— In this work, a motion planning approach for multi-robot grasping problems is presented. The proposed Multi-Robot-RRT planner controls multiple IK-RRT instances and evaluates grasp qualities for resulting multi-handed grasping conngurations until a global solution is found. Furthermore the Multi-Robot-RRT concept avoids deadlock situations which may… (More)
Estimating probabilistic deformable template models is a new approach in the fields of computer vision and probabilistic atlases in computational anatomy. A first coherent statistical framework modelling the variability as a hidden random variable has been given byAllassonnì ere, Amit and Trouvé in  in simple and mixture of deformable template models. A… (More)
We report a case of enlarged symptomatic utricle that was excised using a posterior sagittal pararectal approach. This surgical approach provides direct access to the posterior urethra to permit complete resection of the utricle and optimal exposure for accurate urethral repair.