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Retinal microsurgery is a high-precision surgery performed on an exceedingly delicate tissue. It now requires extensively trained and highly skilled surgeons. Given the restricted range of instrument motion in the confined intraocular…
Wireless capsule endoscopy (WCE) enables painless visualization of the gastrointestinal tract, but its diagnostic potential is limited by incomplete mucosal coverage and poor transferability of existing navigation methods across patient…
In the realm of robot-assisted minimally invasive surgery, dynamic scene reconstruction can significantly enhance downstream tasks and improve surgical outcomes. Neural Radiance Fields (NeRF)-based methods have recently risen to prominence…
Interface-type resistive switching (RS) devices with lower operation current and more reliable switching repeatability exhibits great potential in the applications for data storage devices and ultra-low-energy computing. However, the…
Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current…
Endoscopy provides a major contribution to the diagnosis of the Gastrointestinal Tract (GIT) diseases. With Colon Endoscopy having its certain limitations, Wireless Capsule Endoscopy is gradually taking over it in the terms of ease and…
In robot-assisted minimally invasive surgery, accurate 3D reconstruction from endoscopic video is vital for downstream tasks and improved outcomes. However, endoscopic scenarios present unique challenges, including photometric…
A compact large-range six-degrees-of-freedom (six-DOF) parallel positioning system with high resolution, high resonant frequency, and high repeatability was proposed. It mainly consists of three identical kinematic sections. Each kinematic…
Segmenting muscle compartments and measuring their architecture can facilitate movement function assessment, accurate musculoskeletal modeling, and synergy-based electromyogram simulation. Here, we presented a novel method for volumetric…
Capsule endoscopes, predominantly serving diagnostic functions, provide lucid internal imagery but are devoid of surgical or therapeutic capabilities. Consequently, despite lesion detection, physicians frequently resort to traditional…
Autonomous robotic systems hold potential for improving renal tumor resection accuracy and patient outcomes. We present a fluorescence-guided robotic system capable of planning and executing incision paths around exophytic renal tumors with…
Wireless Capsule Endoscope (WCE) is an innovative imaging device that permits physicians to examine all the areas of the Gastrointestinal (GI) tract. It is especially important for the small intestine, where traditional invasive endoscopies…
Spinal fixation procedures are currently limited by the rigidity of the existing instruments and pedicle screws leading to fixation failures and rigid pedicle screw pull out. Leveraging our recently developed Concentric Tube Steerable…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Robot arms that assist humans should be able to pick up, move, and release everyday objects. Today's assistive robot arms use rigid grippers to pinch items between fingers; while these rigid grippers are well suited for large and heavy…
Towards reducing the failure rate of spinal fixation surgical procedures in osteoporotic patients, we propose a unique biomechanically-aware framework for the design of a novel concentric tube steerable drilling robot (CT-SDR). The proposed…
This paper presents a versatile robotic system for sewing 3D structured object. Leveraging on using a customized robotic sewing device and closed-loop visual servoing control, an all-in-one solution for sewing personalized stent graft is…
Gastrointestinal (GI) tract cancers pose a global health challenge, demanding precise radiotherapy planning for optimal treatment outcomes. This paper introduces a cutting-edge approach to automate the segmentation of GI tract regions in…
This project introduces a Feeding Assistive Robot tailored to individuals with physical disabilities, including those with limited arm function or hand control. The core component is a precise 6-degree freedom robotic arm, operated…