The following paper presents the ROS-I interface developed to control Comau manipulators. Initially, the Comau controller allowed users to command a real robot thanks to motion primitives formulated through a Comau motion planning library. Now, either a ROS or a non ROS -compliant platform can move either a real or a virtual Comau robot using any motion planning library. Comau modules have been...

For solving tasks cooperatively in close interaction with humans, robots need to have timely updated spatial representations. However, perceptual information about the current position of interaction partners is often late. If robots could anticipate the targets of upcoming manual actions, such as pointing gestures, they would have more time to physically react to human movements and could cons...

BACKGROUND High grade gliomas (HGG) are typically treated with a combination of surgery, radiotherapy and chemotherapy. Three dimensional (3D) conformal radiotherapy treatment planning is still the main stay of treatment for these patients. New treatment planning methods suggest better dose distributions and organ sparing but their clinical benefit is unclear. The purpose of the current study w...

BACKGROUND A detailed evaluation of blood supply anatomy, especially the biliary anatomy at the hepatic hilus, is essential to ensure a complete and curative resection for Bismuth and Corlette type III hilar cholangiocarcinoma. The study aimed to investigate the impact of individualized preoperative planning using 3D modeling on surgical treatment for type III hilar cholangiocarcinoma. METHOD...

3D site models of industrial installations are required for tasks like maintenance management, revamping, and path planning. The traditional way of site modelling by photogrammetry relies on the measurement of numerous points and is quite time consuming. Attempts to fully automate 3D reconstruction by CAD based vision fail due to the complexity of the scenes and the lack of modelled knowledge. ...

In this paper, we present the design and implementation of a 3D Virtual Endoscopy system for facilitating diagnostic and surgical planning phases of endoscopic procedures. Our system allows the user to interactively explore the internal surface of a 3D patient-specific anatomical model and to create and update a fly-through trajectory through the model to simulate endoscopy. We also present an ...

Extraskeletal chondrosarcoma of the leg is a rare, malignant neoplasm with very few cases having been reported in the literature. In this study we investigate the possibility of using intensity modulated radiotherapy (IMRT) for this type of disease and demonstrate its advantages over conventional three-dimensional (3D) conformal treatment. A case was presented of a patient with extraskeletal ch...

A retrospective study was conducted to explore the application of digital model surgery in the treatment of dento-maxillofacial deformities. Fifteen patients with dento-maxillofacial deformities were enrolled in this study. A digital craniomaxillofacial-dentition model was established by combining three-dimensional (3D) computed tomography (CT) and laser-scanned dentition models. Based on this ...