Related papers: Medical Simulation and Training: "Haptic" Liver
Current virtual reality (VR) training simulators of liver punctures often rely on static 3D patient data and use an unrealistic (sinusoidal) periodic animation of the respiratory movement. Existing methods for the animation of breathing…
Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
The tactile sensation of stroking soft fur, known for its comfort and emotional benefits, has numerous applications in virtual reality, animal-assisted therapy, and household products. Previous studies have primarily utilized actual fur to…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccuracies in simulation accumulate over multiple steps, hence…
There is a strong demand for virtual reality (VR) to bring quality healthcare to underserved populations. This paper addresses this need with the design and prototype of SURVIVRS: Surround Video-Based Virtual Reality for Surgery Guidance.…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
While laparoscopic liver resection is less prone to complications and maintains patient outcomes compared to traditional open surgery, its complexity hinders widespread adoption due to challenges in representing the liver's internal…
Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in situations with stiff contact or poor visibility. Reliable…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…
The field of bio-inspired soft grippers has emerged as a transformative area of research with profound implications for biomedical applications. This book chapter provides a comprehensive overview of the principles, developments,…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Histological scoring is essential for diagnosing Non-Alcoholic Fatty Liver Disease (NAFLD), yet its automation remains challenging due to the high annotation cost and negative transfer among the strongly correlated NAFLD Activity Score…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
This paper explores the use of a body-worn vibrotactile vest to convey real-time information from robot to operator. Vibrotactile communication could be useful in providing information without compropmising or loading a person's visual or…
Machine learned interaction potentials (MLIPs) have become a critical component of large-scale, high-quality simulations for a range of chemical and biochemical systems. Yet, despite their in-distribution accuracy, molecular dynamics…
Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining the visuo-tactile sensor and the pneumatic actuator-based…