Wen P. Liu

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— This paper develops a sensor-and sampling-based motion planner to control a surgical robot in order to explore osteolytic lesions in orthopedic surgery. Because of the difficulty of using conventional surgical tools, such exploration is needed in minimally-invasive treatments of " particle diseases, " which commonly result from material wear in total hip(More)
PURPOSE C-arm radiographs are commonly used for intraoperative image guidance in surgical interventions. Fluoroscopy is a cost-effective real-time modality, although image quality can vary greatly depending on the target anatomy. Cone-beam computed tomography (CBCT) scans are sometimes available, so 2D-3D registration is needed for intra-procedural(More)
BACKGROUND Adequate resection of oropharyngeal neoplasms with transoral robotic surgery (TORS) poses multiple challenges, including difficulty with access, inability to palpate the tumor, loss of landmarks, and intraoperative patient positioning with mouth retractor and tongue extended creating significant tissue distortion from preoperative imaging. (More)
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