Online Change-Point Detection of Force Signal at the Tip of Surgical Instrument with Morphological Wavelet
文献类型：会议论文
| 作者 | Deng, Yinan2; Hao, Lijun2; Yang TW(杨唐文)2; Dai, Shaotao3; Song GL(宋国立)1
|
| 出版日期 | 2021 |
| 会议日期 | November 26-28, 2021 |
| 会议地点 | Shanghai, China |
| 关键词 | change-point detection force signal morphological wavelet significance difference test |
| 页码 | 48-53 |
| 英文摘要 | Change-point detection of force signal at the tip of surgical tool can provide an early warning signal for the adjustment of robotic controller, potentially avoiding unwanted collisions between end-effector and tissue of human body. In this paper, an online model-free change-point detection method with a small delay and low computational complexity is presented. An averaged-difference morphological operator is first constructed as the detail analysis operator of morphological wavelet (MW) to map time series to MW domain. Then, a significance difference test based on Chebyshev's principle is presented to compare the means of MW detail coefficients in the past and current windows, to determine whether a change-point has occurred. Experiment results on simulated force signals demonstrate the reliability and timeliness of the proposed method. |
| 产权排序 | 3 |
| 会议录 | 2021 27th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-3153-8 |
| 源URL | [http://ir.sia.cn/handle/173321/30499]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Yang TW(杨唐文) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110169, China 2.Institute of Information Science and the Beijing Key Laboratory of Advanced Information Science and Network Technology, Beijing Jiaotong University, Beijing 100044, China 3.School of Electrical Engineering, Beijing Jiaotong University, Beijing, 100044, China |
| 推荐引用方式 GB/T 7714 | Deng, Yinan,Hao, Lijun,Yang TW,et al. Online Change-Point Detection of Force Signal at the Tip of Surgical Instrument with Morphological Wavelet[C]. 见:. Shanghai, China. November 26-28, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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