L
Luis G. Torres
Researcher at University of North Carolina at Chapel Hill
Publications - 14
Citations - 497
Luis G. Torres is an academic researcher from University of North Carolina at Chapel Hill. The author has contributed to research in topics: Motion planning & Robot kinematics. The author has an hindex of 11, co-authored 14 publications receiving 396 citations.
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Proceedings ArticleDOI
Task-oriented design of concentric tube robots using mechanics-based models
TL;DR: This work uses a mechanically accurate model of concentric tube robot kinematics that considers a robot's time-varying shape throughout the performance of a task to create a robot design on a patient-specific and surgery-specific basis.
Proceedings ArticleDOI
Motion planning for concentric tube robots using mechanics-based models
Luis G. Torres,Ron Alterovitz +1 more
TL;DR: This work introduces a new motion planner to maneuver concentric tube robots to clinical targets while minimizing the probability of colliding with anatomical obstacles using mechanics-based models that consider torsional interaction between the tubes.
Proceedings ArticleDOI
Continuous shape estimation of continuum robots using X-ray images
TL;DR: A new method for continuously and accurately estimating the shape of a continuum robot during a medical procedure using a small number of X-ray projection images that takes advantage of probabilistic priors and numeric optimization to select optimal camera configurations, thus minimizing the expected shape estimation error.
Journal ArticleDOI
An Experimental Feasibility Study on Robotic Endonasal Telesurgery
Raul Wirz,Luis G. Torres,Philip J. Swaney,Hunter B. Gilbert,Ron Alterovitz,Robert J. Webster,Kyle D. Weaver,Paul T. Russell +7 more
TL;DR: A phantom pituitary tumor removal done by a surgeon in Nashville, Tennessee, controlling a robot located approximately 800 km away in Chapel Hill, North Carolina, the first remote telesurgery experiment involving tentacle-like concentric tube manipulators is described.
Book ChapterDOI
Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision
TL;DR: A new integrated motion planning and control algorithm for robotic manipulators that makes safety a priority by explicitly considering the probability of unwanted collisions is introduced.