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The use of technology for automation of surgical tasks has great potential in the field of robotic surgery. Automation of surgical robots essentially involves designing a control scheme for precise and automatic positioning of robotic manipulators. This objective can be achieved by the use of Visual servoing. We have developed a visual-servoing-based robotic laparoscopic surgery system. The visual...
In this paper, we present our preliminary report in applying formal verification to the design process of robotic systems under dynamic environments; the goal is to complement existing testing or simulation techniques by experimenting an adaptable framework, where verification models with tamable complexity are generated from the simulation model. Our targets are robotic systems with shape-adjustable...
In this abstract, we mention some challenges and preliminary solutions toward designing robotic software with verifiable safety. We use a 2D planar robot as example, which has an arm with fixed or moving base. Also, computational stereo for precise (or imprecise) location of the object or obstacle is assumed. Our simple scenario is to perform object retrieval, but safety requirements should be assured,...
The precise determination of the length of artificial chordae and coevally the gental fixation of the defined length of the chordae on the mitral valve remains a challenge especially for the minimally invasive working heart surgeon. Methods to secure the correct length of the artificial chordae have been presented in the past either with the pean clamp or the more convenient but more breakable method...
In this paper, an integrated multi-camera person tracking system for virtual reality television studios (VR-TV) is presented. The system robustly tracks the moderator while freely moving, sitting or walking around the studio, and the estimation result can be used in order to drive the main broadcasting camera mounted on a large robotic arm. Application of the proposed tracking system to real-time...
In the last decade, the advancement of endoscopic and minimally invasive surgery has had a significant impact on patients and surgeons in various surgical fields. But in heart surgery the design of telemanipulators did not leverage endoscopic procedures. The focus is on building an experimental system for endoscopic and minimally invasive heart surgery which provides force feedback. In addition automating...
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