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The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
Dense prediction tasks in surgical computer vision, such as segmentation and surgical zone prediction, can provide valuable guidance for laparoscopic and robotic surgery. However, these models often suffer from distribution shifts, as…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
Steerable needles are a promising technology for delivering targeted therapies in the body in a minimally-invasive fashion, as they can curve around anatomical obstacles and hone in on anatomical targets. In order to accurately steer them,…
In many practical applications, 3D point cloud analysis requires rotation invariance. In this paper, we present a learnable descriptor invariant under 3D rotations and reflections, i.e., the O(3) actions, utilizing the recently introduced…
A unique sample independent 3D self calibration methodology is tested on a unique optical coherence tomography and multi-spectral scanning laser ophthalmoscope (OCT-SLO) hybrid system. Operators visual cognition is replaced by computer…
Ophthalmic images may contain identical-looking pathologies that can cause failure in automated techniques to distinguish different retinal degenerative diseases. Additionally, reliance on large annotated datasets and lack of knowledge…
Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…
We address the problem of devising the means for a robot to rapidly and safely learn insertion skills with just a few human interventions and without hand-crafted rewards or demonstrations. Our InsertionNet version 2.0 provides an improved…
The precise detection of blood vessels in retinal images is crucial to the early diagnosis of the retinal vascular diseases, e.g., diabetic, hypertensive and solar retinopathies. Existing works often fail in predicting the abnormal areas,…
Endoluminal reconstruction using flow diverters represents a novel paradigm for the minimally invasive treatment of intracranial aneurysms. The configuration assumed by these very dense braided stents once deployed within the parent vessel…
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…
The field of robotics has seen significant advancements in recent years, particularly in the development of humanoid robots. One area of research that has yet to be fully explored is the design of robotic eyes. In this paper, we propose a…
We propose a framework for active next best view and touch selection for robotic manipulators using 3D Gaussian Splatting (3DGS). 3DGS is emerging as a useful explicit 3D scene representation for robotics, as it has the ability to represent…
This work introduces a novel bio-inspired reconfigurable stereo vision system for robotics, leveraging omnidirectional cameras and a novel algorithm to achieve flexible visual capabilities. Inspired by the adaptive vision of various…
Optical coherence tomography (OCT) is a non-invasive 3D modality widely used in ophthalmology for imaging the retina. Achieving automated, anatomically coherent retinal layer segmentation on OCT is important for the detection and monitoring…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…