Code for the ICRA2018 paper Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery.
The code folder contains two folders; discrete_probing
and continuous_probing
.
- estimating stiffness map using sequntial discrete probing strategy.
- replicating the results of
Fig.3
in the paper.
- run the
demo.m
file for generating stiffness map using all the algorithms discussed the paper. - run the
incremental_demo.m
file for generating stiffness map using all the algorithms discussed the paper in an incremental fashion (you can see the points being probed sequentially). This code also saves all the results at after each probe in an automatically generatedresults
folder. - run the
recall_plot_randomized_groundTruths.m
andrecall_plot_same_groundTruth.m
files to generate the recall plot ofFig. 4
.
- estimating stiffness map using sampling-based trajectory planning to generate continuous palapation paths.
- replicating the results of
Fig.5
in the paper.
- run the
test.m
file for generating stiffness map using any of the algorithms discussed the paper (you can change which algorithm you want to test inside the code) - run the
demo.m
file for generating stiffness map using all the algorithms discussed the paper. This code also saves all the results at after each probe in an automatically generatedresults
folder. - run the
recall_plot_randomized_groundTruths.m
andrecall_plot_same_groundTruth.m
files to generate the recall plot ofFig. 8
.
- Hadi Salman (hadicsalman@gmail.com)
- Elif Ayvali (eayvali@gmail.com)