unc-robotics Goto Github PK

iris

IRIS plans motions that allow a robot to inspect a set of points of interest (POIs), aiming at maximizing the number of POI inspected with the shortest length.

lung-segmentation

Automatically segment anatomical structures in a CT scan of a lung including the bronchial tree, major blood vessels, and the pulmonary pleura.

med-mpd

A dataset of patient-derived anatomical environments with clinical tasks for motion planning for medical robots. (Superseded by the Med-RAD repository).

med-rad

A dataset of patient-derived anatomical environments with clinical tasks for medical robots.

moveit_calibration

Hand-eye calibration tools for robot arms.

mpt

Motion Planning Templates creates fast, parallel, robot-specific motion planners.

nigh

Concurrent exact nearest neighbor searching in robotics-relevant spaces, including Euclidean, SO(3), SE(3) and weighted combinations thereof

steerable-needle-insertion

3D Slicer visualization for manual steerable needle insertion

steerable-needle-mp

steerable-needle-planner

For medical steerable needles, efficiently compute motion plans that consider constraints such as the steerable needle’s maximum curvature and avoidance of anatomical obstacles.

telicam_driver

High-level driver for Toshiba USB3 TeliCams