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ICRA2012: Motion Planning for the virtual bronchoscopy
Jan Rosell, Alexander Pérez, Paolo Cabras and Antoni Rosell
Proceedings of the 2012 IEEE Int. Conference on Robotics and Automation, ICRA’12, (ISBN CFP12RAA-USB), St. Paul, Minessota, USA, May 14-18, 2012, pp. 2932– 2937.
Abstract: Bronchoscopy is an interventional medical procedure employed to analyze the interior side of the human airways, clear possible obstructions and biopsy. Using a 3D reconstruction of the tracheobronchial tree, Virtual Bronchoscopy (VB) may help physicians in the exploration of peripheral lung lesions. We are developing a haptic-based navigation system for the VB that allows the navigation within the airways using a haptic device whose permitted motions mimics those done with the real bronchoscope. This paper describes the motion planning module of the system devoted to plan a path from the trachea to small peripheral pulmonary lesions, that takes into account the geometry and the kinematic constraints of the bronchoscope. The motion planner output is used to visually and haptically guide the navigation during the virtual exploration using the haptic device. Moreover, physicians can get useful information of whether the peripheral lesions can effectively be reached with a given bronchoscope or of which is the nearest point to the lesion that can be reached.
IFAC2011: Haptic-based navigation for the virtual bronchoscopy
Paolo Cabras, Jan Rosell, Alexander Pérez, Wilbert G. Aguilar, Antoni Rosell
Proceedings of the 18th IFAC World Congress, IFAC 2011, Milan, Italy, August 28-2 Sept 2, 2011,
Vol. 18 (1), pp. 9638-9643 ( ISBN: 978-3-902661-93-7)
Abstract: In order to help in the diagnosis of peripheral lung lesions, this paper presents a virtual bronchoscopy system that allows the navigation within a 3D reconstruction of the tracheobronchial tree using a haptic device whose permitted motions mimics those done with the real bronchoscope, and that is able to feedback forces resulting from contacts with the walls. The system reconstructs the 3D model from CT images, and computes a path from the trachea to the peripheral target to be analyzed in order to guide the exploration. The execution of the virtual bronchoscopy with the proposed system, prior to the execution of the real one, may increase the confidence of pulmonologists and is expected to result in an improvement in the final lung cancer diagnosis.
ICRA 2011: An assisted re-synchronization method for robotic teleoperated tasks
Alexander Pérez and Jan Rosell
Proceedings of the 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, (ISBN: 978-1-61284-380-3 ), Shanghai, China, May 9-13, 2011, pp. 886-891
Abstract: Teleoperation tasks are performed at cartesian level when the robot and the haptic device have dissimilar kinematics. If the size of the workspaces is also dissimilar, as it is usually the case, the mapping between workspaces must be handled with care in order to let the user teleoperate the robot in a natural and precise way. This paper formulates the mapping of workspaces based on the re-synchronization method and proposes an assisted system that lightens the user from the tedious part of the method, by guiding him/her towards the best re-synchronization position, thus minimizing the number of jumps. The proposal is part of a teleoperated guiding system being developed by the authors.
ISAM 2011: Including virtual constraints in motion planning for anthropomorphic hands
Jan Rosell, Raúl Suárez, Alexander Pérez and Carlos Rosales
Proceedings of the 2011 IEEE International Symposium on Assembly and Manufacturing, ISAM’11, Tampere Talo, Finland, May 25-27, 2011.
Abstract: This paper copes with the problem of finding a collision-free path for a hand-arm robotic system from an initial unconstrained configuration to a final grasping (or preshape) one. The aim is to obtain a natural motion as a sequence of human-like postures that both capture the coupling that there exist between the fingers of the human hand and also maintain the palm oriented towards the object to be grasped. The proposed method is a sampling-based approach whose efficiency relies in the reduction of the dimensionality obtained by considering, for the finger joints, a subspace determined by the main principal motion directions that capture the coupling and, for the position and orientation of the palm, the submanifold that satisfies the orientation constraint. The approach is illustrated with an example and compared to the case where no virtual constrains are used, validating the proposal.
Autonomous Robots 2011: Autonomous motion planning of a hand-arm robotic system based on human-like hand postures
Jan Rosell, Raúl Suárez, Carlos Rosales and Alexander Pérez
Autonomous Robots: Volume 31, Issue 1 (2011), Page 87-102
Abstract: The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” to reduce the dimension of the search space in order to obtain results with a compromise between motion optimality and planning complexity (time). Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a probabilistic roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) assembled on an industrial robot (6 independent degrees of freedom), and experimental examples are included to illustrate its validity.
IROS 2009: Efficient search of obstacle-free paths for anthropomorphic hands
R. Suárez, J. Rosell, A. Pérez and C. Rosales
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and System, IROS’09, (ISBN: 978-1-4244-3804-4), St. Louis, USA, October 11-15, 2009, pp. 1773-1778
Abstract: The planning of collision-free motions of a hand-arm system to reach a grasp or preshape configuration is not a simple issue due to the high number of involved degrees of freedom. This paper presents an efficient sampling-based path planner that copes with this issue by considering a reduced search space. The dimension of this space is not fixed but it is iteratively increased according to the difficulty of the task at hand. Initially the search space is 1-dimensional along the line defined by the initial and goal hand configurations (by construction those configurations always belong to the search space), and then its dimension is increased by iteratively adding principal motion directions (that couple the finger motions), trying in this way to produce hand movements through anthropomorphic natural postures.
ICRA 2009: Motion planning for high DOF anthropomorphic hands
J. Rosell, R. Suárez, C. Rosales, J. A. García and A. Pérez
Proeceedings of the 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, (ISBN: 978-1-4244-2789-5), Kobe, Japan, May 12-17, 2009, pp. 4025-4030
Abstract: The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and planning complexity (time) by means of the concept of principal motion directions. Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a sampling-based roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand, and some examples are included to
illustrate its validity. 
