related Work 2.3 Multi-Agent Software Architecture 2.3.1 Overall Robotic System Architecture 2.3.2 Individual Robotic System Architecture 2.4 Example of Implementation 2.4.1 Implemented Overall System Architecture 2.4.2 Implemented Individual Robotic Architectures 2.5 Experimental Setup 2.6 Summary and Future Work 3. TrayBot: Transporting Surgical Tools in Hospitals 3.1 Introduction 3.2 Related Work 3.3 Hardware Component Design 3.4 Integrated System Design 3.4.1 System Overview 3.4.2 Task Planning 3.4.3 Navigation and Localization 3.4.4 Vision-based Manipulator Control 3.5 Experimental Setup and Results 3.5.1 Success Rate 3.5.2 Angle Tolerance of the Gripper 3.6 Conclusion and Future Work 4. Vision-based Instrument Singulation 4.1 Introduction 4.2 Related Work 4.3 Vision-based Surgical Instrument Singulation 4.3.1 Surgical Instrument Identification 4.3.2 Localization and Pose Estimation 4.3.3 Occlusion Reasoning 4.3.4 Optimal Picking Location 4.4 Experiments 4.5 Conclusion and Discussion 5. Instrument Sorting Robots 5.1 Introduction 5.2 Related Work 5.3 Our Compliant End Effector Design 5.4 Dirty Side Sorter 5.4.1 System Architecture 5.4.2 Major System Components 5.5 Clean Side Kit-Builder 5.6 Experiments 5.6.1 Experiments on Dirty Side 5.6.2 Experiments on Clean Side 5.7 Conclusions and Discussions 6. Safe Robot-Human Collaboration 6.1 Introduction 6.2 Related Work 6.3 Methodology 6.3.1 Perception 6.3.2 Recognition 6.3.3 Reasoning and Decision-Making 6.3.4 Action 6.4 Experiments and Results 6.5 Conclusion and Future Work 7. Demonstration at VA 7.1 Demonstration Scope 7.2 Demonstration Technologies 7.2.1 Validation of Instruments Returning from the OR 7.2.2 Moving Instrument Trays Throughout the Process 7.2.3 Rebuilding of Surgical Kits 7.2.4 Machine and Sensor Integration 7.3 Final Thoughts 7.3.1 Human-Robot Collaboration 7.3.2 Lights Out Bibliography Index
520			_aThis invaluable compendium highlights the challenges of perioperative process in hospitals today. It delves into the development of a multi-agent robotic system where a dirty-side robot that sorts instruments returned from a surgical room into different containers for easy scrubbing, a Traybot that navigates the environment and transports the instrument containers to different stations, a clean-side robot that picks up instruments and places them in surgical kits, and an orchestration software architecture that manages the cooperation between different robots.The book discusses the technical details of all the components, from system architecture to the details of the end-effector design. Readers will gain significant knowledge on how such a system was put together
650		0	_aArtificial intelligence _94
650		0	_aRobotics in medicine.
650		0	_aComputer vision in medicine.
650		0	_aSurgical nursing.
650		7	_aArtificial intelligence _94
650		7	_aComputer vision in medicine.
650		7	_aRobotics in medicine.
650		7	_aSurgical nursing.
700	1		_aTan, Huan,
700	1		_aMao, Ying,
700	1		_aDeRose, Lynn-Ann,
942			_2ddc _cBOOKS
100	1		_eauthor.
490	1		_aSeries in computer vision, _x2010-2143 ; _vvol. 5
504			_aIncludes bibliographical references (page 93-97) and index.
650		0	_xMedical applications.
650		7	_xMedical applications. _2fast
650		7	_2fast
650		7	_2fast
650		7	_2fast
700	1		_d1981- _eauthor.
700	1		_eauthor.
700	1		_eauthor.
830		0	_aSeries in computer vision ; _vv. 5.
906			_a7 _bcbc _ccopycat _d2 _encip _f20 _gy-gencatlg