Related papers: Liver Pathology Simulation: Algorithm for Haptic R…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
One of the key challenges in the field of haptic research is designing plausible stimuli using haptic interfaces with limited degrees of freedom. Although the plausible approach, which simplifies and/or exaggerates stimuli to enhance…
Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge.…
Serious games are accepted as an effective approach to deliver augmented feedback in motor (re-) learning processes. The multi-modal nature of the conventional computer games (e.g. audiovisual representation) plus the ability to interact…
Lipid vesicles appear ubiquitously in biological systems. Understanding how the mechanical and intermolecular interations deform vesicle membrane is a fundamental question in biophysics. In this article we developed a fast algorithm to…
The surgical environment imposes unique challenges to the intraoperative registration of organ shapes to their preoperatively-imaged geometry. Biomechanical model-based registration remains popular, while deep learning solutions remain…
We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonstrations for imitation learning. Conventional systems often decouple the operator from contact forces, which hinders the…
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…
Mid-air haptics create a new mode of feedback to allow people to feel tactile sensations in the air. Ultrasonic arrays focus acoustic radiation pressure in space, to induce tactile sensation from the resulting skin deflection. In this work,…
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
Non-rigid registration is a key component in soft-tissue navigation. We focus on laparoscopic liver surgery, where we register the organ model obtained from a preoperative CT scan to the intraoperative partial organ surface, reconstructed…
The current study of cell architecture of inflammation in histopathology images commonly performed for diagnosis and research purposes excludes a lot of information available on the biopsy slide. In autoimmune diseases, major outstanding…
Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…
The integration of high-level assistance algorithms in surgical robotics training curricula may be beneficial in establishing a more comprehensive and robust skillset for aspiring surgeons, improving their clinical performance as a…
Tactile sensing is a crucial capability for Vision-Language-Action (VLA) architectures, as it enables dexterous and safe manipulation in contact-rich tasks. However, reliance on dedicated tactile hardware increases cost and reduces…
Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tactile information is not usually considered despite its…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
The emergence of foundation models in computational pathology has transformed histopathological image analysis, with whole slide imaging (WSI) diagnosis being a core application. Traditionally, weakly supervised fine-tuning via multiple…
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…