scholarly journals Feasibility study of real-time planning for stereotactic radiosurgery

2013 ◽  
Vol 40 (3) ◽  
pp. 031711 ◽  
Author(s):  
Qinghui Zhang ◽  
Yulin Song ◽  
Maria Chan ◽  
Chandra Burman ◽  
Yoshiya Yamada
Keyword(s):  
Stereotactic Radiosurgery ◽  
Real Time ◽  
Feasibility Study ◽  
Time Planning

SU-FF-T-538: Feasibility Study of Frame-Less Mask-Less Bite-Block-Less Stereotactic Radiosurgery Treatment with Real-Time Surface Imaging

2009 ◽  
Vol 36 (6Part17) ◽  
pp. 2648-2648 ◽  
Author(s):  
L Cerviño ◽  
W Song ◽  
J Wang ◽  
J Lawson ◽  
T Pawlicki ◽  
...  
Keyword(s):  
Stereotactic Radiosurgery ◽  
Real Time ◽  
Feasibility Study ◽  
Surface Imaging ◽  
Bite Block

On-line, real time monitoring of exhaled trace gases by SIFT-MS in the perioperative setting: a feasibility study

The Analyst ◽  
2011 ◽  
Vol 136 (16) ◽  
pp. 3233 ◽  
Author(s):  
Piers R. Boshier ◽  
Julia R. Cushnir ◽  
Vikash Mistry ◽  
Alison Knaggs ◽  
Patrik Španěl ◽  
...  
Keyword(s):  
Real Time ◽  
Feasibility Study ◽  
Trace Gases ◽  
Real Time Monitoring ◽  
On Line

Safe manipulation in unknown, crowded environments via sensor-based interleaving planner: interleaving software and sensitive skin hardware

Robotica ◽  
2016 ◽  
Vol 35 (5) ◽  
pp. 1176-1191
Author(s):  
Dugan Um ◽  
Dongseok Ryu
Keyword(s):  
Real Time ◽  
Configuration Space ◽  
Uncertain Environments ◽  
Sensitive Skin ◽  
Cluttered Environments ◽  
Time Planning ◽  
Near Future ◽  
Indoor Spaces ◽  
Crowded Environments ◽  
Complete Path

SUMMARYAs various robots are anticipated to coexist with humans in the near future, safe manipulation in unknown, cluttered environments becomes an important issue. Manipulation in an unknown environment, however, has been proven to be NP-Hard and the risk of unexpected human--robot collision hampers the dawning of the era of human--robot coexistence. We propose a non-contact-based sensitive skin as a means to provide safe manipulation hardware and interleaving planning between the workspace and the configuration space as software to solve manipulation problems in unknown, crowded environments. Novelty of the paper resides in demonstration of real time and yet complete path planning in an uncertain and crowded environment. To that end, we introduce the framework of the sensor-based interleaving planner (SBIP) whereby search completeness and safe manipulation are both guaranteed in cluttered environments. We study an interleaving mechanism between sensation in a workspace and execution in the corresponding configuration space for real-time planning in uncertain environments, thus the name interleaving planner implies.Applications of the proposed system include manipulators of a humanoid robot, surgical manipulators, and robotic manipulators working in hazardous and uncertain environments such as underwater, unexplored planets, and unstructured indoor spaces.

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