Related papers: CathSim: An Open-source Simulator for Endovascular…
Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern…
CoronaryHemodynamics is a comprehensive simulation package developed on the OpenFOAM platform, designed specifically for coronary artery hemodynamics analysis. The package integrates a complete suite of tools for simulation preparation,…
This research reports VascularPilot3D, the first 3D fully autonomous endovascular robot navigation system. As an exploration toward autonomous guidewire navigation, VascularPilot3D is developed as a complete navigation system based on…
Rigorously testing autonomy systems is essential for making safe self-driving vehicles (SDV) a reality. It requires one to generate safety critical scenarios beyond what can be collected safely in the world, as many scenarios happen rarely…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
Endovascular interventions are a life-saving treatment for many diseases, yet suffer from drawbacks such as radiation exposure and potential scarcity of proficient physicians. Robotic assistance during these interventions could be a…
Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…
Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks…
The emergence of 3D Gaussian Splatting for fast and high-quality novel view synthesize has opened up the possibility to construct photo-realistic simulations from video for robotic reinforcement learning. While the approach has been…
For decades, three-dimensional C-arm Cone-Beam Computed Tomography (CBCT) imaging system has been a critical component for complex vascular and nonvascular interventional procedures. While it can significantly improve multiplanar soft…
We present FabSim, a toolkit developed to simplify a range of computational tasks for researchers in diverse disciplines. FabSim is flexible, adaptable, and allows users to perform a wide range of tasks with ease. It also provides a…
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…
Real-time visual feedback from catheterization analysis is crucial for enhancing surgical safety and efficiency during endovascular interventions. However, existing datasets are often limited to specific tasks, small scale, and lack the…
Developing learning-based methods for navigation of aerial robots is an intensive data-driven process that requires highly parallelized simulation. The full utilization of such simulators is hindered by the lack of parallelized high-level…
This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…
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…