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A Learning-Driven Framework with Spatial Optimization For Surgical Suture Thread Reconstruction and Autonomous Grasping Under Multiple Topologies and Environmental Noises [article]

Bo Lu, Wei Chen, Yue-Ming Jin, Dandan Zhang, Qi Dou, Henry K. Chu, Pheng-Ann Heng, Yun-Hui Liu
2020 arXiv   pre-print
our learning-driven framework.  ...  We further leverage a searching strategy with termination policies for a suture's sequence inference based on the analysis of multiple topologies.  ...  A deep learning model, which transfers the information of large legacy surgical data to online acquired images, is leveraged in our framework for suture segment under onsite environmental noises.  ... 
arXiv:2007.00920v1 fatcat:rmpzktett5drjio5iscbdnuz2a

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The Subject Index contains entries describing the item under all appropriate subject headings, plus the first author's name, the publication abbreviation, month, and year, and inclusive pages.  ...  ., +, LRA April 2021 3655-3662 A Framework for Autonomous Impedance Regulation of Robots Based on Imitation Learning and Optimal Control.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA April 2020 3003-3010 A Multi-Level Optimization Framework for Simultaneous Grasping and Motion Planning.  ...  ., +, LRA April 2020 652-659 A Multi-Level Optimization Framework for Simultaneous Grasping and Motion Planning.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Cable-driven parallel mechanisms for minimally invasive robotic surgery

Timo Joric Corman Oude Vrielink, George Mylonas, Ara Darzi, ERANDA Rothschild Foundation
Cable-driven parallel mechanisms (CDPMs) have unique properties, which can be used to overcome existing challenges in surgical robotics.  ...  This research presents the first structured exploration of CDPMs for MIS and demonstrates the potential of this type of mechanism through the development of multiple prototypes: the ESD CYCLOPS, CDAQS,  ...  Mori et al. (2017) introduced the ring-shaped thread method that uses a thread (instead of a spring) with multiple clips to provide traction.  ... 
doi:10.25560/79835 fatcat:4lymyxbt7jao3emlnrnyx5re4u

Gesamt-PDF [chapter]

Luisa Feiersinger, Kathrin Friedrich, Moritz Queisner, Luisa Feiersinger, Kathrin Friedrich, Moritz Queisner
2018 Image – Action – Space  
autonomous systems that will perceive, learn, decide, and act on their own.  ...  must therefore be re-conceived and re-learned for stereoscopic filming.  ...  VR Headsets as Unbounded Displays In VR installations with HMDs, the displays are no longer presented in a statically installed form, e. g. a monitor or a video projection, with which the visitors are  ... 
doi:10.1515/9783110464979-017 fatcat:yhdltksvejaylooyfkjyrwxoiy

Spatiotemporal stimulation strategies in neuroprostheses to improve locomotion after spinal cord injury

Jérôme Gandar
An input; which can be a neural signal, but can be also physic or physiologic signals.  ...  Surgical suture (Ethilon 4.0) was used to form a cage around the micro-screws and connector.  ...  (I)The power spectrum of electrospinograms was condensed in the region below 1,000 Hz, which was consistent with a neural response related to multiple descending pathways.6 Model-driven optimization of  ... 
doi:10.5075/epfl-thesis-9048 fatcat:jcgy7dqminfz7nutedldim52wm

A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation

Dennis Kundrat, Technische Informationsbibliothek (TIB)
The kinematic modelling and control of the robot are integrated into a modular framework that is evaluated experimentally.  ...  However, TLM requires many years of surgical training for tumour resection in order to preserve the function of adjacent organs and thus preserve the patient's quality of life.  ...  maintain the optimal distance for the pathology delineation, i.e. executing a coordinated motion in multiple DoF.  ... 
doi:10.15488/12200 fatcat:bmgjt46imbeixjjgopqg3igchq