Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces
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A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of ...
Over the past few decades, surgical procedures have made enormous progress, shifting from traditional open procedures to less and less invasive approaches, with the promise of smaller incisions, less complications, better cosmetic results and shorter recov ...
A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several ...
The present paper describes LIGRA, an innovative technological solution developed in the context of the SAFROS co-funded EU project. Its general goal is to improve patient safety during minimal invasive robotic surgery. Focusing on the risks introduced in ...
Major progress in abdominal surgery has occurred over the last decades with the introduction of laparoscopic and minimally invasive techniques in the operating room. These innovative procedures attracted much attention due to several advantages: the need f ...
Background In contemporary surgical clinical practice, spinal instability is often treated with mechanical stabilization techniques in order to protect the spinal cord and nerve roots. These techniques involve placing screws in defined regions of the verte ...
We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...
Domestic robots have slowly found their way into some of our homes and onto the shelves of major stores selling technical appliances. Who hasn’t already seen or heard of robots that vacuum or mow the lawn? As researchers in robotics, we feel this growing c ...
The goal of the project is to generate a 3D model of the C2 cervical vertebra for surgery planning using an atlas-based segmentation technique. A Statistical Shape Model of the C2 vertebra has been created from 91 CT scans using Statismo [1], a toolkit for ...
Although recent advances in the field of robotics have greatly increased robotic capabilities for several applications, autonomous robots are still in their infancy regarding their support of onsite construction. Unlike production robots that are used, for ...