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We explain and demonstrate a new method of force- and position-calibration for optical tweezers with back-focal-plane photo detection. The method combines power spectral measurements of thermal motion and the response to a sinusoidal motion…
Positron Emission Mammography (PEM) imaging systems with the ability in detection of millimeter-sized tumors were developed in recent years. And some of them have been well used in clinical applications. In consideration of biopsy…
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
Implant prosthesis is the most appropriate treatment for dentition defect or dentition loss, which usually involves a surgical guide design process to decide the implant position. However, such design heavily relies on the subjective…
Common imaging techniques for detecting structural defects typically require sampling at more than twice the spatial frequency to achieve a target resolution. This study introduces a novel framework for imaging structural defects using…
Electrical impedance tomography (EIT) is an imaging modality in which the conductivity distribution inside a target is reconstructed based on voltage measurements from the surface of the target. Reconstructing the conductivity distribution…
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
This work focuses on the study of tethered fights of a micro quadcopter, with the aim of supplying continuous power to a small-sized aerial robot. Multiple features for facilitating the interaction between a tethered micro quadcopter and a…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This…
The purpose of this work is to demonstrate a robust and clinically validated method for correcting sound speed aberrations in medical ultrasound. We propose a correction method that calculates focusing delays directly from the observed…
Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the…
Background. Flexible bendable instruments are key tools for performing surgical endoscopy. Being able to measure the 3D position of such instruments can be useful for various tasks, such as controlling automatically robotized instruments…