82 citations · 335 across the 17 of their papers we have counts for
17 papers
A low-cost mockup to simulate robotic laser cutting in nuclear decommissioning
Frederico Fernandes Afonso Silva, Murilo Marques Marinho, Bruno Vilhena Adorno
This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in nuclear decommissioning. It is composed of a three-axis table supporting…
Autonomous Robotic Drilling System for Mice Cranial Window Creation
Enduo Zhao, Murilo M. Marinho, Kanako Harada
Robotic assistance for experimental manipulation in the life sciences is expected to enable favorable outcomes, regardless of the skill of the scientist. Experimental specimens in…
Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback
Hung-Ching Lin, Murilo Marques Marinho, Kanako Harada
Robotic systems for manipulation in millimeter scale often use a camera with high magnification for visual feedback of the target region. However, the limited field-of-view (FoV) o…
Autonomous Robotic Drilling System for Mice Cranial Window Creation: An Evaluation with an Egg Model
Enduo Zhao, Murilo M. Marinho, Kanako Harada
Robotic assistance for experimental manipulation in the life sciences is expected to enable precise manipulation of valuable samples, regardless of the skill of the scientist. Expe…
Vitreoretinal Surgical Robotic System with Autonomous Orbital Manipulation using Vector-Field Inequalities
Yuki Koyama, Murilo Marques Marinho, Kanako Harada
Vitreoretinal surgery pertains to the treatment of delicate tissues on the fundus of the eye using thin instruments. Surgeons frequently rotate the eye during surgery, which is cal…
UMIRobot: An Open-{Software, Hardware} Low-Cost Robotic Manipulator for Education
Murilo M. Marinho, Hung-Ching Lin, Jiawei Zhao
Robot teleoperation has been studied for the past 70 years and is relevant in many contexts, such as in the handling of hazardous materials and telesurgery. The COVID19 pandemic ha…
A Multi-Arm Robotic Platform for Scientific Exploration
Murilo Marques Marinho, Juan José Quiroz-Omaña, Kanako Harada
There are a large number of robotic platforms with two or more arms targeting surgical applications. Despite that, very few groups have employed such platforms for scientific explo…
Adaptive Constrained Kinematic Control using Partial or Complete Task-Space Measurements
Murilo Marques Marinho, Bruno Vilhena Adorno
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume t…
Autonomous Coordinated Control of the Light Guide for Positioning in Vitreoretinal Surgery
Yuki Koyama, Murilo M. Marinho, Mamoru Mitsuishi +1
Vitreoretinal surgery is challenging even for expert surgeons owing to the delicate target tissues and the diminutive workspace in the retina. In addition to improved dexterity and…
MBAPose: Mask and Bounding-Box Aware Pose Estimation of Surgical Instruments with Photorealistic Domain Randomization
Masakazu Yoshimura, Murilo Marques Marinho, Kanako Harada +1
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in…
SmartArm: Suturing Feasibility of a Surgical Robotic System on a Neonatal Chest Model
Murilo M. Marinho, Kanako Harada, Kyoichi Deie +2
Commercially available surgical-robot technology currently addresses many surgical scenarios for adult patients. This same technology cannot be used to the benefit of neonate patie…
Single-Shot Pose Estimation of Surgical Robot Instruments' Shafts from Monocular Endoscopic Images
Masakazu Yoshimura, Murilo M. Marinho, Kanako Harada +1
Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal…
DQ Robotics: a Library for Robot Modeling and Control
Bruno Vilhena Adorno, Murilo Marques Marinho
Dual quaternion algebra and its application to robotics have gained considerable interest in the last two decades. Dual quaternions have great geometric appeal and easily capture p…
Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery
Murilo Marques Marinho, Hisashi Ishida, Kanako Harada +2
The limited workspace in pediatric endoscopic surgery makes surgical suturing one of the most difficult tasks. During suturing, surgeons have to prevent collisions between tools an…
A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces
Murilo M. Marinho, Bruno V. Adorno, Kanako Harada +5
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and ro…
Active Constraints using Vector Field Inequalities for Surgical Robots
Murilo M. Marinho, Bruno V. Adorno, Kanako Harada +1
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but is still underrepresented in deep brain neurosurgery and endonasal surgery where the workspa…
Dynamic Active Constraints for Surgical Robots using Vector Field Inequalities
Murilo M. Marinho, Bruno V. Adorno, Kanako Harada +1
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as dee…