Title

Registration-Free Point Cloud Acquisition and Surface Reconstruction for Minimally Invasive Teleoperation Treatment

Alternative Title

좌표계 정합이 필요 없는 최소침습수술을 위한 포인트 클라우드 획득과 표면 복원법

DGIST Authors

Sang-Won Bang ; Sukho Park ; Jaesung Hong

Advisor

박석호

Co-Advisor(s)

Jaesung Hong

Issued Date

2022

Awarded Date

2022/02

Citation

Sang-Won Bang. (2022). Registration-Free Point Cloud Acquisition and Surface Reconstruction for Minimally Invasive Teleoperation Treatment. doi: 10.22677/thesis.200000597443

Type

Thesis

Subject

Registration-Free, Teleoperation, Minimally invasive surgery, Surface reconstruction, Impedance estimation

Description

Registration-Free, Teleoperation, Minimally invasive surgery, Surface reconstruction, Impedance estimation

Table Of Contents

Ⅰ. Introduction 1
1.1 Backgrounds and Limitations 1
1.1.1 Robot-assisted Minimally Invasive Surgery 1
1.1.2 Registration 2
1.1.3 Perception of Problem 2
1.2 Necessity and Purpose of This Research 3
1.3 Structure of Thesis 4
Ⅱ. Method 5
2.1 Acquisition of Minimum Sampling Point Cloud using Teleoperation with Impedance and RCM Constraint Control 5
2.1.1 Teleoperation master – slave system 7
2.1.2 Impedance control 9
2.1.3 Remote center of motion constraint control 11
2.1.4 Control architecture 15
2.2 Surface Reconstruction based on Minimum Sampling Point Cloud using Point2Mesh Deep Learning Algorithm 16
2.2.1 Initial deformable mesh generation using ball pivoting algorithm 16
2.2.2 Point2Mesh: A Self-Prior for Deformable Meshes 18
2.3 Tool Path Generation for Autonomous Treatment using Reconstructed Surface 21
2.4 Impedance Estimation using Reconstructed Surface Information 23
Ⅲ. Experimental Results 26
3.1 Acquisition of Minimum Sampling Point Cloud using Teleoperation with Impedance and RCM Constraint Control 26
3.2 Surface Reconstruction based on Minimum Sampling Point Cloud using Point2Mesh Deep Learning Algorithm 30
3.3 Tool Path Generation for Autonomous Treatment using Reconstructed Surface 35
3.4 Impedance Estimation using Reconstructed Surface Information 37
3.5 Discussion 39
Ⅳ. Conclusion & Future Works 40
4.1 Conclusion 40
4.2 Future Works 41

URI

http://dgist.dcollection.net/common/orgView/200000597443
http://hdl.handle.net/20.500.11750/16315

DOI

10.22677/thesis.200000597443

Degree

Master

Department

Robotics Engineering

Publisher

DGIST

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