266results about How to "Minimize cost function" patented technology

A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.

A method and apparatus for estimating poses of a subject by grouping data points generated by a depth image into groups representing labeled parts of the subject, and then fitting a model representing the subject to the data points using the grouping of the data points. The grouping of the data points is performed by grouping the data points to segments based on proximity of the data points, and then using constraint conditions to assign the segments to the labeled parts. The model is fitted to the data points by using the grouping of the data points to the labeled parts.

A method and apparatus is provided for magnetic source magnetic resonance imaging. The method includes collecting energy signals from an object, providing additional information of characteristics of the object, and generating the image of the object from the energy signals and from the additional information such that the image includes a representation of a quantitative estimation of the characteristics, e.g a quantitative estimation of magnetic susceptibility. The additional information may comprise predetermined characteristics of the object, a magnitude image generated from the object, or magnetic signals collected from different relative orientations between the object and the imaging system. The image is generated by an inversion operation based on the collected signals and the additional information. The inversion operation minimizes a cost function obtained by combining the data extracted from the collected signals and the additional information of the object. Additionally, the image is used to detect a number of diagnostic features including microbleeds, contract agents and the like.

A method, including: receiving an input indicative of respective apparent locations of a plurality of points disposed along a length of a probe inside a body of a subject, and applying a model of known mechanical properties of the probe to the respective apparent locations so as to minimize a first cost function with respect to shapes that can be assumed by the probe in the body. The method further includes choosing a shape responsively to the minimized first cost function and determining preliminary coordinates of the apparent locations responsively to the shape, minimizing a second cost function with respect to differences between the apparent locations and the preliminary coordinates, and generating corrected coordinates of the points along the length of the probe based on the minimized second cost function.

A method for determining a transformation of a three-dimensional pre-operative image data set to obtain a registration of the three-dimensional image data with an X-ray imaging system. In one aspect of the present invention, the method comprises the steps of the user identifying a center point and extreme contour points of the object from an X-ray image, obtaining a set of contour points for the image object in each of a plurality of section-planes, and selecting from a sampling of section-planes the points projecting nearest to the user-identified extreme points. The method then defines a grid having a predetermined number of intervals at a predetermined interval spacing with the grid center at the user-identified center of the pre-operative image, and performs a projection of the center point of the three-dimensional image data set onto each grid point for evaluation and selection of the grid point projecting nearest to the user-identified center. Registration of a three dimensional image data will allow, among other things, overlay of a visual representation of a pre-operative image object onto an X-ray image plane that can serve as a visual tool and a surgical navigation aid.

A method and apparatus for estimating poses of a subject by grouping data points generated by a depth image into groups representing labeled parts of the subject, and then fitting a model representing the subject to the data points using the grouping of the data points. The grouping of the data points is performed by grouping the data points to segments based on proximity of the data points, and then using constraint conditions to assign the segments to the labeled parts. The model is fitted to the data points by using the grouping of the data points to the labeled parts.

A method for determining a property of fluids in formations surrounding an earth borehole includes the following steps: producing, from measurements on a multiplicity of fluid samples, a database of stored fluid property training values related to stored fluid measurement training values; deriving, from the database, radial basis function parameters; deriving formation fluid measurement values; and determining, using radial basis function interpolation, the property of formation fluids from values in the database, the parameters, and the derived formation fluid measurement values.