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This paper presents a novel technique for the support of declarative constructs of AgentSpeak in a imperative language. Starting from an analysis of the characteristics and semantics of AgentSpeak, as well as the requirements of an AgentSpeak implementation, the paper proposes a framework which, by exploiting object-orientation and operator overloading, is(More)
In this paper we present a feed forward controller to regulate the depth of laser incisions in soft tissue. Such a controller is compatible with the requirements of laser microsurgery, where space constraints limit the use of sensing devices. The controller is based on an inverse model that maps the desired incision depth to the required laser exposure(More)
This paper presents an approach to determine a model of superficial tissue temperature dynamics during continuous wave CO $$_2$$ 2 laser irradiation. The main contribution of this research is the use of real data to model the thermal state of targets being irradiated with surgical laser, using statistical learning methods. To the best of our knowledge this(More)
The lack of haptic feedback during laser surgery procedures prevents surgeons from accurately discerning the depth of the incisions they perform. In this paper we introduce a novel teleoperated surgical platform, which employs a commercial haptic device to convey information about the laser incision depth to the surgeon. The incision depth is estimated by a(More)
Objectives Document human motions associated with cochlear implant electrode insertion at different speeds and determine the lower limit of continuous insertion speed by a human. Study Design Observational. Setting Academic medical center. Subjects and Methods Cochlear implant forceps were coupled to a frame containing reflective fiducials, which enabled(More)
This paper presents a system to supervise tissue temperature during robotic laser surgery. The use of robotic systems for laser surgery provides mechanisms to control the motion of the laser beam and the exposure time of laser radiation, allowing the automatic generation of incisions. This work focuses on the perception side of the problem, developing a(More)
Miniature infrared cameras have recently come to market in a form factor that facilitates packaging in endoscopic or other minimally invasive surgical instruments. If absolute temperature measurements can be made with these cameras, they may be useful for non-contact monitoring of electrocautery-based vessel sealing, or other thermal surgical processes like(More)