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This contribution reports the development of a novel robotic manipulator for stereotactic surgery on small animals, the spherical assistant for stereotactic surgery (SAS- SU). A kinematic design is deduced based on the surgical task requirements. Forward and inverse kinematics are derived analytically. As the system is required to position medical probes of varying size and shape, details on the calibration...
A method for white matter detection in Optical Coherence Tomography A-Scans is presented. The Kalman filter is used to obtain a slope change estimate of the intensity signal. The estimate is subsequently analyzed by a spike detection algorithm and then evaluated by a neural network binary classifier (Perceptron). The capability of the proposed method is shown through the quantitative evaluation of...
A simple method to produce multi-wire bundles by spinning is demonstrated, yielding nine recording sites. These so called "niotrodes" are then used in an acute experiment to record from several positions along trajectories into rat's basal ganglia. Niotrodes with an impedance in the range of 300kOhm@1kHz display the capability to record both single and multi unit activity and seem to be...
A new method for the estimation of process parameters based on the principal component analysis is developed. The estimator yields optimal estimation results in the case of errors in variables (EIV) problems which are characterized by corrupted measurements of input and output signals. As the residual generation in fault detection methods often feature EIV characteristics, the estimator can be used...
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