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Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle Emplacer, a robotic needle positioning system for CT guided…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Surgical suturing is a high-precision task that impacts patient healing and scarring. Suturing skill varies widely between surgeons, highlighting the need for robot assistance. Previous robot suturing works, such as STITCH 1.0 [1], struggle…
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…
Hyperspectral imaging (HSI) captures a greater level of spectral detail than traditional optical imaging, making it a potentially valuable intraoperative tool when precise tissue differentiation is essential. Hardware limitations of current…
The widespread application of industrial robots in fields such as cutting and welding has imposed increasingly stringent requirements on the trajectory accuracy of end-effectors. However, current error compensation methods face several…
Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeon's tactile…
The teleoperation of robotic hands is limited by the high costs of depth cameras and sensor gloves, commonly used to estimate hand relative joint positions (XYZ). We present a novel, cost-effective approach using three webcams for…
Retinal microsurgery is a high-precision surgery performed on an exceedingly delicate tissue. It now requires extensively trained and highly skilled surgeons. Given the restricted range of instrument motion in the confined intraocular…
In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand manipulation. Additionally, we introduce an actuation scheme…
Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and…
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated…
Eye tracking is an important tool with a wide range of applications in Virtual, Augmented, and Mixed Reality (VR/AR/MR) technologies. State-of-the-art eye tracking methods are either reflection-based and track reflections of sparse point…
Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In…
Retinal vessel segmentation based on deep learning requires a lot of manual labeled data. That is time-consuming, laborious and professional. What is worse, the acquisition of abundant fundus images is difficult. These problems are more…
Intracerebral hemorrhage (ICH) is the deadliest stroke sub-type, with a one-month mortality rate as high as 52%. Due to the potential cortical disruption caused by craniotomy, conservative management (watchful waiting) has historically been…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
As a crucial and intricate task in robotic minimally invasive surgery, reconstructing surgical scenes using stereo or monocular endoscopic video holds immense potential for clinical applications. NeRF-based techniques have recently garnered…