7 accepted papers
In the eye-in-hand robot configuration, hand-eye calibration plays a vital role in completing the link between the robot and camera coordinate systems. Calibration algorithms are mature and provide accurate transformation estimations for an effective camera-robot link but rely on a sufficiently wide
Fetoscopy is a technically challenging surgery, due to the dynamic environment and low diameter endoscopes often resulting in a limited field of view. In this paper, we report on the design and operation of a robotic multimodal endoscope with optical ultrasound and white light stereo camera. The man…
Hand-eye calibration is a classic problem in robotics that aims to find the transformation between two rigidly attached reference frames, usually a camera and a robot end-effector or a motion tracker. Most hand-eye calibration techniques require two data streams, one containing the eye (camera) moti
In this paper, we present a Mobile Agile Printer (MAP) construction robot; a highly agile, 4-legged, omnidirectional robot capable of 3D printing large structures. To overcome dynamic challenges when operating within an outdoors construction site, MAP incorporates a high-DoF 3D printing system conne…
Twin-twin transfusion syndrome requires interventional treatment using a fetoscopically introduced laser to sever the shared blood supply between the fetuses. This is a delicate procedure relying on small instrumentation with limited articulation to guide the laser tip and a narrow field of view to
Recovering 3D scene geometry from underwater images involves the Refractive Structure-from-Motion (RSfM) problem, where the image distortions caused by light refraction at the interface between different propagation media invalidates the single view point assumption. Direct use of the pinhole camera…
Transanal Endoscopic Microsurgery (TEM) is a minimally invasive oncological resection procedure that utilises a natural orifice approach rather than the traditional abdominal or open approach. However, TEM has a significant recurrence rate due to incomplete excisions, which can possibly be attribute…