6 accepted papers
In the feature/object tracking of eye-in-hand visual servoing, 2D motion estimation relying only on image plane feedback is easily affected by vision occlusion, blurring, or poor lighting. For the commonly-used template matching method, tracking performance greatly depends on the image quality. Fibe
Magnetic resonance imaging (MRI) guided intervention has drawn increasing attention over the last decade. It is accredited to the capability of monitoring any physiological change of soft tissue with the high-contrast MR images. This also gives rise to the demand for precise tele-manipulation of int
In this letter, we present a new soft and flexible sensor which can reconstruct its surface shape in real time. A single-core optical fiber with fiber Bragg gratings (FBGs) is capable of detecting sparse local strains at high bandwidth using wavelength-division multiplexing. The fiber was embedded i
Soft robots, owing to their elastomeric material, ensure safe interaction with their surroundings. These robot compliance properties inevitably impose a tradeoff against precise motion control, as to which conventional model-based methods were proposed to approximate the robot kinematics. However, t
In this letter, we present an intraoperative magnetic resonance imaging (MRI)-guided robot for bilateral stereotactic procedures. Its compact design enables robot's operation within the constrained space of standard imaging head coil. magnetic resonance (MR) safe and high-performance hydraulic trans
This paper presents a novel proximity query (PQ) approach capable to detect the collision and calculate the minimal Euclidean distance between two non-convex objects in 3D, namely the robot and the environment. Such approaches are often considered as computationally demanding problems, but are of im…