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With advances in reinforcement learning and imitation learning, quadruped robots can acquire diverse skills within a single policy by imitating multiple skill-specific datasets. However, the lack of datasets on complex terrains limits the…
Intravoxel incoherent motion (IVIM) is a diffusion-weighted magnetic resonance imaging (MRI) method that may be applied to the placenta to help diagnose abnormal pregnancies. IVIM requires prolonged scan times, followed by a model-based…
Soft robotics, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial muscles (PAMs) and pneumatic bending actuators have been…
Datasets are an essential component for training effective machine learning models. In particular, surgical robotic datasets have been key to many advances in semi-autonomous surgeries, skill assessment, and training. Simulated surgical…
Robot-assisted minimally invasive surgery is improving surgeon performance and patient outcomes. This innovation is also turning what has been a subjective practice into motion sequences that can be precisely measured. A growing number of…
Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face control difficulties due to hysteresis from cabling effects such…
Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on…
Recent advancements in retinal surgery have paved the way for a modern operating room equipped with a surgical robot, a microscope, and intraoperative optical coherence tomography (iOCT)- a depth sensor widely used in retinal surgery.…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
Biological specimens exhibit significant variations in size and shape, challenging autonomous robotic manipulation. We focus on the mouse skull window creation task to illustrate these challenges. The study introduces a microscopic stereo…
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…
Robotic camera systems enable dynamic, repeatable motion beyond human capabilities, yet their adoption remains limited by the high cost and operational complexity of industrial-grade platforms. We present the Intelligent Robotic Imaging…
Vision-based segmentation of the robotic tool during robot-assisted surgery enables downstream applications, such as augmented reality feedback, while allowing for inaccuracies in robot kinematics. With the introduction of deep learning,…
Subretinal injection methods and other procedures for treating retinal conditions and diseases (many considered incurable) have been limited in scope due to limited human motor control. This study demonstrates the next generation,…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing…
This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…
Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of…
Accurate human motion prediction with well-calibrated uncertainty is critical for safe human-robot collaboration (HRC), where robots must anticipate and react to human movements in real time. We propose a structured multitask variational…
Intraocular foreign body removal demands millimeter-level precision in confined intraocular spaces, yet existing robotic systems predominantly rely on manual teleoperation with steep learning curves. To address the challenges of autonomous…