A5027406126- Soft Robotics and Applications
- Advanced Radiotherapy Techniques
- Surgical Simulation and Training
- Robotics and Sensor-Based Localization
- Robotic Mechanisms and Dynamics
- Anatomy and Medical Technology
- Augmented Reality Applications
- Parkinson's Disease Mechanisms and Treatments
- Robot Manipulation and Learning
- Digital Image Processing Techniques
- Transcranial Magnetic Stimulation Studies
- Genetic Neurodegenerative Diseases
- Mechatronics Education and Applications
- Manufacturing Process and Optimization
- Maritime Navigation and Safety
- Medical Image Segmentation Techniques
- Robotic Path Planning Algorithms
- Computer Graphics and Visualization Techniques
- Motor Control and Adaptation
- 3D Surveying and Cultural Heritage
- Mechanics and Biomechanics Studies
- 3D Shape Modeling and Analysis
- Neurological disorders and treatments
- Muscle activation and electromyography studies
University of Lübeck
2011-2018
A major challenge during endovascular interventions is visualising the position and orientation of catheter being inserted. This typically achieved by intermittent X-ray imaging. Since radiation exposure to surgeon considerable, it desirable reduce bare minimum needed. Additionally, transferring two-dimensional (2D) images 3D locations challenging. The authors present development a real-time navigation framework, which allows holographic view vascular system without any need radiation. They...
We present a novel framework for rigid point cloud registration. Our approach is based on the principles of mechanics and thermodynamics. solve registration problem by assuming clouds as bodies consisting particles. Forces can be applied between both particle systems so that they attract or repel each other. These forces are used to cause rigid-body motion one system toward other, until aligned. The supports physics-based processes with arbitrary driving forces, depending desired behaviour....
This paper presents an optimized, robust inverse kinematics solution in a closed form for redundant manipulators with seven degrees of freedom and zero link offsets like the KUKA LBR iiwa lightweight robot. The computation allows full range elbow self-motion manifold control, defined by intuitive angle parameter. Furthermore, using common configuration parameters, all possible solutions single effector pose are taken into account arm control is realized. algorithm was evaluated looking at...
This paper presents a detailed dexterity analysis of three different kinematics, comparing six-DoF with seven-DoF robots. The KUKA LBR iiwa 7 lightweight robot represents the while KR 10 is chosen as common comparable workspace dimensions. Furthermore, simulated six-jointed to allow for direct comparison seven- and kinematics. Due this simulation it possible isolate effects additional 7th DoF first time. results show that average increased by 16.8% due joint. Compared highest manipulator,...
Voreen is an open source volume rendering engine which allows interactive visualization of volumetric data sets with high flexibility when integrating new techniques [Meyer-Spradow et al. 2009]. It designed minimal overhead, so that, even for difficult processing networks, speeds can be achieved. While well-equipped to display Cartesian volumes, volumes in polar coordinates, such as raw ultrasound beam data, currently have interpolated and converted coordinates displayed. This highly...
This paper presents a method to solve - in real time the three dimensional workspace generation problem for arbitrary serial manipulators. Our approach is based on Monte Carlo simulation, process high number of forward kinematics with randomly chosen joint values. results an asymptotic coverage reachable workspace. Additionally, collision detection integrated consider obstacles within manipulator's environment. The implemented graphics processing unit (GPU), such that extremely points can be...
Ultrasound (US) guidance is a rapidly growing area in image-guided radiotherapy. For motion compensation, the therapy target needs to be visualized with US probe continuously determine its position and adapt for shifts. While has obvious benefits such as real-time capability proven safety, one of main drawbacks date user dependency – high quality results require long years clinical experience. To provide positioning assistance setup equipment by non-experts, we developed visual tool...
Purpose: 4D ultrasound has become an alternative for image guidance and motion compensation in radiosurgery. Nevertheless, a two‐step localization to be performed when using ultrasound. In addition target inside the volume, transducer itself localized position transformed into treatment coordinates. Methods: The CyberKnife (Accuray Inc.) features stereo X‐ray system which is used patient fiducial marker localization. Accessing only raw images, we designed software package additional...
Abstract In the recent past, 3D ultrasound has been gaining relevance in many biomedical applications. One main limitation, however, is that typical volumes are either very poorly resolved or only cover small areas. We have developed a GPU-accelerated method for live fusion of freehand sweeps to create one large volume. The implemented CUDA and capable generating an output volume with 0.5 mm resolution real time while processing more than 45 per second, 300.000 voxels First experiments...
Purpose: For safe and accurate real‐time tracking of tumors for IGRT using 4D ultrasound, it is necessary to make use novel, high‐end force‐sensitive lightweight robots designed human‐machine interaction. Such a robot will be integrated into an existing robotized ultrasound system non‐invasive live tracking, newly developed control communication framework. Methods: The new KUKA LWR iiwa used tumor tracking. Besides more precise probe contact pressure detection, this provides additional 7th...
Abstract Real-time target localization with ultrasound holds high potential for image guidance and motion compensation in radiosurgery due to its non-invasive acquisition free from ionizing radiation. However, a two-step has be performed when integrating into the existing workflow. In addition inside volume, probe itself localized order transform position treatment room coordinates. By adapting camera calibration tools, we have developed method extend stereoscopic X-ray tracking system of...