Related papers: Development of a Stereo-Vision Based High-Throughp…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…
We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of targeted drug delivery. The procedure requires accurately…
Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can be employed to increase the robustness towards uncertainties…
Stereotactic targeting is a commonly used technique for performing injections in the brains of mice and other animals. The most common method for targeting stereoscopic injections uses the skull indentations bregma and lambda as reference…
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate a problem of automated vascular shunt insertion and propose…
Automating bone micro-milling using a robotic system presents challenges due to the uncertainties in both the external and internal features of bone tissue. For example, during mouse cranial window creation, a circular path with a radius of…
Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise…
A potential Retinal Vein Occlusion (RVO) treatment involves Retinal Vein Cannulation (RVC), which requires the surgeon to insert a microneedle into the affected retinal vein and administer a clot-dissolving drug. This procedure presents…
Performing a large volume of experiments in Chemistry labs creates repetitive actions costing researchers time, automating these routines is highly desirable. Previous experiments in robotic chemistry have performed high numbers of…
This paper demonstrates a visual servoing method which is robust towards uncertainties related to system calibration and grasping, while significantly reducing the peg-in-hole time compared to classical methods and recent attempts based on…
This paper proposes a feature-based Visual Servoing (VS) method for insertion task skills. A camera mounted on the robot's end-effector provides the pose relative to a cylinder (hole), allowing a contact-free and damage-free search of the…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
Subretinal injection is a critical procedure for delivering therapeutic agents to treat retinal diseases such as age-related macular degeneration (AMD). However, retinal motion caused by physiological factors such as respiration and…
This paper focuses on how to make a growing Vine robot steer in different directions with a novel approach to real-time steering control by autonomously applying adhesive tape to induce a surface wrinkles. This enabling real-time…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…
Computer vision and robotics are being increasingly applied in medical interventions. Especially in interventions where extreme precision is required they could make a difference. One such application is robot-assisted retinal microsurgery.…
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In…