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Human-Machine Collaborative Systems for Microsurgical Applications
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
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2005 (English)In: Robotics Research, Springer Berlin/Heidelberg, 2005, 162-171 p.Conference paper (Refereed)
Abstract [en]

 We describe our current progress in developing Human-Machine Collaborative Systems (HMCSs) for microsurgical applications such as vitreo-retinal eye surgery. Three specific problems considered here are (1) developing of systems tools for describing and implementing an HMCS, (2) segmentation of complex tasks into logical components given sensor traces of a human performing the task, and (3) measuring HMCS performance. Our goal is to integrate these into a full microsurgical workstation with the ability to automatically 11 parse" traces of user execution into a task model which is then loaded into the execution environment, providing the user with assistance using online recognition of task state. The major contributions of our work to date include an XML task graph modeling framework and execution engine, an algorithm for real-time segmentation of user actions using continuous Hidden Markov Models, and validation techniques for analyzing the performance of HMCSs.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2005. 162-171 p.
, Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 15
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-82163DOI: 10.1007/11008941_18ISI: 000228862600014ISBN: 3-540-23214-1OAI: diva2:497995
11th International Symposium on Robotics Research, Siena, Italy,OCT 19-22, 2003

QC 20120911

Available from: 2012-02-11 Created: 2012-02-11 Last updated: 2012-09-11Bibliographically approved

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Kragic, Danica
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Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
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