1. Articles from Kris Hauser

    1-3 of 3
    1. Systems and methods for arbitrary viewpoint robotic manipulation and robotic surgical assistance

      Systems and methods for arbitrary viewpoint robotic manipulation and robotic surgical assistance

      Systems and methods for arbitrary viewpoint robotic manipulation and robotic surgical assistance are disclosed. According to an aspect, a system includes one or more controllers configured to receive an image dataset of an actual environment within which the robotic tool is positioned. The controller(s) are also configured to generate a virtual environment of the actual environment based on the image dataset. Further, the controller(s) can control display of the virtual environment including a virtual tool controllable by a user for use to control the robotic tool within the actual environment. The controller(s) can receive user input for ...

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    2. Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning

      Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning

      Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents a robotic suturing system that uses 3D optical coherence tomography (OCT) system for imaging feedback. Calibration of the robot-OCT and robot-needle transforms, wound detection, keypoint identification, and path planning are all performed automatically. The calibration method handles pose uncertainty when the needle is grasped using a variant of iterative closest points. The path planner uses the identified wound shape to calculate ...

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    3. Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty

      Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty

      Objective: Deep anterior lamellar keratoplasty (DALK) significantly reduces the post-transplantation morbidity in patients eligible for partial-thickness cornea grafts. The popular "big bubble" technique for DALK is so challenging, however, that a significant fraction of corneal pneumodissection attempts fail for surgeons without extensive DALK-specific experience, even with previous-generation cross-sectional optical coherence tomography (OCT) guidance. We seek to develop robotic, volumetric OCT-guided technology capable of facilitating or automating the difficult needle insertion step in DALK. Methods: Our system provides for real-time volumetric corneal imaging, segmentation, and tracking of the needle insertion to display feedback for surgeons and to generate needle insertion plans ...

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    1-3 of 3
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  2. Topics in the News

    1. (3 articles) Duke University
    2. (3 articles) Joseph A. Izatt
    3. (3 articles) Anthony N. Kuo
    4. (3 articles) University of Washington
    5. (2 articles) Mark Draelos
    6. (2 articles) Ruikang K. Wang
    7. (1 articles) Zhejiang University
    8. (1 articles) Cleveland Clinic
    9. (1 articles) UCSD
    10. (1 articles) Sunil K. Srivastava
    11. (1 articles) Justis P. Ehlers
    12. (1 articles) William R. Freeman
    13. (1 articles) Peng Li
    14. (1 articles) Optovue
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