Related papers: Understanding Soft-Tissue Behavior for Application…
Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the…
Complex soft tissues, for example the knee meniscus, play a crucial role in mobility and joint health, but when damaged are incredibly difficult to repair and replace. This is due to their highly hierarchical and porous nature which in turn…
We propose an approach to measure surface elastic constants of soft solids. Generally, this requires one to probe interfacial mechanics at around the elastocapillary length scale, which is typically microscopic. Deformations of microscopic…
The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with…
Histopathology, the study and diagnosis of disease through analysis of tissue samples, is an indispensable part of modern medicine. However, the practice is time consuming and labor intensive, compelling efforts to improve the process and…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
How morphogenesis depends on cell properties is an active direction of research. Here, we focus on mechanical models of growing plant tissues, where microscopic (sub)cellular structure is taken into account. In order to establish links…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…
We present SoftSMPL, a learning-based method to model realistic soft-tissue dynamics as a function of body shape and motion. Datasets to learn such task are scarce and expensive to generate, which makes training models prone to overfitting.…
This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…
Virus binding to a surface results at least locally, at the contact area, in stress and potential structural perturbation of the virus cage. Here we address the question of the role of substrate-induced deformation in the overall virus…
This paper explores the use of a soft ground-truth mask ("soft mask'') to train a Fully Convolutional Neural Network (FCNN) for segmentation of Multiple Sclerosis (MS) lesions. Detection and segmentation of MS lesions is a complex task…
Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…
We present a method for early detection of lymphatic fluid accumulation in lymphedema patients based on microwave imaging of the limb volume across an air gap. The proposed algorithm uses contour information of the imaged limb surface to…
X-ray micro tomography is a non-destructive, three-dimensional inspection technique applied across a vast range of fields and disciplines, ranging from research to industrial, encompassing engineering, biology and medical research.…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
We propose approaches based on deep learning to localize objects in images when only a small training dataset is available and the images have low quality. That applies to many problems in medical image processing, and in particular to the…
Acquiring an anatomical map from position data is important for medical applications where catheters interact with soft tissues. To improve autonomous navigation in these settings, we require information beyond nonparametric maps typically…