49 citations · 58 across the 7 of their papers we have counts for
8 papers
Unsupervised Deformable Image Registration for Respiratory Motion Compensation in Ultrasound Images
FNU Abhimanyu, Andrew L. Orekhov, John Galeotti +1
In this paper, we present a novel deep-learning model for deformable registration of ultrasound images and an unsupervised approach to training this model. Our network employs recu…
Unsupervised Deformable Ultrasound Image Registration and Its Application for Vessel Segmentation
FNU Abhimanyu, Andrew L. Orekhov, Ananya Bal +2
This paper presents a deep-learning model for deformable registration of ultrasound images at online rates, which we call U-RAFT. As its name suggests, U-RAFT is based on RAFT, a c…
Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations
Andrew L. Orekhov, Garrison L. H. Johnston, Nabil Simaan
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, es…
Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting hea…
Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing
Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string…
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined s…