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Robot assisted prostate surgery using augmented reality with deformable models
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We present preliminary results of our work to develop an augmented display for improved visualization of the prostate and surrounding critical anatomy for robot-assisted prostate surgery. Prostate cancer is the second leading cause of cancer-related deaths in [...]

Development of open source software for computer-assisted intervention systems
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We are developing open source software for computer assisted intervention systems. Our primary experience has been with medical robots, but the concepts (and software) apply to many physical devices that interact with the real world. The real-time [...]

An Integrated Computer-Aided Robotic System for Dental Implantation
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This paper describes an integrated system for dental implantation including both preoperative planning utilizing computer-aided technology and automatic robot operation during the intra-operative stage. A novel two-step registration procedure was applied for [...]

A software architecture for cell manipulation
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A software architecture has been developed for image-guided robot-assisted cell manipulation. The system provides tools for positioning and navigation of multiple micromanipulators under live microscope images. The main application of this system is in [...]

Kinematics Based Safety Operation Mechanism for Robotic Surgery extending the JHU SAW Framework
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As robotic surgery gains popularity [1, 2, 3], methods for improving situational awareness during tele- operation have become an active area of research. Literature has attempted to incorporate haptic feedback displays to enhance and improve user performance. [...]

An accessible, hands-on tutorial system for image-guided therapy and medical robotics using a robot and open-source software
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This paper describes a new open-source tutorial for image-guided therapy (IGT) and medical robotics that is both accessible and hands-on using the LEGO Mindstorms NXT (a commercially available robotics kit) and 3D Slicer (an open-source application for [...]

The cisst libraries for computer assisted intervention systems
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Computer assisted intervention (CAI) systems require the integration of an increasing number of devices, including medical monitors, sensors, tracking devices and robots. This complexity makes applications harder to develop, more difficult to debug and the [...]

The da Vinci Research Interface
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The da Vinci research interface allows third party developers and research collaborators to retrieve a real-time stream of kinematic and user event data from the da Vinci Surgical System during clinical use. This data includes the motion of all master and [...]

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery
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This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving [...]


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