Palpation is the first step for many medical interventions. To provide an immersive virtual training and planning environment, the palpation step has to be successfully modeled and simulated. Here, we present a multiproxy approach that calculates friction and surface resistance forces for multiple contact points on finger tips or virtual tools like ultrasound probes and displays the resulting f...

This paper describes extensions to the Kintinuous [1] algorithm for spatially extended KinectFusion, incorporating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust tracking; (ii) a novel GPU-based implementation of an existing dense RGB-D visual odometry algorithm; (iii) advanced fused realtime surface coloring. These extensions are val...

Endoscopic surgery has recently been adopted in various surgical operations. Forceps stuck through trocars into the abdominal or chest cavity, dissects and grasps internal organs. Due to their xed shapes, the current forceps limit the skill of surgeons. We have worked on the development of active forceps adoping shape-memory-alloy pipes and coaxicially assembling them. In this paper, we show se...

The application of the two-degree-of-freedom (2DOF) control to the electrodynamic multi-axis shaking system that is not permitted to employ the iteration control method is presented. A transformation matrix is used to remove a redundancy. The redundancy arises from the fact that the 6DOF shaking table is composed of 8-shakers. Furthermore, the influences of the specimen and the crosscoupling te...

INTRODUCTION Prospective motion correction using an external tracking device is an effective technique for motion correction in fMRI [1]. It has advantages over image-based correction methods [2], which require full volume coverage to compute motion parameters in a full six degrees of freedom (6DOF). The ultimate goal of this project is to use prospective correction to perform fMRI experiments ...

Previous in-vivo studies have mostly used X-ray images to measure the vertebral rotational centers in sagittal plane. Recently, advanced medical image techniques such as CT, MRI and dual plane fluoroscopic have enabled investigation of 3D motions of the vertebral body in space. We have applied the combined dual fluoroscopic imaging system (DFIS) and MR imaging technique to investigate the 6DOF ...