Abstract: Systems and methods for arbitrary viewpoint robotic manipulation and robotic surgical assistance are disclosed. According to an aspect, a system includes one or more controllers configured to receive an image dataset of an actual environment within which the robotic tool is positioned. The controller(s) are also configured to generate a virtual environment of the actual environment based on the image dataset. Further, the controller(s) can control display of the virtual environment including a virtual tool controllable by a user for use to control the robotic tool within the actual environment. The controller(s) can receive user input for altering a perspective view of display of the virtual environment from a first perspective view to a second perspective view. Further, the controller(s) can maintain orientation of display of the virtual tool with respect to the user during display of the first perspective view and the second perspective view of the virtual environment.

Abstract: The present invention involves a system and method of providing decision support for assisting medical treatment decision-making. A patient agent software module processes information about a particular patient. A doctor agent software module processes information about a health status of a particular patient, beliefs relating to patient treatments, and the actual effects of treatment decisions. By filtering information over time from the patient agent into the doctor agent, a plurality of decision-outcome nodes are created and formed into a patient-specific outcome tree with the plurality of decision-outcome nodes. An optimal treatment is determined by evaluating the plurality of decision-outcome nodes with a cost per unit change function to output the optimal treatment.

Abstract: The present invention involves a system and method of providing decision support for assisting medical treatment decision-making. A patient agent software module processes information about a particular patient. A doctor agent software module processes information about a health status of a particular patient, beliefs relating to patient treatments, and the actual effects of treatment decisions. By filtering information over time from the patient agent into the doctor agent, a plurality of decision-outcome nodes are created and formed into a patient-specific outcome tree with the plurality of decision-outcome nodes. An optimal treatment is determined by evaluating the plurality of decision-outcome nodes with a cost per unit change function to output the optimal treatment.

Abstract: The present invention involves a system and method of providing decision support for assisting medical treatment decision-making. A patient agent software module processes information about a particular patient. A doctor agent software module processes information about a health status of a particular patient, beliefs relating to patient treatments, and the actual effects of treatment decisions. By filtering information over time from the patient agent into the doctor agent, a plurality of decision-outcome nodes are created and formed into a patient-specific outcome tree with the plurality of decision-outcome nodes. An optimal treatment is determined by evaluating the plurality of decision-outcome nodes with a cost per unit change function to output the optimal treatment.

Abstract: Systems and methods for arbitrary viewpoint robotic manipulation and robotic surgical assistance are disclosed. According to an aspect, a system includes one or more controllers configured to receive an image dataset of an actual environment within which the robotic tool is positioned. The controller(s) are also configured to generate a virtual environment of the actual environment based on the image dataset. Further, the controller(s) can control display of the virtual environment including a virtual tool controllable by a user for use to control the robotic tool within the actual environment. The controller(s) can receive user input for altering a perspective view of display of the virtual environment from a first perspective view to a second perspective view. Further, the controller(s) can maintain orientation of display of the virtual tool with respect to the user during display of the first perspective view and the second perspective view of the virtual environment.

Abstract: The present invention involves a system and method of providing decision support for assisting medical treatment decision-making. A patient agent software module processes information about a particular patient. A doctor agent software module processes information about a health status of a particular patient, beliefs relating to patient treatments, and the actual effects of treatment decisions. By filtering information over time from the patient agent into the doctor agent, a plurality of decision-outcome nodes are created and formed into a patient-specific outcome tree with the plurality of decision-outcome nodes. An optimal treatment is determined by evaluating the plurality of decision-outcome nodes with a cost per unit change function to output the optimal treatment.

Abstract: Multi-modal planning method and system that search a path for the most constrained mode first, and then expands the searches for path in a less constrained mode. By searching the path for the most constrained mode first, less resource are wasted on searching for paths that does not result in a feasible path in the most constrained mode. Multi-modal planning is performed by precomputing feasibility and utility of transition configurations of two adjacent modes. The feasibility is used to exclude non-feasible transition configurations in the most constrained mode from being sampled. The utility is used to bias sampling of the transition configuration so that transition configurations with higher utility are sampled with higher probability. Paths of configurations with higher utility and efficiency are obtained by biasing the sampling of the transition configurations.

Abstract: Multi-modal planning method and system that search a path for the most constrained mode first, and then expands the searches for path in a less constrained mode. By searching the path for the most constrained mode first, less resource are wasted on searching for paths that does not result in a feasible path in the most constrained mode. Multi-modal planning is performed by precomputing feasibility and utility of transition configurations of two adjacent modes. The feasibility is used to exclude non-feasible transition configurations in the most constrained mode from being sampled. The utility is used to bias sampling of the transition configuration so that transition configurations with higher utility are sampled with higher probability. Paths of configurations with higher utility and efficiency are obtained by biasing the sampling of the transition configurations.