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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 …
Christopher E. Mower
,
João Moura
,
Nazanin Zamani Behabadi
,
Sethu Vijayakumar
,
Tom Vercauteren
,
Christos Bergeles
Cite
arXiv
URL
Automatic bone breach detection for spine surgery based on bio-electrical conductivity sensing: Ex-vivo experimental validation
Jimmy Da Silva
,
Elie Saghbiny
,
Thibault Chandanson
,
Stephane Bette
,
Maurice Bourlion
,
Guillaume Morel
Cite
Automatic Robotic Scanning for real-time 3D Ultrasound Reconstruction in Spine Surgery
Ruixan Li
,
Ayoob Davoodi
,
Kenan Niu
,
Yuyu Cai
,
Emmanuel Vander Poorten
Cite
URL
Force control of the KUKA LBR Med without external force sensor
Jimmy Da Silva
,
Saman Vadafar
,
Thibault Chandanson
,
Guillaume Morel
Cite
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 …
Maarten Schoovaerts
,
Ruixuan Li
,
Kenan Niu
,
Emmanuel Vander Poorten
Cite
DOI
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 …
Christopher E. Mower
,
Theodoros Stouraitis
,
João Moura
,
Christian Rauch
,
Lei Yan
,
Nazanin Zamani Behabadi
,
Michael Gienger
,
Tom Vercauteren
,
Christos Bergeles
,
Sethu Vijayakumar
Cite
arXiv
URL
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 …
Ruixuan Li
,
Yuyu Cai
,
Kenan Niu
,
Emmanuel Vander Poorten
Cite
DOI
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 …
Ruixuan Li
,
Kenan Niu
,
Emmanuel Vander Poorten
Cite
DOI
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 …
Jimmy Da Silva
,
Elie Saghbiny
,
Thibault Chandanson
,
Stephane Bette
,
Maurice Bourlion
,
Richard Assaker
,
Randall Betz
,
Ciaran Bolger
,
Helton Defino
,
Andre Kaelin
,
Larry T. Khoo
,
John Williams
,
Hee Kit Wong
,
Guillaume Morel
PDF
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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 …
Martin Huber
,
John Bason Mitchell
,
Ross Henry
,
Sebastien Ourselin
,
Tom Vercauteren
,
Christos Bergeles
Cite
DOI
arXiv
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