Title FPGA-based High-Performance Collision Detection : An EnablingTechnique for Image-Guided Robotic Surgery

[1]  Seok-Bum Ko.  Efficient FPGA realizations based on AND /XOR expressions , 2002 .

[2]  Kristian Kolding Foged-Ladefoged.  Real-Time Embedded Systems in Java , 2014 .

[3]  Brian L. Davies,et al.  Active Constraints/Virtual Fixtures: A Survey , 2014, IEEE Transactions on Robotics.

[4]  Wayne Luk,et al.  Have GPUs made FPGAs redundant in the field of video processing? , 2005, Proceedings. 2005 IEEE International Conference on Field-Programmable Technology, 2005..

[5]  Danica Kragic,et al.  Minimum volume bounding box decomposition for shape approximation in robot grasping , 2008, 2008 IEEE International Conference on Robotics and Automation.

[6]  Sariel Har-Peled,et al.  Efficiently approximating the minimum-volume bounding box of a point set in three dimensions , 1999, SODA '99.

[7]  Christian Duriez,et al.  GPU-based real-time soft tissue deformation with cutting and haptic feedback. , 2010, Progress in biophysics and molecular biology.

[8]  Mariano Fons,et al.  Real-time embedded systems powered by FPGA dynamic partial self-reconfiguration: a case study oriented to biometric recognition applications , 2010, Journal of Real-Time Image Processing.

[9]  N. Sudha,et al.  Hardware-Efficient Image-Based Robotic Path Planning in a Dynamic Environment and Its FPGA Implementation , 2011, IEEE Transactions on Industrial Electronics.

[10]  W. Eric L. Grimson,et al.  Simulating arthroscopic knee surgery using volumetric object representations, real-time volume rendering and haptic feedback , 1997, CVRMed.

[11]  Richard Szeliski,et al.  A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms , 2001, International Journal of Computer Vision.

[12]  Danail Stoyanov,et al.  Surgical Vision , 2011, Annals of Biomedical Engineering.

[13]  Olivier Roy,et al.  A multi-FPGA architecture-based real-time TFM ultrasound imaging , 2016, Journal of Real-Time Image Processing.

[14]  Guang-Zhong Yang,et al.  Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints , 2013, IEEE Transactions on Robotics.

[15]  Guang-Zhong Yang,et al.  Real-Time Stereo Reconstruction in Robotically Assisted Minimally Invasive Surgery , 2010, MICCAI.

[16]  Christos-Savvas Bouganis,et al.  Performance comparison of GPU and FPGA architectures for the SVM training problem , 2009, 2009 International Conference on Field-Programmable Technology.

[17]  Dinesh Manocha,et al.  Fast and reliable collision culling using graphics hardware , 2005, SIGGRAPH Courses.

[18]  Guang-Zhong Yang,et al.  Intra-Operative Visualizations: Perceptual Fidelity and Human Factors , 2008, Journal of Display Technology.

[19]  Kevin Skadron,et al.  Accelerating Compute-Intensive Applications with GPUs and FPGAs , 2008, 2008 Symposium on Application Specific Processors.

[20]  Marc O Schurr,et al.  Review on aspects of artificial tactile feedback in laparoscopic surgery. , 2009, Medical engineering & physics.

[21]  Fan Yang,et al.  Flexible VLIW processor based on FPGA for efficient embedded real-time image processing , 2012, Journal of Real-Time Image Processing.

[22]  Eric Monmasson,et al.  FPGA Design Methodology for Industrial Control Systems—A Review , 2007, IEEE Transactions on Industrial Electronics.

[23]  Sina Nia Kosari.  Haptic Virtual Fixtures for Robotic Surgery , 2013 .

[24]  Yuan Chen,et al.  Multi-FPGA digital hardware design for detailed large-scale real-time electromagnetic transient simulation of power systems , 2013 .

[25]  Lena Maier-Hein,et al.  Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction , 2014, IEEE Transactions on Medical Imaging.

[26]  Arnaud Tisserand,et al.  Power Consumption of GPUs from a Software Perspective , 2009, ICCS.

[27]  D. Yuh,et al.  Application of haptic feedback to robotic surgery. , 2004, Journal of laparoendoscopic & advanced surgical techniques. Part A.

[28]  Allison M. Okamura,et al.  Methods for haptic feedback in teleoperated robot-assisted surgery , 2004 .

[29]  Wolfgang Straßer,et al.  Fast and Scalable CPU/GPU Collision Detection for Rigid and Deformable Surfaces , 2010, Comput. Graph. Forum.

[30]  Bin Tian,et al.  Fast double-parallel image processing based on FPGA , 2011, Proceedings of 2011 IEEE International Conference on Vehicular Electronics and Safety.

[31]  Xin Wang,et al.  A quasi-static model of wheel-tissue interaction for surgical robotics. , 2013, Medical engineering & physics.

[32]  Fuchang Liu,et al.  Real-time collision culling of a million bodies on graphics processing units , 2010, SIGGRAPH 2010.

[33]  Lena Maier-Hein,et al.  Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery , 2013, Medical Image Anal..

[34]  Dinesh Manocha,et al.  Fast continuous collision detection for articulated models , 2004, SM '04.

[35]  Cagatay Basdogan,et al.  Haptics in minimally invasive surgical simulation and training , 2004, IEEE Computer Graphics and Applications.

[36]  Rajni V. Patel,et al.  Needle insertion into soft tissue: a survey. , 2007, Medical engineering & physics.

[37]  A. Darzi,et al.  Image-guided robotic interventions for prostate cancer , 2013, Nature Reviews Urology.

[38]  John D. Davis,et al.  BLAS Comparison on FPGA, CPU and GPU , 2010, 2010 IEEE Computer Society Annual Symposium on VLSI.

[39]  Mohamed Abid,et al.  An FPGA-based accelerator for Fourier Descriptors computing for color object recognition using SVM , 2007, Journal of Real-Time Image Processing.

[40]  Suvranu De,et al.  Computationally efficient techniques for real time surgical simulation with force feedback , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[41]  Wayne Luk,et al.  Ieee Transactions on Computer-aided Design of Integrated Circuits and Systems Accuracy Guaranteed Bit-width Optimization Abstract— We Present Minibit, an Automated Static Approach for Optimizing Bit-widths of Fixed-point Feedforward Designs with Guaranteed Accuracy. Methods to Minimize Both the In- , 2022 .

[42]  Jiri Filipovic,et al.  Distributed Construction of Configuration Spaces for Real-Time Haptic Deformation Modeling , 2011, IEEE Transactions on Industrial Electronics.

[43]  Gabriel Zachmann,et al.  Collision Detection Based on Fuzzy Scene Subdivision , 2015 .

[44]  Paolo Fiorini,et al.  Simulation of deformable environment with haptic feedback on GPU , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[45]  Liyanage C. De Silva,et al.  Multimodal Approach to Human-Face Detection and Tracking , 2008, IEEE Transactions on Industrial Electronics.

[46]  Wayne Luk,et al.  Mixed Precision Processing in Reconfigurable Systems , 2011, 2011 IEEE 19th Annual International Symposium on Field-Programmable Custom Computing Machines.

[47]  Darius Burschka,et al.  Advances in Computational Stereo , 2003, IEEE Trans. Pattern Anal. Mach. Intell..

[48]  Maxime Sermesant,et al.  Application of soft tissue modelling to image-guided surgery. , 2005, Medical engineering & physics.

[49]  Bruno Arnaldi,et al.  Dynamic adaptation of broad phase collision detection algorithms , 2011, 2011 IEEE International Symposium on VR Innovation.

[50]  Guang-Zhong Yang,et al.  Dense 3D Depth Recovery for Soft Tissue Deformation During Robotically Assisted Laparoscopic Surgery , 2004, MICCAI.

[51]  Tomas Akenine-Möller,et al.  Fast 3D triangle-box overlap testing , 2002, J. Graphics, GPU, & Game Tools.

[52]  Satoru Yamamoto,et al.  Multi-FPGA Accelerator for Scalable Stencil Computation with Constant Memory Bandwidth , 2014, IEEE Transactions on Parallel and Distributed Systems.

[53]  A. Okamura.  Haptic feedback in robot-assisted minimally invasive surgery , 2009, Current opinion in urology.

[54]  M. Schijven,et al.  The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review , 2009, Surgical Endoscopy.

[55]  K. Sridharan,et al.  Efficient FPGA Realization of CORDIC With Application to Robotic Exploration , 2009, IEEE Transactions on Industrial Electronics.