Tianxue Zhang — accepted AI-conference papers

2017

Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments

David Navarro-Alarcon, Satwinder Singh, Tianxue Zhang, Hayley Louise Chung, Kwun Wang Ng, Man Kiu Chow +1

RA-L 2017

In this letter, we present the design and development of a new robotic system for MRI-guided breast biopsy. The robot's structure is nonmagnetic, therefore, it can safely operate from within the scanner's magnetic bore; it has a compact Cartesian mechanism that allows it perform needle insertion tas

Cited by 30 Source ↗Scholar ↗

2016

Adaptive 3D pose computation of suturing needle using constraints from static monocular image feedback

Fangxun Zhong, David Navarro-Alarcon, Zerui Wang, Yun-hui Liu, Tianxue Zhang, Hiu Man Yip +1

IROS 2016poster

In this paper, we address the problem of the image-based 3D pose computation of a semi-circle suturing needle using monocular image feedback for laparoscopy. We propose a constrained two-degree-of-freedom (2-DOF) geometry-based modelling method to parametrise the needle's 6-DOF pose, including depth…

Cited by 14 Source ↗Scholar ↗

2016

Robust image-based computation of the 3D position of RCM instruments and its application to image-guided manipulation

David Navarro-Alarcon, Zerui Wang, Hiu Man Yip, Yunhui Liu, Fangxun Zhong, Tianxue Zhang +2

ICRA 2016

In this paper, we address the 3D position control of RCM-constrained instruments with monocular cameras. To compute the instrument's position from a single 2D image, we develop an innovative gradient descent algorithm which rotates and translates a line segment (over the plane spanned by the imaged

Cited by 2 Source ↗Scholar ↗