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Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can significantly reduce surgeons' fatigue during tele-operated…
Today's scientific simulations require a significant reduction of data volume because of extremely large amounts of data they produce and the limited I/O bandwidth and storage space. Error-bounded lossy compression has been considered one…
We propose MetaEMG, a meta-learning approach for fast adaptation in intent inferral on a robotic hand orthosis for stroke. One key challenge in machine learning for assistive and rehabilitative robotics with disabled-bodied subjects is the…
The compression of real-world scanned 3D human dynamic meshes is an emerging research area, driven by applications such as telepresence, virtual reality, and 3D digital streaming. Unlike synthesized dynamic meshes with fixed topology,…
We propose a novel early-terminating mesh refinement strategy using an integrated residual method to solve dynamic feasibility problems. As a generalization of direct collocation, the integrated residual method is used to approximate an…
Accurate reconstruction of implanted knee models is crucial in orthopedic surgery and biomedical engineering, enhancing preoperative planning, optimizing implant design, and improving surgical outcomes. Traditional methods rely on…
Computed Tomography (CT) image guidance enables accurate and safe minimally invasive treatment of diseases, including cancer and chronic pain, with needle-like tools via a percutaneous approach. The physician incrementally inserts and…
Purpose: Ultrasound-guided needle interventions are widely used in clinical practice, but their success critically depends on accurate needle placement, which is frequently hindered by the poor and intermittent visibility of needles in…
The flexible body has advantages over the rigid body in terms of environmental contact thanks to its underactuation. On the other hand, when applying conventional control methods to realize dynamic tasks with the flexible body, there are…
A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-guided biopsy is often preferred. The lack of real-time imaging…
Modeling and manufacturing of personalized cranial implants are important research areas that may decrease the waiting time for patients suffering from cranial damage. The modeling of personalized implants may be partially automated by the…
Recent advances in implicit neural representations have made them a popular choice for modeling 3D geometry, achieving impressive results in tasks such as shape representation, reconstruction, and learning priors. However, directly editing…
Neural fields are receiving increased attention as a geometric representation due to their ability to compactly store detailed and smooth shapes and easily undergo topological changes. Compared to classic geometry representations, however,…
Neuronal damage, in the form of both brain and spinal cord injuries, is one of the major causes of disability and death in young adults worldwide. One way to assess the direct damage occurring after a mechanical insult is the simulation of…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…
Current neurosurgical procedures utilize medical images of various modalities to enable the precise location of tumors and critical brain structures to plan accurate brain tumor resection. The difficulty of using preoperative images during…
Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the body. By bending around sensitive anatomical structures, steerable needles have the potential to reduce the invasiveness of many medical…
We have developed a simulation code with the techniques which enhance both spatial and time resolution of the PM method for which the spatial resolution is restricted by the spacing of structured mesh. The adaptive mesh refinement (AMR)…
Physicians perform minimally invasive percutaneous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these procedures performed within Computed Tomography Scanners,…