58 citations · 130 across the 15 of their papers we have counts for
8 papers · 1 filter
Ablation Study on Features in Learning-based Joints Calibration of Cable-driven Surgical Robots
Haonan Peng, Andrew Lewis, Blake Hannaford
With worldwide implementation, millions of surgeries are assisted by surgical robots. The cable-drive mechanism on many surgical robots allows flexible, light, and compact arms and…
Evaluation of an Inflated Beam Model Applied to Everted Tubes
Joel Hwee, Andrew Lewis, Allison Raines +1
Everted tubes have often been modeled as inflated beams to determine transverse and axial buckling conditions. This paper seeks to validate the assumption that an everted tube can…
Real-time Data Driven Precision Estimator for RAVEN-II Surgical Robot End Effector Position
Haonan Peng, Xingjian Yang, Yun-Hsuan Su +1
Surgical robots have been introduced to operating rooms over the past few decades due to their high sensitivity, small size, and remote controllability. The cable-driven nature of…
Hidden Markov Models derived from Behavior Trees
Blake Hannaford
Behavior trees are rapidly attracting interest in robotics and human task-related motion tracking. However no algorithms currently exist to track or identify parameters of BTs unde…
Raven: Open Surgical Robotic Platforms
Yangming Li, Blake Hannaford, Jacob Rosen
The Raven I and the Raven II surgical robots, as open research platforms, have been serving the robotic surgery research community for ten years. The paper 1) briefly presents the…
Behavior Trees as a Representation for Medical Procedures
Blake Hannaford
Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. BTs have several properties which are attractive for model…
IKBT: solving closed-form Inverse Kinematics with Behavior Tree
Dianmu Zhang, Blake Hannaford
Serial robot arms have complicated kinematic equations which must be solved to write effective arm planning and control software (the Inverse Kinematics Problem). Existing software…
Simulation Results on Selector Adaptation in Behavior Trees
Blake Hannaford, Danying Hu, Dianmu Zhang +1
Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. However as initially implemented, behavior trees are stati…