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—This paper presents a new approach to robot-assisted spine and trauma surgery in which a miniature robot is directly mounted on the patient's bony structure near the surgical site. The robot is designed to operate in a semiactive mode to precisely position and orient a drill or a needle in various surgical procedures. Since the robot forms a single rigid(More)
After several years of product development, animal trials and human cadaver testing, the SpineAssist--a miniature bone-mounted robotic system--has recently entered clinical use. To the best of the authors' knowledge, this is the only available image-based mechanical guidance system that enables pedicle screw insertion with an overall accuracy in the range(More)
This paper describes a novel image-guided system for precise automatic targeting in minimally invasive keyhole neurosurgery. The system consists of the MARS miniature robot fitted with a mechanical guide for needle, probe or catheter insertion. Intraoperatively, the robot is directly affixed to a head clamp or to the patient's skull. It automatically(More)
Several oro-facial physiologic and pathologic phenomena affect individuals during flight or self-contained underwater breathing apparatus (SCUBA) diving. Physicians and dentists who treat aircrews and divers are occasionally challenged by those manifestations, though their uncommon appearance. This article reviews the two main barometric-related phenomena(More)
This paper is part of an ongoing effort to develop a novel image-guided system for precise automatic targeting in keyhole minimally invasive neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle/probe insertion. Intraopera-tively, the robot is directly affixed to a head clamp or to the patient skull. It(More)
A noncoherent coded system, which incorporates convolutional codes in conjunction with multiple symbol noncoherent detection, is presented in this paper. The underlying convolutional codes are referred to as nd-convolutional codes. These codes provide a general framework for various noncoherent coding systems, including differential systems, for different(More)
We present a clinical study of surface-based registration between a preoperative CT/MRI of a patient head and an intraoperative surface scan of his face. The study was conducted on 14 patients that underwent neurosurgery with standard neuronavigation based on preoperative CT/MRI datasets. Intraoperatively, before the surgery started, surface scans of the(More)
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