5 accepted papers
Transperineal prostate puncture is challenging for the physician to manually place a needle and presents a steep learning curve. This paper proposes a novel ultrasound -guided series-parallel hybrid robot with the aim to enhance transperineal procedures. For maximum prostate coverage with flexibilit
The hand-eye calibration problem was first formulated decades ago and is widely applied in robotics, image guided therapy, etc. It is usually cast as the “AX = XB” problem where the matrices A, B, and X are rigid body transformations in SE(3). Many solvers have been proposed to recover X given data
Calibration is often an important and necessary step in the use of image-guided systems. In the case of the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$AX=YB$</tex-math></inline-formula> problem, the relative
This paper presents a novel design for the soft continuum manipulator based on beehive structure. Our design inspiration derives from the beehive hexagon structure, which has some characteristics of compact layout, low material consumption, thinner thickness of wall, and higher structure strength. T…
This paper presents modular self-reconfigurable robots for grasping an unknown object based on a grasp quality metric. The presented self-reconfiguration approach makes use of basic motions performed by individual robots to change the structure. The method to solve for forward kinematics as well as…