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dc.contributor.authorRen, Hongliang
dc.contributor.authorVasilyev, Nikolay
dc.contributor.authorDupont, Pierre E
dc.date.accessioned2017-09-13T19:06:35Z
dc.date.issued2011
dc.identifier.citationRen, Hongliang, Nikolay V. Vasilyev, and Pierre E. Dupont. 2011. "Detection of curved robots using 3D ultrasound." In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference, pp. 2083-2089. doi:10.1109/IROS.2011.6094915en_US
dc.identifier.urihttp://nrs.harvard.edu/urn-3:HUL.InstRepos:33894947
dc.description.abstractThree-dimensional ultrasound can be an effective imaging modality for image-guided interventions since it enables visualization of both the instruments and the tissue. For robotic applications, its realtime frame rates create the potential for image-based instrument tracking and servoing. These capabilities can enable improved instrument visualization, compensation for tissue motion as well as surgical task automation. Continuum robots, whose shape comprises a smooth curve along their length, are well suited for minimally invasive procedures. Existing techniques for ultrasound tracking, however, are limited to straight, laparoscopic-type instruments and thus are not applicable to continuum robot tracking. Toward the goal of developing tracking algorithms for continuum robots, this paper presents a method for detecting a robot comprised of a single constant curvature in a 3D ultrasound volume. Computational efficiency is achieved by decomposing the six-dimensional circle estimation problem into two sequential three-dimensional estimation problems. Simulation and experiment are used to evaluate the proposed method.en_US
dc.language.isoen_USen_US
dc.publisherIEEEen_US
dc.relation.isversionofdoi:10.1109/IROS.2011.6094915en_US
dc.relation.hasversionhttps://www.ncbi.nlm.nih.gov/pmc/articles/PMC3252206/en_US
dash.licenseLAA
dc.titleDetection of curved robots using 3D ultrasounden_US
dc.typeConference Paperen_US
dc.description.versionAccepted Manuscripten_US
dc.relation.journal2011 IEEE/RSJ International Conference on Intelligent Robots and Systemsen_US
dash.depositing.authorDupont, Pierre E
dc.date.available2017-09-13T19:06:35Z
dc.identifier.doi10.1109/IROS.2011.6094915*
dash.contributor.affiliatedDupont, Pierre
dash.contributor.affiliatedVasilyev, Nikolay


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