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3D/4D ultrasound registration of bone
This paper presents a method to reduce the invasiveness of Computer Assi...
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Learning and Generalisation of Primitives Skills Towards Robust Dual-arm Manipulation
Robots are becoming a vital ingredient in society. Some of their daily t...
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daVinciNet: Joint Prediction of Motion and Surgical State in Robot-Assisted Surgery
This paper presents a technique to concurrently and jointly predict the ...
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A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks
This paper develops a planner that plans the action sequences and motion...
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Force-Ultrasound Fusion: Bringing Spine Robotic-US to the Next "Level"
Spine injections are commonly performed in several clinical procedures. ...
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Design and integration of a parallel, soft robotic end-effector for extracorporeal ultrasound
In this work we address limitations in state-of-the-art ultrasound robot...
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Learning Context-Adaptive Task Constraints for Robotic Manipulation
Constraint-based control approaches offer a flexible way to specify robo...
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Robotic-assisted Ultrasound for Fetal Imaging: Evolution from Single-arm to Dual-arm System
The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 30 volunteers, the successful and re-liable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.
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