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Adapting the ITK Registration Framework to Fit Parametric Image Models
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The image registration framework in the Insight Tookit offers a powerful body of code for finding the optimal spatial transform that registers one image with another. However, ITK currently lacks a way to fit parametric models of image pixel values to an [...]

A modular architecture for biomanipulation
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The Johns Hopkins University Surgical Assistant Workstation (SAW) modular software framework provides support for robotic devices, imaging sensors and a visualization pipeline for rapid prototyping, primarily for surgical research systems. We extend the SAW [...]

Automatic Branch Decomposition for Tubular Structures
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Branches of tubular structures (vasculature, trachea, neuron, etc.) in medical images are critical for the topology of these structures. In many applications, It is very helpful to be able to decompose tubular structures and identify every individual [...]

Grid voxelization with partial volume effects in VTK
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We present a filter that voxelizes the volume of a 3D structured, unstructured, or rectilinear grid into a vtkImageData with partial volume effects. The partial grid volume occupying each voxel is computed exactly from the intersection of the grid volume and [...]

Automatic Junction Detection for Tubular Structures
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Junctions of tubular structures (vasculature, trachea, neuron, etc) in medical images are critical for the topology of these structures. Identification of them is helpful in many applications. For example, quantification of geometric vascular features, [...]

The cisst libraries for computer assisted intervention systems
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Computer assisted intervention (CAI) systems require the integration of an increasing number of devices, including medical monitors, sensors, tracking devices and robots. This complexity makes applications harder to develop, more difficult to debug and the [...]

Boolean Operations on Surfaces in VTK Without External Libraries
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We have written a set of classes than enable computation of boolean operations on surface meshes using only VTK classes. In addition to being compatible with the VTK license, our contribution preserves surface mesh topology to the extent possible in boolean [...]

Development of open source software for computer-assisted intervention systems
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We are developing open source software for computer assisted intervention systems. Our primary experience has been with medical robots, but the concepts (and software) apply to many physical devices that interact with the real world. The real-time [...]

An Open-Source Hardware and Software Platform for Telesurgical Robotics Research
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We present our work to develop a telerobotics research platform that provides complete access to all levels of control via open-source custom electronics and software. The electronics employs an FPGA to enable a centralized computation and distributed I/O [...]

A Surgical Assistant Workstation (SAW) Application for Teleoperated Surgical Robot System
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The Surgical Assistant Workstation (SAW) modular software framework provides integrated support for robotic devices, imaging sensors, and a visualization pipeline for rapid prototyping of telesurgical research systems. Subsystems of a telesurgical system, [...]

Component-based software for dynamic configuration and control of computer assisted intervention systems
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This paper presents the rationale for the use of a component-based architecture for computer-assisted intervention (CAI) systems, including the ability to reuse components and to easily develop distributed systems. We introduce three additional capabilities, [...]

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery
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This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving [...]

The Surgical Assistant Workstation (SAW) in Minimally-Invasive Surgery and Microsurgery
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The Surgical Assistant Workstation (SAW) provides a modular, open-source software framework to support rapid prototyping of computer-assisted surgery systems, especially those that benefit from enhanced 3D visualization and user interaction. The framework [...]


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