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...
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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...
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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...
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