Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 6 of 6 for “"Surgical Robotics"”.
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Navigation with Local Sensors in Surgical Robotics
… for different types of navigational problems in surgical robotics is proposed, and validated by the introduction of navigation cycles on novel local sensors. Currently industrial (and surgical) robotic systems employ almost exclusively static global maps -- if any -- for navigation and planning …
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Vision-based proprioception of a soft robotic finger with tactile sensing
… of usages in multiple fields, ranging from surgical robotics to prostheses to human-robot interaction. These robots are more versatile, adaptable, safe, robust, and dexterous than their conventional rigid-body counterparts. However, due to their high-dimensionality and flexibility, they …
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Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot
… overcoming gravity induced torques on the RAVEN surgical research robot. This innovation will allow for accurate control of serial robot manipulators with re-orientable bases or for those operating in non-stationary environments such as boats, space stations, or moving vehicles.
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Vision Based Surgical Tool Tracking with Robot Kinematics Prior
… scheme, surgeons can execute high-level surgical tasks by commanding instruments controlled by precise robotic devices. Several advantages arise. To name a few: (1) achieved precision is beyond that of human dexterity alone (2) a greater number of kinematic degrees of freedom are possible …
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MRI-compatibility enhancements to USM performance for interventional devices in MR environments
The safe performance of magnetic resonance imaging (MRI)-guided robot-assisted interventions requires full control and high precision of assistive devices and tools. Because many currently available tools are not MRI-compatible, the characterization of existing tools and development of new ones are …
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MEDICAL IMAGE BASED PREOPERATIVE ANALYSIS AND INTRAOPERATIVE NAVIGATION
… to help surgeons for medical image analysis and surgical navigation, promoting the vigorous progress of precision medicine. This thesis mainly focuses on preoperative medical image analysis and image-based intraoperative navigation, and corresponding solutions have been proposed to cope with …