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Robots have been introduced to the operating room primarily to provide higher accuracy and dexterity. Mechatronic devices can support surgeons with advanced targeting, visualization and task execution with a precision beyond the human skills. To evaluate a system, accuracy tests are required, and proper methodology should be applied to describe its(More)
Image-guided surgery offers great advantages to surgeons through the possibility to track tools in 3D space and to navigate based on the virtual model of the patient. In the case of robot-assisted procedures, both the inherent accuracy of the system components and the quality of the registration procedures are critical to provide high precision treatment(More)
Object tracking is a key enabling technology in the context of computer-assisted medical interventions. Allowing the continuous localization of medical instruments and patient anatomy, it is a prerequisite for providing instrument guidance to subsurface anatomical structures. The only widely used technique that enables real-time tracking of small objects(More)
Besides the motion control issues and problems arising in general robotic applications, control engineers frequently encounter difficulties in designing robotic surgery systems due to the complex environmental constraints present. One of the most challenging problems is caused by the unique behavior of soft tissues under manipulations such as grabbing,(More)
• We present the ongoing work towards a core ontology dedicated to the field of robotics and automation. • We describe the role of ontologies in robotics at large. • We provide a thorough review of service robot ontologies. • We describe the existing standards for robots, along with the future trends in the domain. • We define the current issues and(More)
Rheological soft tissue models play an important role in designing control methods for modern teleoperation systems. In the meanwhile, these models are also essential for creating a realistic virtual environment for surgical training. The implementation of model-based control in teleoperation has been a frequently discussed topic in the past decades,(More)
Unambiguous definition of spatial position and orientation has crucial importance for robotics. In this paper we propose an ontology about positioning. It is part of a more extensive core ontology being developed by the IEEE RAS Working Group on ontologies for robotics and automation. The core ontology should provide a common ground for further ontology(More)
Cloud Robotics is an emerging field within robotics, currently covering various application domains and robot network paradigms. This paper provides a structured, systematic overview of the numerous definitions, concepts and technologies linked to Cloud Robotics and cloud technologies in a broader sense. It also presents a roadmap for the near future,(More)