Closed-Loop Control of a Tendon-Driven Active Needle for Tip Tracking at Desired Bending Angle for High-Dose-Rate Prostate Brachytherapy [0.03%]
前列腺高剂量率组织间植入治疗下用于期望弯曲角度端部跟踪的肌腱驱动主动针闭环控制
Samuel Lafreniere,Blayton Padasdao,Bardia Konh
Samuel Lafreniere
Prostate cancer is the second most common malignancy in American men. High-dose-rate brachytherapy is a popular treatment technique in which a large, localized radiation dose is used to kill cancer. Utilization of curvilinear catheter impla...
Theoretical error analysis of spotlight-based instrument localization for retinal surgery [0.03%]
用于视网膜手术的基于焦点区域的仪器定位的理论误差分析
Mingchuan Zhou,Felix Hennerkes,Jingsong Liu et al.
Mingchuan Zhou et al.
Retinal surgery is widely considered to be a complicated and challenging task even for specialists. Image-guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities therein. In this pap...
James M Ferguson,Tayfun Efe Ertop,S Duke Herrell et al.
James M Ferguson et al.
Robots and inertial measurement units (IMUs) are typically calibrated independently. IMUs are placed in purpose-built, expensive automated test rigs. Robot poses are typically measured using highly accurate (and thus expensive) tracking sys...
David Grow,Amy J Bastian,Allison M Okamura
David Grow
Patients with damage to the cerebellum make reaching movements that are uncoordinated or "ataxic." One prevailing hypothesis is that the cerebellum functions as an internal model for planning movements, and that damage to the cerebellum res...
Constrained Cyclic Coordinate Descent for Cryo-EM Images at Medium Resolutions: Beyond the Protein Loop Closure Problem [0.03%]
中等分辨率冷冻电镜图像的约束循环坐标下降法：超越蛋白质环闭合问题
Kamal Al Nasr,Jing He
Kamal Al Nasr
The cyclic coordinate descent (CCD) method is a popular loop closure method in protein structure modeling. It is a robotics algorithm originally developed for inverse kinematic applications. We demonstrate an effective method of building th...
Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map [0.03%]
利用指数映射对随机非完整系统的运动状态估计与规划
Wooram Park,Yan Liu,Yu Zhou et al.
Wooram Park et al.
A nonholonomic system subjected to external noise from the environment, or internal noise in its own actuators, will evolve in a stochastic manner described by an ensemble of trajectories. This ensemble of trajectories is equivalent to the ...
Vladimir M Zatsiorsky,Mark L Latash,Fan Gao et al.
Vladimir M Zatsiorsky et al.
The experimental evidence supports the validity of the principle of superposition for multi-finger prehension in humans. Forces and moments of individual digits are defined by two independent commands: "Grasp the object stronger/weaker to p...
A Lie-Theoretic Perspective on O(n) Mass Matrix Inversion for Serial Manipulators and Polypeptide Chains [0.03%]
利用Lie理论视角看待O(n)质量矩阵求逆在串行连杆机构和多肽链中的应用
Kiju Lee,Yunfeng Wang,Gregory S Chirikjian
Kiju Lee
Over the past several decades a number of O(n) methods for forward and inverse dynamics computations have been developed in the multi-body dynamics and robotics literature. A method was developed in 1974 by Fixman for O(n) computation of th...