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Telesurgery is an interdisciplinary field of teleoperated robotics and robot-assisted minimally invasive surgery, and has good promising future. In this work, the structure and work flow of the tele-neurosurgery are addressed at first. Then the key technologies involved, including our newly developed surgical robot, untouched methodology in localizing marks(More)
BACKGROUND Robot-assisted vascular interventional surgery (VIS) enables the surgeon to teleoperate a catheter in a safe cabinet, such that exposure to X-ray radiation is reduced. For safe and accurate teleoperation, system structure and image guidance is important. METHODS The system structure of the developed remote-controlled vascular interventional(More)
In this paper, we present the design of a social robot, Nancy, which is developed as a platform for engaging social interaction. Targeting for a social, safe, interactive and user-friendly robot mate, the design philosophy of Nancy is presented with mechanical, electrical, artificial skin and software specifications. In particular, there are 32 degrees of(More)
Image distortion correction and geometric calibration are critical operations for using C-arm DSA (Digital Subtraction Angiography) images to digitally navigate vascular interventional surgery. In traditional ways, C-arm images are corrected with global or local correction methods where a supposed virtual ideal image is needed, and then the corrected images(More)
There are extensive studies had been carried out for the correction of C arm X-ray image distortion over the world. The global method specializes in analysing the establishment of ideal points during the process of image correction, and this method was adopted to be used in the study of this article. Compare with the traditional method of establishing ideal(More)
In traditional methods, the C-Arm system calibration was performed based on the result of C-Arm image correction. When correcting images, high-order polynomial was used to fit relating distorted pixels to ideal image pixel. However accurate ideal image could not be established easily, that heavily restricted the precision of correction. In this paper, a(More)
Drivable area detection is an important issue for mobile robot to work in indoor and outdoor environments with safety and security with respect to itself and environment. In this paper, we propose an approach to detect the ground area for indoor mobile robots with binocular cameras. At first, the ground induced homography between onboard binocular cameras(More)
In planetary landing exploration task, the images captured by the landing camera are nearly along optical axis which results in multi-resolution images of same terrain surface. Recovering the surface shape of landing terrain from descent imagery is of great value for lander to choose safe landing area. In this paper, a homography-based depth recovery method(More)