RASEC: Rescaling Acquisition Strategy with Energy Constraints under SE-OU Fusion Kernel for Active Trachea Palpation and Incision Recommendation in Laryngeal Region

11/05/2021
by   Wenchao Yue, et al.
0

A novel palpation-based incision detection strategy in the laryngeal region, potentially for robotic tracheotomy, is proposed in this letter. A tactile sensor is introduced to measure tissue hardness in the specific laryngeal region by gentle contact. The kernel fusion method is proposed to combine the Squared Exponential (SE) kernel with Ornstein-Uhlenbeck (OU) kernel to figure out the drawbacks that the existing kernel functions are not sufficiently optimal in this scenario. Moreover, we further regularize exploration factor and greed factor, and the tactile sensor's moving distance and the robotic base link's rotation angle during the incision localization process are considered as new factors in the acquisition strategy. We conducted simulation and physical experiments to compare the newly proposed algorithm - Rescaling Acquisition Strategy with Energy Constraints (RASEC) in trachea detection with current palpation-based acquisition strategies. The result indicates that the proposed acquisition strategy with fusion kernel can successfully localize the incision with the highest algorithm performance (Average Precision 0.932, Average Recall 0.973, Average F1 score 0.952). During the robotic palpation process, the cumulative moving distance is reduced by 50 rotation angle is reduced by 71.4 performance capabilities. Therefore, it proves that RASEC can efficiently suggest the incision zone in the laryngeal region and greatly reduced the energy loss.

READ FULL TEXT

page 1

page 2

page 5

page 6

research
05/08/2023

Rotational Slippage Prediction from Segmentation of Tactile Images

Adding tactile sensors to a robotic system is becoming a common practice...
research
09/11/2023

Incipient Slip-Based Rotation Measurement via Visuotactile Sensing During In-Hand Object Pivoting

In typical in-hand manipulation tasks represented by object pivoting, th...
research
11/23/2020

Elastic Interaction of Particles for Robotic Tactile Simulation

Tactile sensing plays an important role in robotic perception and manipu...
research
08/11/2021

Elastic Tactile Simulation Towards Tactile-Visual Perception

Tactile sensing plays an important role in robotic perception and manipu...
research
08/09/2021

Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace

This paper proposes a novel active visuo-tactile based methodology where...
research
07/13/2023

Robotic surface exploration with vision and tactile sensing for cracks detection and characterisation

This paper presents a novel algorithm for crack localisation and detecti...

Please sign up or login with your details

Forgot password? Click here to reset