The thesis focuses on applying deep learning and reinforcement learning techniques on human keypoint detection and robot arm manipulation. Inspired by Semi-Autonomous Victim Extraction Robot (SAVER), an autonomous first-aid airway-management robotic system designed to perform Cricothyrotomy on patients is proposed. Perception, decision-making, and control are embedded in the system. In this system, first, the location of the cricothyroid membrane (CTM)-the incision site of Cricothyrotomy- is detected; then, the robot arm is controlled to reach the detected position on a medical manikin. A hybrid neural network (HNNet) that can balance both speed and accuracy is proposed. HNNet is an ensemble-based network architecture that consists of two ensembles: the region proposal ensemble and the keypoint detection ensemble. This architecture can maintain the original high resolution of the input image without heavy computation and can meet the high-precision and real-time requirements at the same time. A dataset containing more than 16,000 images from 13 people, with a clear view of the neck area, and with CTM position labeled by a medical expert was built to train and validate the proposed model. It achieved a success rate of $99.6%$ to detect the position of the CTM with an error of less than 5mm. The robot arm manipulator was trained with the reinforcement learning model to reach the detected location.
Finally, the detection neural network and the manipulation process are combined as an integrated system. The system was validated in real-life experiments on a human-sized medical manikin using a Kinect V2 camera and a MICO robot arm manipulator. / Master of Science / The thesis focuses on applying deep learning and reinforcement learning techniques on human keypoint detection and robot arm manipulation. Inspired by Semi-Autonomous Victim Extraction Robot (SAVER), an autonomous first-aid airway-management robotic system designed to perform Cricothyrotomy on patients is proposed. Perception, decision-making, and control are embedded in the system. In this system, first, the location of the cricothyroid membrane(CTM)-the incision site of Cricothyrotomy- is detected; then, the robot arm is controlled to reach the detected position on a medical manikin. A hybrid neural network (HNNet) that can balance both speed and accuracy is proposed. HNNet is an ensemble-based network architecture that consists of two ensembles: the region proposal ensemble and the keypoint detection ensemble. This architecture can maintain the original high resolution of the input image without heavy computation and can meet the high-precision and real-time requirements at the same time. Finally, the detection neural network and the manipulation process are combined as an integrated system. The robot arm manipulator was trained with the reinforcement learning model to reach the detected location. The system was validated in real-life experiments on a human-sized medical manikin using an RGB-D camera and a robot arm manipulator.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/106738 |
| Date | 02 June 2020 |
| Creators | Han, Xiaoxue |
| Contributors | Mechanical Engineering, Ben-Tzvi, Pinhas, Southward, Steve C., Sandu, Corina |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Detected Language | English |
| Type | Thesis |
| Format | ETD, application/pdf, application/pdf, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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