Multi-Robot System Prototyping for Cooperative Control in Robot-Assisted Surgery скачать в хорошем качестве

Multi-Robot System Prototyping for Cooperative Control in Robot-Assisted Surgery

Object tracking in robot-assisted surgery has been clinically validated worldwide. However, optical marker is prone to light-of-sight blockage. A multi-robot cooperative system was developed, where one robot performed continuously tracking while avoiding collision with environmental obstacles and the second robot which performed surgery. We translated cuRobo, a GPU-accelerated motion planner, by integrating with LBR-stack ROS2 driver. A demo showcasing markerless knee tracking with collision avoidance was implemented. Project website: https://shengyangzhuang.github.io/mre... handeye_calibration_ros2:    • A ROS 2 Package for Robotic Hand-Eye Calib...   obstacle avoidance:    • Obstacle Avoidance with cuRobo GPU-Acceler...   object tracking:    • Robotic Object Tracking Performance Analysis   multi-arm system with continuous tracking:    • Multi-Robot System for Collision-Aware Con...   My personal webpage: https://shengyangzhuang.github.io/ Related links: cuRobo: https://curobo.org/ LBR-stack: https://github.com/lbr-stack/lbr_fri_... iiwa-stack: https://github.com/IFL-CAMP/iiwa_stack