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Neurosurgical Craniotomy Localization Using Interactive 3D Lesion Mapping for Image-Guided Neurosurgery

Zhiyu Dai, Rongqian Yang, Fei Hang, Jian Zhuang, Qinyong Lin, Zhigang Wang, Yonghua Lao
2019 IEEE Access  
The results show that the proposed method can generate a lesion-consistent craniotomy according to the size of the lesion and the mapping angle and delineate the incision on the patient's head precisely  ...  as an evaluated standard to measure the error between virtual and actual craniotomies.  ...  FIGURE 8 . 8 Results of craniotomy delineation: (a) craniotomy design on the virtual phantom; (b) the actual craniotomy boundary delineation on the phantom; (c) corresponding screenshot about the IGNS,  ... 
doi:10.1109/access.2019.2890977 fatcat:i42l7smfqranxjxeskslvn5rfe

Indocyanine green fluorescence imaging technology in minimally invasive liver resection

Takeshi Aoki, Tomotake Koizumi, Doaa A. Mansour, Kodai Tomioka, Masahiko Murakami
2021 Laparoscopic Surgery  
The application of indocyanine green-fluorescence imaging during robotic-assisted liver resection for malignant tumors: a single-arm feasibility cohort study. HPB (Oxford) 2020;22:422-31.  ...  in terms of extra hepatic biliary delineation © Laparoscopic Surgery.  ...  (11) in which the designated portal branch is dissected and ligated, marking the target segment as an area of ischemia.  ... 
doi:10.21037/ls-20-88 fatcat:33xzyfzmergdrkrggljouxkjli

Utilizing the Functional Work Space Evaluation Tool for Assessing a System Design and Reconfiguration Alternatives [chapter]

A. Djuric, R. J.
2012 Robotic Systems - Applications, Control and Programming  
With complex system configurations, it is not intuitive to define the region of task feasibility for the initial design and as well as design alternatives, as there is much coupling related to the kinematic  ...  Reconfigurability breakdown The work envelope does not allow one to assess the operating feasibility of a machine, robot, or system configuration for a set of tasks.  ...  Consisting of three main sections, the first section of the book has a focus on robotic surgery, rehabilitation, self-assembly, while the second section offers an insight into the area of control with  ... 
doi:10.5772/28013 fatcat:gynxl6jwajga7p62634vmppana

Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots

Marc Gouttefarde, David Daney, Jean-Pierre Merlet
2011 IEEE Transactions on robotics  
This paper deals with the wrench-feasible workspace (WFW) of n-degree-of-freedom parallel robots driven by n or more than n cables.  ...  The paper also illustrates how the proposed approach is capable of dealing with small uncertainties on the geometric design parameters of a parallel cable-driven robot.  ...  Recently, "geometric methods" that aim at delineating the workspace boundary have been proposed in the case of the static [19] , so-called dynamic [20] , and FC [21] workspaces of planar robots.  ... 
doi:10.1109/tro.2010.2090064 fatcat:ei6ld7qcoze75d5y6yf6662ug4

Robotic Manifold Tracking of Coherent Structures in Flows [article]

M. Ani Hsieh, Eric Forgoston, T. William Mather, Ira B. Schwartz
2012 arXiv   pre-print
In this paper, we present a collaborative robotic control strategy designed to track stable and unstable manifolds.  ...  The collaborative control strategy is implemented on a team of three robots to track coherent structures and manifolds on static flows as well as a noisy time-dependent model of a wind-driven double-gyre  ...  The above expression is simply one half the square of the distance between robots L and R.  ... 
arXiv:1204.4600v1 fatcat:j3db7rzn4jdgvdrh2l7lnmfmye

Leader-Follower Based Locally Rigid Formation Control

Krishna Raghuwaiya, Bibhya Sharma, Jito Vanualailai
2018 Journal of Advanced Transportation  
This paper addresses motion control of a cooperative intelligent transport system (C-ITS) of nonholonomic mobile robots navigating a dynamic environment while maintaining a locally rigid formation.  ...  obstacles and attraction to designated targets.  ...  robots follow their designated leader.  ... 
doi:10.1155/2018/5278565 fatcat:3xi25onafvapxa3awflqdwnfva

Robotic manifold tracking of coherent structures in flows

M. Ani Hsieh, Eric Forgoston, T. William Mather, Ira B. Schwartz
2012 2012 IEEE International Conference on Robotics and Automation  
In this paper, we present a collaborative robotic control strategy designed to track stable and unstable manifolds.  ...  The collaborative control strategy is implemented on a team of three robots to track coherent structures and manifolds on static flows as well as a noisy time-dependent model of a wind-driven double-gyre  ...  The above expression is simply one half the square of the distance between robots L and R.  ... 
doi:10.1109/icra.2012.6224769 dblp:conf/icra/HsiehFMS12 fatcat:j4mtiy3be5bttgypjdefelzgie

Feedback motion planning approach for nonlinear control using gain scheduled RRTs

G J Maeda, S P N Singh, H Durrant-Whyte
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This allows for a rapid delineation of equivalent neighborhoods in the state-space.  ...  The algorithm explores the statespace using a bi-directional rapidly exploring random tree (biRRT) in order to find a feasible trajectory between an initial and goal state.  ...  THE GAIN SCHEDULED RRT This section introduces a feedback controller and a verification method for the feasibility of connection of states. This informs the GS-biRRT design. A.  ... 
doi:10.1109/iros.2010.5650634 dblp:conf/iros/MaedaSD10 fatcat:k5m5xtwhcvekvmhnnerdiuk5y4

Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion

Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry Pratt, Christian Ott, Alin Albu-Schaffer
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The performance of the proposed methods was tested in numerous simulations and experiments on IHMC's Atlas robot and DLR's humanoid robot TORO.  ...  This paper works with the concept of Divergent Component of Motion (DCM), also called '(instantaneous) Capture Point'.  ...  Jerry Pratt and his colleagues at IHMC's robotics lab for welcoming him for a three months research visit during DARPA's Virtual Robotics Challenge (VRC) in 2013.  ... 
doi:10.1109/iros.2014.6943128 dblp:conf/iros/EnglsbergerKBPOA14 fatcat:l3gvmkantfgcrmubqhyoug3nji

Design Optimization of Serial Link Redundant Manipulator: An Approach Using Global Performance Metric

Virendra Kumar, Soumen Sen, Shibendu S. Roy, Chandan Har, S.N. Shome
2014 Procedia Technology - Elsevier  
In this paper, an approach for design optimization of serial-link redundant manipulator is presented with exemplar optimizations on a 3-R planar and a 5-R spatial manipulator.  ...  Finally, design optimization problems are formulated for the 3-R and 5-R manipulator cases using the GCI as the objective function and solved (orientation of the end-effector is not included here).  ...  Then kinematics performance metric is delineated in Section-4.  ... 
doi:10.1016/j.protcy.2014.08.007 fatcat:mqtk24slnjb7nh2h7wgqbdmxue

Construction and use of roadmaps that incorporate workspace modeling errors

Nick Malone, Kasra Manavi, John Wood, Lydia Tapia
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We refer to this new roadmap as a Safety-PRM because it allows tunability between the expected safety of the robot and the distance along a path.  ...  On the WAM, we demonstrate the mapping of expected collision to robot speeds to enable the robot to physically test the safety of the roadmap and use torque estimation to make roadmap modifications.  ...  However, despite all these advances, PRMs require that the model of the problem must be accurate, e.g., there must be a clear delineation between collision and collision-free states.  ... 
doi:10.1109/iros.2013.6696512 dblp:conf/iros/MaloneMWT13 fatcat:e7puc4fuwvadlfzseaqy6z4hjy

An experimental and numerical study on tactile neuroimaging: A novel minimally invasive technique for intraoperative brain imaging

Moslem Sadeghi-Goughari, Yanjun Qian, Soo Jeon, Sohrab Sadeghi, Hyock-Ju Kwon
2018 International Journal of Medical Robotics and Computer Assisted Surgery  
To investigate the feasibility of the proposed method, an experimental and numerical study was first performed on silicone phantoms mimicking the brain tissue with a tumor.  ...  Performing an intraoperative brain imaging is crucial in minimally invasive neurosurgery to detect the effect of brain shift on the tumor's location, and to maximize the efficiency of tumor resection.  ...  The tactile map also provides estimated information on the real-time tumor's margins, and the area of the overshoots describes the estimated boundary between tumor and normal tissue.  ... 
doi:10.1002/rcs.1893 pmid:29380512 fatcat:64mxj6j2xvfp5pna2o5v5vlpxq

Surgical Robotic Technology for Developing an Endonasal Endoscopic Transsphenoidal Surgery (EETS) Robotic System

Sorayouth Chumnanvej, Branesh M. Pillai, Jackrit Suthakorn
2019 Open Neurology Journal  
The introduction of the seven tenets for the Endonasal Endoscopic Transsphenoidal approach will propel the feasibility of neurosurgical techniques and instruments for intrasellar lesions.  ...  This demonstrates the feasibility of the evolution and will augment neurosurgeons toward their limits of minimally invasive surgical techniques, manual dexterity, and spatial orientation.  ...  ACKNOWLEDGEMENTS Authors would like to express their gratitude to Health Systems Research Institute of Thailand (HSRI).  ... 
doi:10.2174/1874205x01913010096 fatcat:44d6qp2q3fa5ngtl3oowyj6g5i

The Esthetics of Encounter: A Relational-Performative Design Approach to Human-Robot Interaction

Petra Gemeinboeck
2021 Frontiers in Robotics and AI  
in the encounter and rendering elastic boundaries in-between.  ...  My notion of a relational-performative design approach—designing with bodying-thinging—proposes that we engage with human-robot encounters from the earliest stages of the robot design.  ...  I recognize that this is not a feasible or desirable strategy for any robot design or human-robot interaction scenario.  ... 
doi:10.3389/frobt.2020.577900 pmid:33834040 pmcid:PMC8022991 fatcat:jgp5xi5kvbbb5j54czsbbq4i2m

Evolving embodied intelligence from materials to machines

David Howard, Agoston E. Eiben, Danielle Frances Kennedy, Jean-Baptiste Mouret, Philip Valencia, Dave Winkler
2019 Nature Machine Intelligence  
By forming a research agenda to stimulate discussion between researchers in related fields, we hope to inspire the pursuit of multi-level robotic design all the way from material to machine.  ...  We outline a feasible MLE architecture that realises this vision, highlight the main roadblocks and how they may be overcome, and show robotic applications to which MLE is particularly suited.  ...  Acknowledgements DH, DFK, PV and DW would like to acknowledge Active Integrated Matter, one of CSIRO's Future Science Platforms, for funding this research.  ... 
doi:10.1038/s42256-018-0009-9 fatcat:kpigz7wcqrhivfsunnfbvhcgae
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