Nicolas Zevallos — accepted AI-conference papers

2018

A Real-time Augmented Reality Surgical System for Overlaying Stiffness Information

Nicolas Zevallos, Arun Srivatsan Rangaprasad, Hadi Salman, Lu Li, Jianing Qian, Saumya Saxena +3

RSS 2018poster

We describe a surgical system that autonomously searches for tumors and dynamically displays a computer graphic model of them super-imposed on the organ (or in our case, phantom). Once localized, the phantom is tracked in real time and augmented with overlaid stiffness information in 3D. We believe…

Cited by 7 Source ↗PDF ↗Scholar ↗

2018

Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery

Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin +3

ICRA 2018poster

In this work, we develop an approach for guiding robots to automatically localize and find the shapes of tumors and other stiff inclusions present in the anatomy. Our approach uses Gaussian processes to model the stiffness distribution and active learning to direct the palpation path of the robot. T…

Cited by 27 Source ↗Scholar ↗