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The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode,…
Self-modeling enables robots to build task-agnostic models of their morphology and kinematics based on data that can be automatically collected, with minimal human intervention and prior information, thereby enhancing machine intelligence.…
Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is to build a geometric path first and then transform this path…
Computer vision technologies markedly enhance the automation capabilities of robotic-assisted minimally invasive surgery (RAMIS) through advanced tool tracking, detection, and localization. However, the limited availability of comprehensive…
While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
Purpose: Manual feedback in basic RMIS training can consume a significant amount of time from expert surgeons' schedule and is prone to subjectivity. While VR-based training tasks can generate automated score reports, there is no mechanism…
Despite the immense technology advancement in the surgeries the criteria of assessing the surgical skills still remains based on subjective standards. With the advent of robotic-assisted surgery, new opportunities for objective and…
Optical microrobots actuated by optical tweezers (OT) offer great potential for biomedical applications such as cell manipulation and microscale assembly. These tasks demand accurate three-dimensional perception to ensure precise control in…
The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach…
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates…
Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…
In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space,…
Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment…
Parallel imaging is a commonly used technique to accelerate magnetic resonance imaging (MRI) data acquisition. Mathematically, parallel MRI reconstruction can be formulated as an inverse problem relating the sparsely sampled k-space…
Randomized smoothing (RS) is an effective and scalable technique for constructing neural network classifiers that are certifiably robust to adversarial perturbations. Most RS works focus on training a good base model that boosts the…
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and…
Current robotic minimally invasive surgery (RMIS) platforms provide surgeons with no haptic feedback of the robot's physical interactions. This limitation forces surgeons to rely heavily on visual feedback and can make it challenging for…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…