Vinutha Kallem

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In order to engage in useful activities, upright legged creatures must be able to maintain balance. Despite recent advances, the understanding, prediction and control of biped balance in realistic dynamical situations remain an unsolved problem and the subject of much research in robotics and biomechanics. Here we study the fundamental mechanics of the(More)
Flexible, tip-steerable needles promise to enhance physicianspsila abilities to accurately reach targets and maneuver inside the human body while minimizing patient trauma. Here, we present a functional needle steering system that integrates two components: (1) a patient-specific 2D pre- and intraoperative planner that finds an achievable route to a target(More)
Physicians perform percutaneous therapies in many diagnostic and therapeutic procedures. Image guidance promises to improve targeting accuracy and broaden the scope of needle interventions. In this paper, we consider the possibility of automating the guidance of a flexible bevel-tip needle as it is inserted into human tissue. We build upon a previously(More)
Image guidance promises to improve targeting accuracy and broaden the scope of medical procedures performed with needles. This paper takes a step toward automating the guidance of a flexible tip-steerable needle as it is inserted into the human tissue. We build upon a previously proposed nonholonomic model of needles that derive steering from asymmetric(More)
Traditionally, visual servoing is separated into tracking and control subsystems. This separation, though convenient, is not necessarily well justified. When tracking and control strategies are designed independently, it is not clear how to optimize them to achieve a certain task. In this work, we propose a framework in which spatial sampling kernels -(More)
We address the problem of developing feedback controllers for a group of robots with second-order dynamics in an obstacle-filled, D-dimensional environment. Our control algorithm takes into account communication constraints, obstacle avoidance, and inter-robot collision avoidance, by synthesizing a piecewise smooth vector field for safe navigation. First,(More)
Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mechanical system at hand, e.g. invariance of the system's Lagrangian to some group of motions. In the present work we consider symmetries that arise from an extrinsic control task, rather(More)
Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and scientific studies, and is considered to be one of the simplest and most minimally invasive medical procedures. Robot-assisted needle steering has the potential to improve the effectiveness of existing medical procedures and enable new ones by allowing increased(More)
Despite recent advances, automatic blood vessel extraction from low quality retina images remains difficult. We propose an interactive approach that enables a user to efficiently obtain near perfect vessel segmentation with a few mouse clicks. Given two seed points, the approach seeks an optimal path between them by minimizing a cost function. In contrast(More)