International Business Machines Corporation

University of California

William A Hanson

Russell H Taylor

Brent D Mittelstadt

Bela L Musits

Edward Glassman

Howard A Paul

Donald G Grice

John Lewars

Peter Kazanzides

Peter Kazanides

A capability is provided for predicting the performance of a communications network, such as a multi-stage communications network. The predicted performance includes, in one aspect, predicting the amount of bandwidth that a server of the communications network could deliver with a full load on the network. In one aspect, the predictive capability includes determining an aggregate load for each server of the network being analyzed; performing normalization on the loads of the links used by the servers to obtain updated link and/or server bandwidths; and determining for each server, a minimum bandwidth over the links in the server's route.

Predicting the performance of a multi-stage communications network under load from multiple communicating servers

A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28,32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

Image-directed robotic system for precise robotic surgery including

A robotic surgical system includes a multiple degree of freedom manipulator arm having a surgical tool. The arm is coupled to a controller for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point. The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

A method and apparatus for obtaining well defined surface descriptions from a three-dimensional image. The invention employs an imaging and graphic system to receive as input an image and initial surface of points. The surface of points are modified in the memory of the graphic system to conform to the surface they represent by continually shrinking the points until they conform precisely to the surface to be matched. The resulting set of vectors are displayed by the graphic system. The integrated graphics and imaging system provides remarkable improvements in representing the surface.

Wire-mesh generation from image data

A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28, 32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

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Mountain View, CA, United States of America

William A Hanson