Related papers: Autonomous Intelligent Navigation for Flexible End…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control represent a viable…
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…
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
Cardiovascular diseases remain the leading cause of global mortality, with minimally invasive treatment options offered through endovascular interventions. However, the precision and adaptability of current robotic systems for endovascular…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…
Autonomous robots for endovascular interventions hold significant potential to enhance procedural safety and reliability by navigating guidewires with precision, minimizing human error, and reducing surgical time. However, existing methods…
This paper presents a shape-aware whole-body control framework for tendon-driven continuum robots with direct application to endoluminal surgical navigation. Endoluminal procedures, such as bronchoscopy, demand precise and safe navigation…
Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the…
Self-supervised monocular depth estimation is a significant task for low-cost and efficient 3D scene perception and measurement in endoscopy. However, the variety of illumination conditions and scene features is still the primary challenges…
Endovascular navigation, essential for diagnosing and treating endovascular diseases, predominantly hinges on fluoroscopic images due to the constraints in sensory feedback. Current shape reconstruction techniques for endovascular…
Depth estimation is a foundational component for 3D reconstruction in minimally invasive endoscopic surgeries. However, existing monocular depth estimation techniques often exhibit limited performance to the varying illumination and complex…
Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…
3D reconstruction of endoscopic surgery scenes plays a vital role in enhancing scene perception, enabling AR visualization, and supporting context-aware decision-making in image-guided surgery. A critical yet challenging step in this…
Accurate endoscope pose estimation and 3D tissue surface reconstruction significantly enhances monocular minimally invasive surgical procedures by enabling accurate navigation and improved spatial awareness. However, monocular endoscope…
Flexible endoscopes are commonly adopted in narrow and confined anatomical cavities due to their higher reachability and dexterity. However, prolonged and unintuitive manipulation of these endoscopes leads to an increased workload on…
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…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…