Related papers: Resolution-Optimal Motion Planning for Steerable N…
In this paper, we propose a model-based contact-aware motion planner for autonomous navigation of neuroendovascular tools in acute ischemic stroke. The planner is designed to find the optimal control strategy for telescopic pre-bent…
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compensate for needle tip prediction inaccuracies, however none…
In recent years, deep learning technology has developed rapidly, and the application of deep neural networks in the medical image processing field has become the focus of the spotlight. This paper aims to achieve needle position detection…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
In this paper, we define the 3D printing routing problem, the problem of finding the optimal path of the nozzle in a fused deposition modeling 3D printing system, so as to minimize the time required to create on object. We formally model…
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…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed…
Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…
Segmentation of mandibles in CT scans during virtual surgical planning is crucial for 3D surgical planning in order to obtain a detailed surface representation of the patients bone. Automatic segmentation of mandibles in CT scans is a…
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and…
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between…
Regrasping a suture needle is an important yet time-consuming process in suturing. To bring efficiency into regrasping, prior work either designs a task-specific mechanism or guides the gripper toward some specific pick-up point for proper…
Recent developments have created differentiable physics simulators designed for machine learning pipelines that can be accelerated on a GPU. While these can simulate biomechanical models, these opportunities have not been exploited for…
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…