Related papers: Robotic Laser Orientation Planning with a 3D Data-…
The objective of this paper is to significantly reduce the manual workload required from medical professionals in complex 3D segmentation tasks that cannot be yet fully automated. For instance, in radiotherapy planning, organs at risk must…
In many applied optimization settings, parameters that define the constraints may not guarantee the best possible solution, and superior solutions might exist that are infeasible for the given parameter values. Removing such constraints,…
We present a data-driven optimization approach for robotic controlled deposition with a degradable tool. Existing methods make the assumption that the tool tip is not changing or is replaced frequently. Errors can accumulate over time as…
Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in its current and desired orientation. We formulate a…
The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and…
Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically significant targets in a minimally invasive way. Automating…
Inverse Stefan problem arising in modeling of laser ablation of biomedical tissues is analyzed, where information on the coefficients, heat flux on the fixed boundary, and density of heat sources are missing and must be found along with the…
The performance achieved with traditional model-based control system design approaches typically relies heavily upon accurate modeling of the motion dynamics. However, modeling the true dynamics of present-day increasingly complex systems…
In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
Volumetric modulated arc therapy planning is a challenging problem in high-dimensional, non-convex optimization. Traditionally, heuristics such as fluence-map-optimization-informed segment initialization use locally optimal solutions to…
The interaction of relativistically intense lasers with opaque targets represents a highly non-linear, multi-dimensional parameter space. This limits the utility of sequential 1D scanning of experimental parameters for the optimisation of…
There exist numerous ways of representing 3D orientations. Each representation has both limitations and unique features. Choosing the best representation for one task is often a difficult chore, and there exist conflicting opinions on which…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-guided biopsy is often preferred. The lack of real-time imaging…
Robotic systems are transforming image-guided interventions by enhancing accuracy and minimizing radiation exposure. A significant challenge in robotic assistance lies in surgical path planning, which often relies on the registration of…
Purpose. Radiation therapy is a local treatment aimed at cells in and around a tumor. The goal of this study is to develop an algorithmic solution for predicting the position of a target in 3D in real time, aiming for the short fixed…
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…
This paper solves and analyzes a trajectory optimization problem to deflect Earth-crossing objects (ECOs) employing continuous thrust obtained using a laser ablative system. The optimal control is determined for various initial ECO-Earth…