Related papers: Body-mounted MR-conditional Robot for Minimally In…
Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and narrow sphincters like the cardia,…
The web-based Go-Smart environment is a scalable system that allows the prediction of minimally invasive cancer treatment. Interventional radiologists create a patient-specific 3D model by semi-automatic segmentation and registration of…
This study presents ME-WARD (Multimodal Ergonomic Workplace Assessment and Risk from Data), a novel system for ergonomic assessment and musculoskeletal risk evaluation that implements the Rapid Upper Limb Assessment (RULA) method. ME-WARD…
Continuum robots, made from flexible materials with continuous backbones, have several advantages over traditional rigid robots. Some of them are the ability to navigate through narrow or confined spaces, adapt to irregular or changing…
Many minimally invasive procedures, such as core needle biopsy of focal liver lesions, nerve blocks, and fetal and vascular interventions, are typically performed under ultrasound guidance, which provides real-time, high-resolution…
Conventional breast cancer imaging techniques are nowadays based on the use of ionising radiations or ultrasound waves for the inspection of breast areas. Nevertheless, these conventional techniques present some drawbacks related to patient…
The rapid advancement of Embodied Intelligence has opened transformative opportunities in healthcare, particularly in physical therapy and rehabilitation. However, critical challenges remain in developing robust embodied healthcare…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
This study introduces an improved VMD based signal decomposition methodology for non-contact heartbeat estimation using millimeterwave (mmWave) radar. Specifically, we first analyze the signal model of the mmWave radar system. The…
Neuroendovascular access often relies on passive microwires that are hand-shaped at the back table and then used to track a microcatheter to the target. Neuroendovascular surgeons determine the shape of the wire by examining the patient…
This thesis presents a number of microwave devices and antennas that maintain high operational efficiency and are compact in size at the same time. One goal of this thesis is to address several miniaturization challenges of antennas and…
Research on Vision Language Action (VLA) models has been increasing rapidly in recent years. Although some of them focus on detecting, preventing, and recovering from task failures, they usually don't deal with adapting to robot's physical…
Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMCG) is essential for holistic control. We propose Embodied…
Sub-pixel matching of multimodal optical images is a critical step in combined application of multiple sensors. However structural noise and inconsistencies arising from variations in multimodal image responses usually limit the accuracy of…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…
Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…
We propose a new model-based computer-aided diagnosis (CAD) system for tumor detection and classification (cancerous v.s. benign) in breast images. Specifically, we show that (x-ray, ultrasound and MRI) images can be accurately modeled by…
This paper deals with the control of laser spot in the context of minimally invasive surgery of the middle ear, e.g., cholesteatoma removal. More precisely, our work is concerned with the exhaustive burring of residual infected cells after…