Russell H. Taylor

Department of Mechanical Engineering, Johns Hopkins University

Associated articles

TBME, Featured Articles
Pose Estimation of Periacetabular Osteotomy Fragments with Intraoperative X-Ray Navigation
State-of-the-art navigation systems for pelvic osteotomies use optical systems with external fiducials. In this paper, we propose the use of X-ray navigation for pose estimation of periacetabular fragments without external fiducial objects. A multiple-object, multiple-view, two-dimensional/three-dimensional registration pipeline was developed... Read more
TBME, Featured Articles
Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study
This work aims to evaluate two variants of an adaptive force control scheme to mitigate the risk of unsafe scleral forces during robot-assisted eye surgery procedures. The robot and its dependencies were set up in an operating room, where we enrolled ten retina fellows and ophthalmology residents into a simulated procedure. The participants were asked to follow phantom retinal vessels using a custom force-sensing instrument, with and without robotic assistance. We demonstrate that the control methods can make the robot autonomously maintain the scleral forces at predetermined safe levels better than freehand manipulations, while the surgeon performs the surgical tasks... Read more
TBME, Featured Articles
Fluoroscopic Navigation for a Surgical Robotic System including a Continuum Manipulator
We present an image-based navigation solution for a surgical robotic system with a continuum manipulator. Our navigation system uses only fluoroscopic images from a mobile C-arm to estimate the continuum manipulator’s shape and pose with respect to the bone anatomy. The continuum manipulator’s pose and shape estimation is achieved using multiple view image intensity-based 2D/3D registration. A learning-based framework is used to detect the continuum manipulator for automatic pose initialization. Our system was tested in both simulation and cadaveric studies. The results suggest that our proposed fluoroscopic navigation is feasible to guide the continuum manipulator in orthopedic applications... Read more