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IEEE International Conference on Robotics and…
Natural muscles exhibit high power-to-weight ratios, inherent compliance and damping, fast actuation and high dynamic ranges. Unfortunately, traditional robotic actuators have been unable to attain… Expand
Continuum manipulators offer a means for robot manipulation in a constrained environment, where the manipulator body can safely interact with, comply with, and navigate around obstacles. However,… Expand
Robotics have long sought an actuation technology comparable to or as capable as biological muscle tissue. Natural muscles exhibit a high power-to-weight ratio, inherent compliance and damping, fast… Expand
This paper presents a novel miniature uniaxial force sensor for use within a beating heart during mitral valve annuloplasty. The sensor measures 5.5 mm in diameter and 12 mm in length and provides a… Expand
Vision-based tracking of tissue is a key component to enable augmented reality during a surgical operation. Conventional tracking techniques in computer vision rely on identifying strong edge… Expand
International Conference on Robotics and…
Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their… Expand
A novel registration method between 3D ultrasound and stereoscopic cameras is proposed based on tracking a registration tool featuring both ultrasound fiducials and optical markers. The registration… Expand
Medical image computing and computer-assisted…
The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to surgeons. We present a new robotic force stabilization system that assists surgeons… Expand
The supercoiled polymer (SCP) actuator is a recently discovered artificial muscle that demonstrates significant mechanical power, large contraction, and good dynamic range in a muscle-like form… Expand
Salient feature tracking for endoscopic images has been investigated in the past for 3D reconstruction of endoscopic scenes as well as tracking of tissue through a video sequence. Recent work in the… Expand