Yuanzheng Gong

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This paper presents a technique that reaches 3-D shape measurement speed beyond the digital-light-processing (DLP) projector's projection speed. In particular, a "solid-state" binary structured pattern is generated with each micro-mirror pixel always being at one status (ON or OFF). By this means, any time segment of projection can represent the whole(More)
Medical robots have been widely used to assist surgeons to carry out dexterous surgical tasks via various ways. Most of the tasks require surgeon's operation directly or indirectly. Certain level of autonomy in robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of robot: high dexterity and(More)
Bundle adjustment (BA) is a common estimation algorithm that is widely used in machine vision as the last step in a feature-based three-dimensional (3D) reconstruction algorithm. BA is essentially a non-convex non-linear least-square problem that can simultaneously solve the 3D coordinates of all the feature points describing the scene geometry, as well as(More)
Brain tumor margin removal is challenging because diseased tissue is often visually indistinguishable from healthy tissue. Leaving residual tumor leads to decreased survival, and removing normal tissue causes life-long neurological deficits. Thus, a surgical robotics system with a high degree of dexterity, accurate navigation, and highly precise resection(More)
We present a high-resolution, high-speed three-dimensional (3-D) shape measurement technique that can reach the speed limit of a digital fringe projection system without significantly increasing the system cost. Instead of generating sinusoidal fringe patterns by a computer directly, they are produced by defocusing binary ones. By this means, with a(More)
As an important step in three-dimensional (3D) machine vision, 3D registration is a process of aligning two or multiple 3D point clouds that are collected from different perspectives together into a complete one. The most popular approach to register point clouds is to minimize the difference between these point clouds iteratively by Iterative Closest Point(More)
As the rapid progress in the development of optoelectronic components and computational power, 3D optical metrology becomes more and more popular in manufacturing and quality control due to its flexibility and high speed. However, most of the optical metrology methods are limited to external surfaces. This paper proposed a new approach to measure tiny(More)
The challenge is to accurately guide the surgical tool within the three-dimensional (3D) surgical field for robotically-assisted operations such as tumor margin removal from a debulked brain tumor cavity. The proposed technique is 3D image-guided surgical navigation based on matching intraoperative video frames to a 3D virtual model of the surgical field. A(More)
There is a need for accurate measurements of mechanical strain and motion of the heart both in vitro and in vivo. We have developed a new structured-light imaging system capable of epicardial shape measurement at 333 fps at a resolution of 768 × 768 pixels. Here we present proof-of-concept data from our system applied to a beating rabbit heart in vitro to(More)
In aqueous TiO2 photocatalytic hydroxylation of weakly polar aromatics, a series of inverse H/D KIEs of 0.7-0.8 were observed, which is different than the normal H/D kinetic isotope effects (KIEs) usually observed for polar aromatics. This result indicated that the oxidation started by photo-induced hvb+ can be the rate-determining step.