Related papers: Augmented Reality and Human-Robot Collaboration Fr…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
Active 3D scene representation is pivotal in modern robotics applications, including remote inspection, manipulation, and telepresence. Traditional methods primarily optimize geometric fidelity or rendering accuracy, but often overlook…
Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
Purpose: This paper focuses on an automated analysis of surgical motion profiles for objective skill assessment and task recognition in robot-assisted surgery. Existing techniques heavily rely on conventional statistic measures or shallow…
Augmented Reality and mobile robots are gaining much attention within industries due to the high potential to make processes cost and time efficient. To facilitate augmented reality, a calibration between the Augmented Reality device and…
The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity…
Fourier ptychography (FP) is a newly developed computational imaging approach that achieves both high resolution and wide field of view by stitching a series of low-resolution images captured under angle-varied illumination. So far, many…
Computer-aided surgery intensively uses the concept of navigation: after having collected CT data from a patient and transferred them to the operating room coordinate system, the surgical instrument (a puncture needle for instance) is…
Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require…
Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor…
The purpose of this paper is to help the anesthesiologist to find the epidural depth automatically to make the first attempt to enter the path of the needle into the patient's body while it is clogged with bone and avoid causing a puncture…
Acupuncture is a technique in which practitioners stimulate specific points on the body. Those points, called acupuncture points (or acupoints), anatomically define areas on the skin relative to specific landmarks on the body. However,…
Pneumonia remains a leading cause of morbidity and mortality worldwide. Chest X-ray (CXR) imaging is a fundamental diagnostic tool, but traditional analysis relies on time-intensive expert evaluation. Recently, deep learning has shown…
This dissertation advances the state of the art for AR/VR tracking systems by increasing the tracking frequency by orders of magnitude and proposes an efficient algorithm for the problem of edge-aware optimization. AR/VR is a natural way of…
While Deep Neural Network (DNN) models have provided remarkable advances in machine vision capabilities, their high computational complexity and model sizes present a formidable roadblock to deployment in AIoT-based sensing applications. In…
Many robotic tasks are still teleoperated since automating them is very time consuming and expensive. Robot Learning from Demonstrations (RLfD) can reduce programming time and cost. However, conventional RLfD approaches are not directly…
The combination of traditional rendering with neural networks in Deferred Neural Rendering (DNR) provides a compelling balance between computational complexity and realism of the resulting images. Using skinned meshes for rendering…
This article presents a systematic review of optical see-through head mounted display (OST-HMD) usage in augmented reality (AR) surgery applications from 2013 to 2020. Articles were categorised by: OST-HMD device, surgical speciality,…
One of the main concerns in design and process planning for multi-axis additive and subtractive manufacturing is collision avoidance between moving objects (e.g., tool assemblies) and stationary objects (e.g., a part unified with fixtures).…