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A comprehensive three-dimensional (3D) map of tissue architecture and gene expression is crucial for illuminating the complexity and heterogeneity of tissues across diverse biomedical applications. However, most spatial transcriptomics (ST)…
Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…
Untethered magnetic manipulation of biomedical millirobots has a high potential for minimally invasive surgical applications. However, it is still challenging to exert high actuation forces on the small robots over a large distance.…
This research proposes a novel adjustable algorithm for reconstructing 3D body shapes from front and side silhouettes. Most recent silhouette-based approaches use a deep neural network trained by silhouettes and key points to estimate the…
Vessel dynamics simulation is vital in studying the relationship between geometry and vascular disease progression. Reliable dynamics simulation relies on high-quality vascular meshes. Most of the existing mesh generation methods highly…
The present work deals with the formulation of a Virtual Element Method (VEM) for two dimensional structural problems. The contribution is split in two parts: in part I, the elastic problem is discussed, while in part II [3] the method is…
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable…
This paper presents the Virtual Element Method (VEM) for the modeling of crack propagation in 2D within the context of linear elastic fracture mechanics (LEFM). By exploiting the advantage of mesh flexibility in the VEM, we establish an…
We introduce Coverage Axis++, a novel and efficient approach to 3D shape skeletonization. The current state-of-the-art approaches for this task often rely on the watertightness of the input or suffer from substantial computational costs,…
This work concerns adaptive refinement procedures for meshes of polygonal virtual elements. Specifically, refinement procedures previously proposed by the authors for structured meshes are generalized for the challenging case of arbitrary…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack of 3D localization information, and risks…
Visual-Inertial Odometry (VIO) algorithms typically rely on a point cloud representation of the scene that does not model the topology of the environment. A 3D mesh instead offers a richer, yet lightweight, model. Nevertheless, building a…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes. However, such systems often limit surgeons' natural sensory…
Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present…
In the field of brittle fracture animation, generating realistic destruction animations using physics-based simulation methods is computationally expensive. While techniques based on Voronoi diagrams or pre-fractured patterns are effective…
Due to imaging artifacts and low signal-to-noise ratio in ultrasound images, automatic bone surface segmentation networks often produce fragmented predictions that can hinder the success of ultrasound-guided computer-assisted surgical…
Mesh reconstruction of the cardiac anatomy from medical images is useful for shape and motion measurements and biophysics simulations to facilitate the assessment of cardiac function and health. However, 3D medical images are often acquired…
The structural complexity of metamaterials is limitless, although in practice, most designs comprise periodic architectures which lead to materials with spatially homogeneous features. More advanced tasks, arising in e.g. soft robotics,…