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pro vyhledávání: '"Orekhov, Andrew L."'
In this paper, we present a novel deep-learning model for deformable registration of ultrasound images and an unsupervised approach to training this model. Our network employs recurrent all-pairs field transforms (RAFT) and a spatial transformer netw
Externí odkaz:
http://arxiv.org/abs/2306.13332
This paper presents a deep-learning model for deformable registration of ultrasound images at online rates, which we call U-RAFT. As its name suggests, U-RAFT is based on RAFT, a convolutional neural network for estimating optical flow. U-RAFT, howev
Externí odkaz:
http://arxiv.org/abs/2306.13329
Publikováno v:
ASME Journal of Mechanisms and Robotics. February 2024. 16(2): 021001
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that collaborati
Externí odkaz:
http://arxiv.org/abs/2306.12971
Publikováno v:
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not practical. Thi
Externí odkaz:
http://arxiv.org/abs/2306.13155
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string routing, a methodical Lie group formulation for the shape sensing of
Externí odkaz:
http://arxiv.org/abs/2212.12523
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically demanding tasks.
Externí odkaz:
http://arxiv.org/abs/2008.05032
Autor:
Orekhov, Andrew L., Simaan, Nabil
Choosing a kinematic model for a continuum robot typically involves making a tradeoff between accuracy and computational complexity. One common modeling approach is to use the Cosserat rod equations, which have been shown to be accurate for many type
Externí odkaz:
http://arxiv.org/abs/2008.01054
Publikováno v:
The Encyclopedia of Medical Robotics Volume 1, pp. 203-243 (2018)
The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid instruments
Externí odkaz:
http://arxiv.org/abs/1906.04852
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