Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM) [0.03%]
用于同时定位与地图构建的连杆机器人运动(ARM-SLAM)
Matthew Klingensmith,Siddartha S Sirinivasa,Michael Kaess
Matthew Klingensmith
A robot with a hand-mounted depth sensor scans a scene. When the robot's joint angles are not known with certainty, how can it best reconstruct the scene? In this work, we simultaneously estimate the joint angles of the robot and reconstruc...
Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots [0.03%]
基于雅可比矩阵的连续体机器人MRI遥控任务空间轨迹规划方法研究
Tipakorn Greigarn,Nate Lombard Poirot,Xinyang Xu et al.
Tipakorn Greigarn et al.
Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This paper presents a task-space motion planning method that generates actuation trajectories which steer...
Design, Analysis, and Evaluation of a Remotely Actuated MRI-Compatible Neurosurgical Robot [0.03%]
一种遥控磁共振兼容神经外科机器人的设计、分析与评价研究
Xuefeng Wang,Shing Shin Cheng,Jaydev P Desai
Xuefeng Wang
The paper presents an MRI-compatible neurosurgical robotic system that is designed to operate the head-mounted meso-scale 6-degree-of-freedom (DoF) spring-based MINIR-II. The robotic system consists of an actuation module, a transmission mo...
Katherine E Riojas,Richard J Hendrick,Robert J Webster rd
Katherine E Riojas
Concentric tube manipulators exhibit elastic instability in which tubes snap from one configuration to another, rapidly releasing stored strain energy. While this has long been viewed as a negative phenomenon to be avoided at all costs, in ...
Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multilayered Tissues [0.03%]
多层组织中最小偏转的术前穿刺路径规划方法研究
Ryosuke Tsumura,Jin Seob Kim,Hiroyasu Iwata et al.
Ryosuke Tsumura et al.
Fine needle deflection is a problem encountered during insertion into a soft tissue. Although an axial rotational insertion is an effective approach for minimizing this problem, needle deflection still depends on the insertion angle with re...
Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation [0.03%]
基于二元传感的非参数形状估计的遍历探索算法研究
Ian Abraham,Ahalya Prabhakar,Mitra J Z Hartmann et al.
Ian Abraham et al.
Current methods to estimate object shape-using either vision or touch-generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary contact se...
Comparing a Mechanical Analogue With the Da Vinci User Interface: Suturing at Challenging Angles [0.03%]
达芬奇手术机器人缝合训练模型的力学分析及评估指标研究
Patrick L Anderson,Ray A Lathrop,S Duke Herrell et al.
Patrick L Anderson et al.
The da Vinci Surgical System offers a natural user interface and wrist articulation, which enable suturing and other complex surgical actions in confined spaces. However, both the one-time cost of the system and the recurring cost of the li...
Pauline Maurice,Meghan E Huber,Neville Hogan et al.
Pauline Maurice et al.
Physical human-robot collaboration is becoming more common, both in industrial and service robotics. Cooperative execution of a task requires intuitive and efficient interaction between both actors. For humans, this means being able to pred...
A Novel Approach to Apply Gait Synchronized External Forces on the Pelvis using A-TPAD to Reduce Walking Effort [0.03%]
一种新的使用A-TPAD在骨盆上施加步态同步外部力以减少行走努力的方法
Vineet Vashista,Moiz Khan,Sunil K Agrawal
Vineet Vashista
In this paper, we develop an intervention to apply external gait synchronized forces on the pelvis to reduce the user's effort during walking. A cable-driven robot was used to apply the external forces and an adaptive frequency oscillator s...
Development of a Meso-Scale Fiberoptic Rotation Sensor for a Torsion Actuator [0.03%]
用于扭力致动器的介尺度光纤旋转传感器的研发工作
Jun Sheng,Jaydev P Desai
Jun Sheng
This paper presents the development of a meso-scale fiberoptic rotation sensor for a shape memory alloy (SMA) torsion actuator for neurosurgical applications. Within the sensor, a rotary head with a reflecting surface is capable of modulati...