Browse by UCL people
Group by: Type | Date
Number of items: 11.
2024
Starup-Hansen, Joachim;
Newall, Nicola;
Dimitrakakis, Emmanouil;
Khan, Danyal Z;
Dwyer, George;
Iyengar, Keshav;
Psychogyios, Dimitrios;
... Marcus, Hani J; + view all
(2024)
A Handheld Robot for Endoscopic Endonasal Skull Base Surgery: Updated Preclinical Validation Study (IDEAL Stage 0).
Journal of Neurological Surgery Part B: Skull Base
10.1055/a-2297-3647.
(In press).
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2023
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Iyengar, Keshav;
(2023)
Deep Reinforcement Learning for Inverse Kinematics and Path Following for Concentric Tube Robots.
Doctoral thesis (Ph.D), UCL (University College London).
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Iyengar, Keshav;
Sadati, SM Hadi;
Bergeles, Christos;
Spurgeon, Sarah;
Stoyanov, Danail;
(2023)
Sim2Real Transfer of Reinforcement Learning for Concentric Tube Robots.
IEEE Robotics and Automation Letters
pp. 1-8.
10.1109/lra.2023.3303714.
(In press).
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Iyengar, Keshav;
Spurgeon, Sarah;
Stoyanov, Danail;
(2023)
Deep Reinforcement Learning for Concentric Tube Robot Path Following.
IEEE Transactions on Medical Robotics and Bionics
10.1109/tmrb.2023.3310037.
(In press).
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2022
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Iyengar, K;
Spurgeon, S;
Stoyanov, D;
(2022)
Generalization for Deep Reinforcement Learning for Inverse
Kinematics of Concentric Tube Robots.
In: Elson, D and Giannarou, S and Mylonas, G and Rodriguez y Baena, F and Secoli, R and Thompson, A, (eds.)
Proceedings of the 14th Hamlyn Symposium on Medical Robotics 2022.
(pp. pp. 37-38).
The Hamlyn Centre, Imperial College London: London, UK.
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Iyengar, Keshav;
Spurgeon, Sarah;
Stoyanov, Danail;
(2022)
Unconstrained Rotation for Control of Concentric Tube Robots with Deep Reinforcement Learning.
In:
(Proceedings) Conference on New Technologies for Computer and Robot Assisted Surgery.
CRAS
(In press).
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2021
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Dwyer, G;
Alles, EJ;
Colchester, RJ;
Iyengar, K;
E Desjardins, A;
Stoyanov, D;
(2021)
Robot-assisted Optical Ultrasound Scanning.
IEEE Transactions on Medical Robotics and Bionics
, 3
(4)
pp. 948-958.
10.1109/TMRB.2021.3118293.
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Iyengar, K;
Stoyanov, D;
(2021)
Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum.
In:
IEEE International Conference on Robotics and Automation (ICRA) 2021.
IEEE
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2020
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Iyengar, K;
Dwyer, G;
Stoyanov, D;
(2020)
Investigating exploration for deep reinforcement learning of concentric tube robot control.
International Journal of Computer Assisted Radiology and Surgery
, 15
pp. 1157-1165.
10.1007/s11548-020-02194-z.
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Iyengar, K;
Stoyanov, D;
(2020)
Deep Reinforcement Learning for Concentric Tube Robot Control with Goal Based Curriculum Reward.
In:
Proceedings of the 10th Conference on New Technologies for Computer/Robot Assisted Surgery (CRAS 2020).
(pp. pp. 60-61).
Computer-Assisted Radiology and Surgery: Barcelona, Spain.
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2019
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Iyengar, K;
Dwyer, G;
Stoyanov, D;
(2019)
A Deep Reinforcement Learning Approach for Inverse Kinematics of Concentric Tube Robots.
In:
Proceedings of the 9th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery.
(pp. pp. 95-96).
CRAS: Genoa, Italy.
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