Image-Guided Robot-Assisted Techniques with Applications in Minimally Invasive Therapy and Cell Biology

There are several situations where tasks can be performed better robotically rather than manually. Among these are situations (a) where high accuracy and robustness are required, (b) where difficult or hazardous working conditions exist, and (c) where very large or very small motions or forces are involved. Recent advances in technology have resulted in smaller size robots with higher accuracy and reliability. As a result, robotics is fi nding more and more applications in Biomedical Engineering. Medical Robotics and Cell Micro-Manipulation are two of these applications involving interaction with delicate living organs at very di fferent scales.Availability of a wide range of imaging modalities from ultrasound and X-ray fluoroscopy to high magni cation optical microscopes, makes it possible to use imaging as a powerful means to guide and control robot manipulators. This thesis includes three parts focusing on three applications of Image-Guided Robotics in biomedical engineering, including: Vascular Catheterization: a robotic system was developed to insert a catheter through the vasculature and guide it to a desired point via visual servoing. The system provides shared control with the operator to perform a task semi-automatically or through master-slave control. The system provides control of a catheter tip with high accuracy while reducing X-ray exposure to the clinicians and providing a more ergonomic situation for the cardiologists. Cardiac Catheterization: a master-slave robotic system was developed to perform accurate control of a steerable catheter to touch and ablate faulty regions on the inner walls of a beating heart in order to treat arrhythmia. The system facilitates touching and making contact with a target point in a beating heart chamber through master-slave control with coordinated visual feedback. Live Neuron Micro-Manipulation: a microscope image-guided robotic system was developed to provide shared control over multiple micro-manipulators to touch cell membranes in order to perform patch clamp electrophysiology. Image-guided robot-assisted techniques with master-slave control were implemented for each case to provide shared control between a human operator and a robot. The results show increased accuracy and reduced operation time in all three cases

Computational crowd camera : enabling remote-vision via sparse collective plenoptic sampling

Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2013.Cataloged from PDF version of thesis.Includes bibliographical references (p. 61-63).In this thesis, I present a near real-time algorithm for interactively exploring a collectively captured moment without explicit 3D reconstruction. This system favors immediacy and local coherency to global consistency. It is common to represent photos as vertices of a weighted graph, where edge weights measure similarity or distance between pairs of photos. I introduce Angled Graphs as a new data structure to organize collections of photos in a way that enables the construction of visually smooth paths. Weighted angled graphs extend weighted graphs with angles and angle weights which penalize turning along paths. As a result, locally straight paths can be computed by specifying a photo and a direction. The weighted angled graphs of photos used in this paper can be regarded as the result of discretizing the Riemannian geometry of the high dimensional manifold of all possible photos. Ultimately, this system enables everyday people to take advantage of each others' perspectives in order to create on-the-spot spatiotemporal visual experiences similar to the popular bullet-time sequence. I believe that this type of application will greatly enhance shared human experiences spanning from events as personal as parents watching their children's football game to highly publicized red carpet galas. In addition, security applications can greatly benefit from such a system by quickly making sense of a large collection of visual data.by Aydın Arpa.S.M

Development of a breadboard model correlation interferometer for the carbon monoxide pollution experiment

The breadboard model of the correlation interferometer for the Carbon Monoxide Pollution Experiment has been designed, fabricated, and tested. Laboratory, long-path, and atmospheric tests which were performed show the technique to be a feasible method for obtaining a global carbon monoxide map and a vertical carbon monoxide profile and similar information is readily obtainable for methane as well. In addition, the technique is readily applicable to other trace gases by minor instrumental changes. As shown by the results and the conclusions, it has been determined that CO and CH4 data can be obtained with an accuracy of 10% using this technique on the spectral region around 2.3 microns

System of Terrain Analysis, Energy Estimation and Path Planning for Planetary Exploration by Robot Teams

NASA’s long term plans involve a return to manned moon missions, and eventually sending humans to mars. The focus of this project is the use of autonomous mobile robotics to enhance these endeavors. This research details the creation of a system of terrain classification, energy of traversal estimation and low cost path planning for teams of inexpensive and potentially expendable robots. The first stage of this project was the creation of a model which estimates the energy requirements of the traversal of varying terrain types for a six wheel rocker-bogie rover. The wheel/soil interaction model uses Shibly’s modified Bekker equations and incorporates a new simplified rocker-bogie model for estimating wheel loads. In all but a single trial the relative energy requirements for each soil type were correctly predicted by the model. A path planner for complete coverage intended to minimize energy consumption was designed and tested. It accepts as input terrain maps detailing the energy consumption required to move to each adjacent location. Exploration is performed via a cost function which determines the robot’s next move. This system was successfully tested for multiple robots by means of a shared exploration map. At peak efficiency, the energy consumed by our path planner was only 56% that used by the best case back and forth coverage pattern. After performing a sensitivity analysis of Shibly’s equations to determine which soil parameters most affected energy consumption, a neural network terrain classifier was designed and tested. The terrain classifier defines all traversable terrain as one of three soil types and then assigns an assumed set of soil parameters. The classifier performed well over all, but had some difficulty distinguishing large rocks from sand. This work presents a system which successfully classifies terrain imagery into one of three soil types, assesses the energy requirements of terrain traversal for these soil types and plans efficient paths of complete coverage for the imaged area. While there are further efforts that can be made in all areas, the work achieves its stated goals

Investigation using data from ERTS-1 to develop and implement utilization of living marine resources

The author has identified the following significant results. This 15-month ERTS-1 investigation produced correlations between satellite, aircraft, menhaden fisheries, and environmental sea truth data from the Mississippi Sound. Selected oceanographic, meteorological, and biological parameters were used as indirect indicators of the menhaden resource. Synoptic and near real time sea truth, fishery, satellite imagery, aircraft acquired multispectral, photo and thermal IR information were acquired as data inputs. Computer programs were developed to manipulate these data according to user requirements. Preliminary results indicate a correlation between backscattered light with chlorophyll concentration and water transparency in turbid waters. Eight empirical menhaden distribution models were constructed from combinations of four fisheries-significant oceanographic parameters: water depth, transparency, color, and surface salinity. The models demonstrated their potential for management utilization in areas of resource assessment, prediction, and monitoring