Related papers: Optical Fiber-Based Needle Shape Sensing in Real T…
This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditional FBG-based methods, OFDR enables continuous strain…
Multimode fibers are widely explored for optical communication, imaging and sensing applications. The interference of fiber guided modes generates a speckle pattern, which has been used for high-precision spectroscopy, temperature, and…
Visual perception relies on inference of 3D scene properties such as shape, pose, and lighting. To understand how visual sensory neurons enable robust perception, it is crucial to characterize their selectivity to such physically…
We propose and demonstrate two methods for modal decomposition in multi-mode fibres. Linearly polarized modes propagating in a slightly multi-mode fibre are easily retrieved from intensity measurements at the fibre output surface. The first…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
Tissue awareness has a great demand to improve surgical accuracy in minimally invasive procedures. In arthroscopy, it is one of the challenging tasks due to surgical sites exhibit limited features and textures. Moreover, arthroscopic…
Advances in flexible catheters pave the way for minimally invasive diagnosis and treatment of luminal organs and tubular structures through endoluminal interventions. A key challenge is in establishing non-constraining pressure monitoring…
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
Photoacoustic (PA) endoscopy has shown significant potential for clinical diagnosis and surgical guidance. Multimode fibres (MMFs) are becoming increasing attractive for the development of miniature endoscopy probes owing to ultrathin size,…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
Modern extreme adaptive optics (AO) systems achieving diffraction-limited performance open up new possibilities for instrumentation. Especially important for the fields of spectroscopy and interferometry is that it enables the prospect to…
The realistic modelling of medical interventions is the key requirement for development of high-fidelity medical simulators. In this work, a parameterized model suitable for real-time haptic feedback of needle interaction with tissue has…
We report on a method to obtain confocal imaging through multimode fibers using optical correlation. First, we measure the fiber's transmission matrix in a calibration step. This allows us to create focused spots at one end of the fiber by…
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essential for guidance and supervision in robotic autonomous…
Snapshot spectral imaging is rapidly gaining interest for remote sensing applications. Acquiring spatial and spectral data within one image promotes fast measurement times, and reduces the need for stabilized scanning imaging systems. Many…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…