Related papers: Toward Process Controlled Medical Robotic System
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
Improving effectiveness and safety of patient care is an ultimate objective for medical cyber-physical systems. A recent study shows that the patients' death rate can be reduced by computerizing medical guidelines. Most existing medical…
Linear diffusion processes serve as canonical continuous-time models for dynamic decision-making under uncertainty. These systems evolve according to drift matrices that specify the instantaneous rates of change in the expected system…
Tool condition monitoring (TCM) systems can improve productivity and ensure workpiece quality, yet, there is a lack of reliable TCM solutions for small-batch or one-off manufacturing of industrial parts. TCM methods which include the…
Deep learning offers transformative potential in medical imaging, yet its clinical adoption is frequently hampered by challenges such as data scarcity, distribution shifts, and the need for robust task generalization. Prompt-based…
A modern operating room (OR) provides a plethora of advanced medical devices. In order to better facilitate the information offered by them, they need to automatically react to the intra-operative context. To this end, the progress of the…
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter…
Fault-tolerant distributed algorithms are central for building reliable spatially distributed systems. Unfortunately, the lack of a canonical precise framework for fault-tolerant algorithms is an obstacle for both verification and…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
Robotic-assisted surgery has emerged as a promising approach to improve surgical ergonomics, precision, and workflow efficiency, particularly in complex procedures such as cervical spine surgery. In this study, we evaluate the performance…
The control systems are an essential part of every engineering system in any industrial application. The basic purpose of controls is to manage the internal operations of the system and detect any unwanted or uncertain situation. Failure in…
Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…
Emerging paradigms furthering the reach of medical technology deeper into human anatomy present unique modeling, control and sensing problems. This paper discusses a brief history of medical robotics leading to the current trend of…
Robotic cell injection is used for automatically delivering substances into a cell and is an integral component of drug development, genetic engineering and many other areas of cell biology. Traditionally, the correctness of functionality…
In low- and middle-income countries (LMICs), a significant proportion of medical diagnostic equipment remains underutilized or non-functional due to a lack of timely maintenance, limited access to technical expertise, and minimal support…
The research activity outlined in this PhD thesis is devoted to define a general approach, a concrete architecture and a prototype Process Management System (PMS) for the automated adaptation of dynamic processes at run-time, on the basis…
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion…
One of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…