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OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
This paper presents OpTaS, a task specification Python library for Trajectory Optimization (TO) and Model Predictive Control (MPC) in …
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Automatic bone breach detection for spine surgery based on bio-electrical conductivity sensing: Ex-vivo experimental validation
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Automatic Robotic Scanning for real-time 3D Ultrasound Reconstruction in Spine Surgery
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Force control of the KUKA LBR Med without external force sensor
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Quantitative Assessment of Calibration Motion Profiles in Robotic-assisted Ultrasound System
3D ultrasound(US) reconstruction has grown quickly in preoperative disease diagnosis, intraoperative surgical navigation and …
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ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich …
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Comparative Quantitative Analysis of Robotic Ultrasound Image Calibration Methods
Ultrasound (US) calibration is an important step in robotic 3D US reconstruction. It determines the spatial transformation from the …
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A Framework for Fast Automatic Robot Ultrasound Calibration
Ultrasound (US) has been increasingly used as medical imaging technology across various clinical diagnostic and therapeutic scenarios …
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Using Electrical Conductivity for Breach Prevention During Automatic Bone Drilling
Introduction. Dynamic Surgical Guidance (DSG) technology has proven to increase screw placement accuracy and prevent pedicle breaches …
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Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation
The dominant visual servoing approaches in Minimally Invasive Surgery (MIS) follow single points or adapt the endoscope’s field …
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