Representation for knot-tying tasks
نویسندگان
چکیده
منابع مشابه
Simulated Knot Tying
Applications such as suturing in medical simulations require the modeling of knot tying in physically realistic rope. The paper describes the design and implementation of such a system. Our model uses a spline of linear springs, adaptive subdivision and a dynamics simulation. Collisions are discrete event simulated and follow the impulse model. Although some care must be taken to maintain stabl...
متن کاملKnot-tying with four-piece fixtures
We present a class of fixtures that can be disassembled into four pieces to extract the loosely-tied knot. We prove that a fixture can be designed for any particular knot such that the knot can be extracted using only simple pure translations of the four fixture sections. We explore some of the issues raised by our experimental work with these fixtures, which show that simple knots can be tied ...
متن کاملTowards a Better Laparoscopic Knot: Using Knot Quality Scores to Evaluate Three Laparoscopic Knot-Tying Techniques
OBJECTIVE In the past, knot-tying techniques have been evaluated and compared, but there has been a scarcity of objective scoring systems in these comparison studies. Using an objective scoring system, we aimed to compare 3 types of knots: intracorporeal flat-square knots, intracorporeal slip-square knots, and extracorporeal square-knots for their Knot Quality Scores (KQS) and their rates of sl...
متن کاملRobotic Sewing and Knot Tying for Personalized Stent Graft Manufacturing
This paper presents a versatile robotic system for sewing 3D structured object. Leveraging on using a customized robotic sewing device and closed-loop visual servoing control, an all-in-one solution for sewing personalized stent graft is demonstrated. Stitch size planning and automatic knot tying are proposed as the two key functions of the system. By using effective stitch size planning, sub-m...
متن کاملTying the knot: linking cytokinesis to the nuclear cycle.
For the survival of both the parent and the progeny, it is imperative that the process of their physical division (cytokinesis) be precisely coordinated with progression through the mitotic cell cycle. Recent studies in the budding yeast Saccharomyces cerevisiae and the fission yeast Schizosaccharomyces pombe are beginning to unravel the nature of the links between cytokinesis and the nuclear d...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2006
ISSN: 1552-3098
DOI: 10.1109/tro.2005.855988