| Organizers | Dr. Salman Can, Dipl.-Inf. Brian Jensen, Dipl.-Inf. Christoph Staub. |
| Module | TBD |
| Type | Master Seminar |
| Semester | WS 2012/2013 |
| ECTS | 4.0 |
| SWS | 2 |
| Preliminary Talk | 10.07.2012 from 14:00 to 15:00 in room 03.07.023 |
| Time & Location | 11.01.2013 from 9:00 - 12:00 in room 03.07.023 16.01.2013 from 12:00 - 15:00 in room 03.07.023 22.01.2013 from 9:00- 12:00 in room 03.07.023 |
| Registration | |
News
- Added some further information about the organization.
- Time and location of the preliminary talk added. Attendance is mandatory for all participants.
- List of possible topics posted. If you would like to do a topic that is not listed below but is relevant to the theme of this seminar feel free to email one of the organizers with your suggestion.
Description
Robotic surgery is one of the most fascinating as well as challenging fields today facing both computer scientists and surgeons. This seminar aims to give an overview of the fundamentals and as well as the current developments in the areas of computer vision, control theory and human machine interaction that are relevant to robotic surgery. Here students will prepare a self selected topic for discussion from a set of predetermined aspects of one of the previously mentioned fields as it relates to robotic surgery.General Information
- The course will be held in English. The primary literature will be in English, and the presentation and term paper are expected to be completed in English.
- The maximum number of participants is limited to 12, so register early!
- The course will be conducted in a block format, with meetings about once a month during the semester. The exact dates will be determined at the beginning of WS 2012 / 2013.
- Requirements: General interest in computer vision, control theory, human machine interaction or robotics. Basic mathematical skills in linear algebra, probability theory, and calculus will likely be helpful.
Organization
- Each participant is required to complete a 10 - 15 page term paper. This term paper is due at the latest two weeks before the participant's scheduled presentation
- An outline of the term paper is due at the latest three weeks before the scheduled presentation.
- Each participant is required to give a 20 min presentation and prepare for 10 minutes of follow up discussion. The presentation slides are due at the latest one week prior to the scheduled presentation.
Grading
- All participants will be assessed a grade on both the presentation and the term paper.
- The term paper will contribute two thirds (2/3) of the total grade in the course.
- The presentation will contribute one third (1/3) of the total grade in the course.
Potential Topics
- Gravity Compensation for Robot Control
- Impedance / Admittance Control
- Kinematics of Bendable / Snake-like Structures
- Foce-Feedback and Virtual Fixtures
- Survey of Robotic Software Platforms (ROS, CISST)
- Survey of Feature Detectors and Descriptors
- Visual SLAM Approaches
- Stereo Reconstruction Fundamentals
- Inference in Markov Random Fields for Stereo Reconstruction
- Structured Light Pattern Matching in Stereo Images
- Enhanced Visualization Techniques for MIS
- Feature Correspondence Algorithms for MIS
- Camera Self-Calibration for Robust Visual Processing
Assigned Topics
| Date | Topic | Student | Supervisor |
|---|---|---|---|
| 11.01.2013 | Structured Light Pattern Matching in Stereo Images | Emily Mo-Hellenbrand | Christoph Staub |
| 11.01.2013 | Visual SLAM Approaches | Mathias Freysoldt | Brian Jensen |
| 16.01.2013 | Survey of Feature Detectors and Descriptors | Antanasko Atanasov | Brian Jensen |
| 16.01.2013 | Motion planning for MIS | Stefanie Gareis | Brian Jensen |
| 22.01.2013 | Foce-Feedback and Virtual Fixtures | Mohamed Sharaf-El-Deen | Salman Can |
| 22.01.2013 | Gravity Compensation for Robot Control | Artyom Topchyan | Salman Can |
Materials
- Kickoff Meeting slides: organization & topics 120710_Seminar_WS13.pdf