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Benjamin D. Killeen
Benjamin D. Killeen

10 Followers

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Aug 15, 2022

Frame Transformations in Computer Integrated Surgery

With intuitive notation, vocabulary, and diagrams. — This tutorial is an abbreviated version of this PDF. The notation aligns with the Computer Integrated Surgery course at Johns Hopkins University. Minimal linear algebra is assumed. Frame transformations are often the cause of confusing, frustratingly simple errors in computer integrated surgery. For beginners, developing the intuition to answer the…

Coordinate Systems

13 min read

Frame Transformations in Computer Integrated Surgery
Frame Transformations in Computer Integrated Surgery
Coordinate Systems

13 min read


Aug 25, 2021

Roadlocked

These spaces which our cars have taken over — “How do you keep yourself from just flooring it?” Dad laughed at my question. “I guess you just get used to it.” The one-way roadway begged me to go faster. SUVs on either side both faced the same direction. Overhanging branches created the impression of endless tunnel, with its unmarked…

Mwc Space

6 min read

Roadlocked
Roadlocked
Mwc Space

6 min read


Mar 10, 2021

How to Take the Train

The Amtrak overlooks a lot of cornfields in between Chicago and St. Louis. Of course, there are also creek beds, interstates, and cul-de-sacs; minor league baseball stadiums; and a graffitied concrete beam at Union station which reads, “Have a great day.” However, the train’s predominant view consists of corn: row…

Trains

4 min read

How to Take the Train
How to Take the Train
Trains

4 min read


Dec 26, 2020

How to Get Pinned

Eight months out of the year, most people called it the multipurpose room. It had the proportions of a dance studio or a chemistry lab — although it was neither — and inhabited the same basement hallway as the weight room and the lockers, containing neither weights nor changing areas…

Missouri

9 min read

How to Get Pinned
How to Get Pinned
Missouri

9 min read


Nov 10, 2020

How to Have an Opinion

Professor Lyons possessed the sort of casual self-importance which only former consulting attorneys and underpaid professors are capable of. He had elbow patches on his jacket. His favorite movie was The Big Lebowski. …

College

9 min read

How to Have an Opinion
How to Have an Opinion
College

9 min read


Oct 5, 2020

How to Hold Office Hours

Professor O’Leary wore circular spectacles and a wide brimmed wizard’s hat. Actually, it may have been a modest bucket hat, but the man so much resembled a wizard himself that the gray conical cap seems more likely in my mind. Peter, as he preferred to be called, spent Tuesdays on…

Chicago

4 min read

How to Hold Office Hours
How to Hold Office Hours
Chicago

4 min read


Aug 24, 2020

How to go Casting

The lake is fifteen minutes from my parents’ house, which makes up for some of its other qualities. Dense thickets and collapsing mud walls encircle the water, interrupted by abandoned camping chairs and a mossy picnic table, which sinks into the Missouri mud. After a rainstorm, the Meramec surges into…

Nonfiction

3 min read

How to go Casting
How to go Casting
Nonfiction

3 min read

Benjamin D. Killeen

Benjamin D. Killeen

10 Followers

PhD Student @JohnsHopkins. Creative nonfiction and computer integrated surgery.

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