Related papers: Body-mounted MR-conditional Robot for Minimally In…
Manual segmentation of medical images (e.g., segmenting tumors in CT scans) is a high-effort task that can be accelerated with machine learning techniques. However, selecting the right segmentation approach depends on the evaluation…
In this paper, we present a novel hybrid approach that combines Reinforcement Learning (RL) with Dynamic Window Approach (DWA) for adaptive 3D local navigation of high-degree-of-freedom robotic systems. Our method leverages sparse point…
Touchscreen-based interaction on display devices are ubiquitous nowadays. However, capacitive touch screens, the core technology that enables its widespread use, are prohibitively expensive to be used in large displays because the cost…
Autonomous robotic systems hold potential for improving renal tumor resection accuracy and patient outcomes. We present a fluorescence-guided robotic system capable of planning and executing incision paths around exophytic renal tumors with…
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the…
Mobile medical imaging devices are invaluable for clinical diagnostic purposes both in and outside healthcare institutions. Among the various imaging modalities, only a few are readily portable. Magnetic resonance imaging (MRI), the gold…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
Systemic drug administration often causes off-target effects limiting the efficacy of advanced therapies. Targeted drug delivery approaches increase local drug concentrations at the diseased site while minimizing systemic drug exposure. We…
Seamless human robot interaction (HRI) and cooperative human-robot (HR) teaming critically rely upon accurate and timely human mental workload (MW) models. Cognitive Load Theory (CLT) suggests representative physical environments produce…
Gynecologic malignancies are a leading cause of death in women worldwide. Standard treatment for many primary and recurrent gynecologic cancer cases includes a combination of external beam radiation, followed by brachytherapy. Magnetic…
Millimeter-wave (mmW) radar is widely applied to advanced autopilot assistance systems. However, its small antenna aperture causes a low imaging resolution. In this paper, a new distributed mmW radar system is designed to solve this…
We present a fully automated, anatomically guided deep learning pipeline for prostate cancer (PCa) risk stratification using routine MRI. The pipeline integrates three key components: an nnU-Net module for segmenting the prostate gland and…
Multimodal positron emission tomography-computed tomography (PET-CT) is used routinely in the assessment of cancer. PET-CT combines the high sensitivity for tumor detection with PET and anatomical information from CT. Tumor segmentation is…
Accurate characterisation of margins in excised breast cancer tumours is critical to the success of surgical interventions, yet margin status is typically confirmed post-operatively using histopathology. Here we present a new approach to…
To increase the reliability of collaborative robots in performing daily tasks, we require them to be accurate and not only repeatable. However, having a calibrated kinematics model is regrettably a luxury, as available calibration tools are…
Magnetic Resonance Imaging (MRI) and Positron Emission Tomography (PET) automatic 3-D registration is implemented and validated for small animal image volumes so that the high-resolution anatomical MRI information can be fused with the low…
In recent years, the medical industry has witnessed a growing interest in minimally invasive procedures, with magnetic microrobots emerging as a promising approach. These micro-robots possess the ability to navigate through various media,…
Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed from compliant materials such as fabric and thin, flexible…
The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid…