Related papers: Data-driven Holistic Framework for Automated Lapar…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
The potential of Augmented Reality (AR) technology to assist minimally invasive surgeries (MIS) lies in its computational performance and accuracy in dealing with challenging MIS scenes. Even with the latest hardware and software…
Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking without considering information hidden in surgical scenes are…
Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion.…
Fluoroscopic imaging that captures X-ray images at video framerates is advantageous for guiding catheter insertions by vascular surgeons and interventional radiologists. Visualizing the dynamical movements non-invasively allows complex…
Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open…
Depth estimation plays a crucial role in various tasks within endoscopic surgery, including navigation, surface reconstruction, and augmented reality visualization. Despite the significant achievements of foundation models in vision tasks,…
This work targets what we consider to be the foundational step for urban airborne robots, a safe landing. Our attention is directed toward what we deem the most crucial aspect of the safe landing perception stack: segmentation. We present a…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's and robot's head due to network communication delays or slow…
Accurate intra-operative localization of the bronchoscope tip relative to patient anatomy remains challenging due to respiratory motion, anatomical variability, and CT-to-body divergence that cause deformation and misalignment between…
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…
This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Minimally invasive surgery is a surgical intervention used to examine the organs inside the abdomen and has been widely used due to its effectiveness over open surgery. Due to the hardware improvements such as high definition cameras, this…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Data-driven visual odometry (VO) is a critical subroutine for autonomous edge robotics, and recent progress in the field has produced highly accurate point predictions in complex environments. However, emerging autonomous edge robotics…