36 citations · 82 across the 13 of their papers we have counts for
9 papers · 1 filter
A Robotic System for Implant Modification in Single-stage Cranioplasty
Shuya Liu, Wei-Lun Huang, Chad Gordon +1
Craniomaxillofacial reconstruction with patient-specific customized craniofacial implants (CCIs) is most commonly performed for large-sized skeletal defects. Because the exact size…
A Versatile Data-Driven Framework for Model-Independent Control of Continuum Manipulators Interacting With Obstructed Environments With Unknown Geometry and Stiffness
Farshid Alambeigi, Zerui Wang, Yun-Hui Liu +2
This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and…
Learning to Detect Collisions for Continuum Manipulators without a Prior Model
Shahriar Sefati, Shahin Sefati, Iulian Iordachita +2
Due to their flexibility, dexterity, and compact size, Continuum Manipulators (CMs) can enhance minimally invasive interventions. In these procedures, the CM may be operated in pro…
Reflective-AR Display: An Interaction Methodology for Virtual-Real Alignment in Medical Robotics
Javad Fotouhi, Tianyu Song, Arian Mehrfard +8
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasi…
FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches
Shahriar Sefati, Rachel Hegeman, Farshid Alambeigi +2
Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the curvature at discrete FBG active areas and integrating curvature over the length of the co…
FBG-Based Control of a Continuum Manipulator Interacting With Obstacles
Shahriar Sefati, Ryan Murphy, Farshid Alambeigi +4
Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown…