Related papers: Anatomical Mesh-Based Virtual Fixtures for Surgica…
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
Robotic cutting is a challenging contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. We introduce a new active virtual-model control…
Skull base surgery is a demanding field in which surgeons operate in and around the skull while avoiding critical anatomical structures including nerves and vasculature. While image-guided surgical navigation is the prevailing standard,…
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these…
We have developed a simulation technique that uses non-linear finite element analysis and elastic fracture mechanics to compute physically plausible motion for three-dimensional, solid objects as they break, crack, or tear. When these…
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…
A refined a priori error analysis of the lowest order (linear) Virtual Element Method (VEM) is developed for approximating a model two dimensional Poisson problem. A set of new geometric assumptions is proposed on shape regularity of…
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but is still underrepresented in deep brain neurosurgery and endonasal surgery where the workspace is constrained. In these conditions, the vision of…
We present a learning method for predicting animation skeletons for input 3D models of articulated characters. In contrast to previous approaches that fit pre-defined skeleton templates or predict fixed sets of joints, our method produces…
Intraoperative observation of tissue internal structure is often difficult. Hence, real-time soft tissue deformation is essential for the localization of tumor and other internal structures. We propose a method to simulate the internal…
Deep Venous Thrombosis (DVT) is a common vascular disease with blood clots inside deep veins, which may block blood flow or even cause a life-threatening pulmonary embolism. A typical exam for DVT using ultrasound (US) imaging is by…
A virtual element method (VEM) with the first order optimal convergence order is developed for solving two-dimensional Maxwell interface problems on a special class of polygonal meshes that are cut by the interface from a background…
Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…
This paper presents a novel neural network architecture for the purpose of pervasive visualisation of a 3D human upper limb musculoskeletal system model. Bringing simulation capabilities to resource-poor systems like mobile devices is of…
We explore the recently-proposed Virtual Element Method (VEM) for numerical solution of boundary value problems on arbitrary polyhedral meshes. More specifically, we focus on the elasticity equations in three-dimensions and elaborate upon…
We propose a quality-based optimization strategy to reduce the total number of degrees of freedom associated to a discrete problem defined over a polygonal tessellation with the Virtual Element Method. The presented Quality Agglomeration…
The isometric embedding of surfaces in three-dimensional space is fundamental to various physical systems, from elastic sheets to programmable materials. While continuous surfaces typically admit unique solutions under suitable boundary…
Real-time tool segmentation from endoscopic videos is an essential part of many computer-assisted robotic surgical systems and of critical importance in robotic surgical data science. We propose two novel deep learning architectures for…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…